author | etisserant |
Mon, 03 Dec 2007 13:09:19 +0100 | |
changeset 321 | 994457edada8 |
parent 319 | 4b331759169a |
child 341 | 7ff01f109bbc |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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#ifndef __can_driver_h__ |
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#define __can_driver_h__ |
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struct struct_s_BOARD; |
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typedef struct struct_s_BOARD s_BOARD; |
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#include "applicfg.h" |
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#include "can.h" |
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struct struct_s_BOARD { |
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char * busname; |
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char * baudrate; |
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}; |
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#ifndef DLL_CALL |
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#define DLL_CALL(funcname) funcname##_driver |
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#endif |
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#ifndef FCT_PTR_INIT |
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#define FCT_PTR_INIT |
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#endif |
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UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT; |
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UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *)FCT_PTR_INIT; |
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CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT; |
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int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT; |
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#if defined DEBUG_WAR_CONSOLE_ON || defined DEBUG_ERR_CONSOLE_ON || defined NEED_PRINT_MESSAGE |
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#include "def.h" |
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#define _P(fc) case fc: printf(#fc" ");break; |
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static inline void print_message(Message *m) |
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{ |
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int i; |
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UNS8 fc; |
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printf("id:%02x ", m->cob_id.w & 0x7F); |
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fc = m->cob_id.w >> 7; |
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switch(fc) |
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{ |
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case SYNC: |
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if(m->cob_id.w == 0x080) |
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printf("SYNC "); |
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else |
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printf("EMCY "); |
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break; |
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_P(TIME_STAMP) |
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_P(PDO1tx) |
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_P(PDO1rx) |
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_P(PDO2tx) |
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_P(PDO2rx) |
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_P(PDO3tx) |
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_P(PDO3rx) |
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_P(PDO4tx) |
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_P(PDO4rx) |
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_P(SDOtx) |
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_P(SDOrx) |
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_P(NODE_GUARD) |
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_P(NMT) |
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} |
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if( fc == SDOtx) |
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{ |
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switch(m->data[0] >> 5) |
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{ |
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/* scs: server command specifier */ |
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_P(UPLOAD_SEGMENT_RESPONSE) |
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_P(DOWNLOAD_SEGMENT_RESPONSE) |
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_P(INITIATE_DOWNLOAD_RESPONSE) |
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_P(INITIATE_UPLOAD_RESPONSE) |
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_P(ABORT_TRANSFER_REQUEST) |
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} |
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}else if( fc == SDOrx) |
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{ |
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switch(m->data[0] >> 5) |
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{ |
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/* ccs: client command specifier */ |
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_P(DOWNLOAD_SEGMENT_REQUEST) |
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_P(INITIATE_DOWNLOAD_REQUEST) |
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_P(INITIATE_UPLOAD_REQUEST) |
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_P(UPLOAD_SEGMENT_REQUEST) |
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_P(ABORT_TRANSFER_REQUEST) |
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} |
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} |
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printf(" rtr:%d", m->rtr); |
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printf(" len:%d", m->len); |
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for (i = 0 ; i < m->len ; i++) |
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printf(" %02x", m->data[i]); |
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printf("\n"); |
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} |
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#endif |
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#endif |