include/unix/canfestival.h
author fbeaulier
Mon, 29 Aug 2011 16:59:55 +0200
changeset 664 a03f0aa7d219
parent 561 f9be4262c68d
permissions -rwxr-xr-x
CHANGE: SDO block mode added, without CRC support
WARNING : API change in client functions
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#ifndef UNIX_H_
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#define UNIX_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "timerscfg.h"
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#include "can_driver.h"
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#include "data.h"
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#include "timers_driver.h"
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#ifndef __KERNEL__
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#include <dlfcn.h>
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#endif
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typedef void* LIB_HANDLE;
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/** @defgroup userapi User API */
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/** @defgroup can CAN management
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 *  @ingroup userapi
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 */
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/**
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 * @ingroup can
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 * @brief Unload CAN driver interface
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 * @param handle The library handle
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 * @return
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 *       -  0 is returned upon success.
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 *       - -1 is returned if the CAN driver interface can't be unloaded.
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 */
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UNS8 UnLoadCanDriver(LIB_HANDLE handle);
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/**
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 * @ingroup can
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 * @brief Load CAN driver interface.
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 * @param *driver_name The location of the library to load
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 * @return
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 *       - handle of the CAN driver interface is returned upon success.
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 *       - NULL is returned if the CAN driver interface can't be loaded.
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 */
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LIB_HANDLE LoadCanDriver(const char* driver_name);
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/**
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 * @brief Send a CAN message
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 * @param port CanFestival file descriptor
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 * @param *m The CAN message to send
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 * @return 0 if succes
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 */
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UNS8 canSend(CAN_PORT port, Message *m);
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/**
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 * @ingroup can
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 * @brief Open a CANOpen device
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 * @param *board Pointer to the board structure that contains busname and baudrate 
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 * @param *d Pointer to the CAN object data structure
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 * @return
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 *       - CanFestival file descriptor is returned upon success.
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 *       - NULL is returned if the CANOpen board can't be opened.
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 */
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CAN_PORT canOpen(s_BOARD *board, CO_Data * d);
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/**
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 * @ingroup can
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 * @brief Close a CANOpen device
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 * @param *d Pointer to the CAN object data structure
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 * @return
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 *       - 0 is returned upon success.
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 *       - errorcode if error. (if implemented)  
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 */
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int canClose(CO_Data * d);
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/**
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 * @ingroup can
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 * @brief Change the CANOpen device baudrate 
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 * @param port CanFestival file descriptor 
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 * @param *baud The new baudrate to assign
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 * @return
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 *       - 0 is returned upon success or if not supported by the CAN driver.
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 *       - errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)
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 */
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UNS8 canChangeBaudRate(CAN_PORT port, char* baud);
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#ifdef __cplusplus
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};
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#endif
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#endif /*UNIX_H_*/