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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): Cosateq GmbH & Co.KG

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               http://www.cosateq.com/

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               http://www.scale-rt.com/

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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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/*

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	CAN driver interface for CO-PCICAN card.

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*/

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#ifndef _CO_PCICANOPS_

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#define _CO_PCICANOPS_

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#define NUM_CAN_CHANNELS 4

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#define CMDQ_OPC_ENTER_RUN_MODE     0x01

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#define CMDQ_OPC_ENTER_CONFIG_MODE  0x02

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#define CMDQ_OPC_SET_CONFIG_CHANNEL 0xA2

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typedef struct

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{

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  unsigned char opcode;

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  unsigned long param[15];

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} co_pcican_config_t;

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typedef struct

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{

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  unsigned char channelnum;

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  unsigned long type;

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  unsigned long size;

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  unsigned long id;

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  unsigned char data[8];

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  unsigned long timestamp_lo;

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  unsigned long timestamp_hi;

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} co_pcican_message_t;

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/*=============================================================================

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  supported operations

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  ===========================================================================*/

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#define CAN_CONFIG 2

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#define CAN_WRITE  3

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#define CAN_READ   4

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/*=============================================================================

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  directions

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  ===========================================================================*/

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#define RX         0

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#define TX         1

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/*=============================================================================

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  supported types

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  ===========================================================================*/

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#define MSG_EXT    0x00000001

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#define MSG_RTR    0x00000002

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#endif

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