include/can_driver.h
author greg
Fri, 09 May 2008 09:47:56 +0200
changeset 463 f7455fef585f
parent 391 7802a7d5584f
child 528 0a30e161d63c
permissions -rw-r--r--
add rt_task_join for receive task and timerloop task
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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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UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;
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#if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE
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#include "def.h"
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#define _P(fc) case fc: MSG(#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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    MSG("id:%02x ", m->cob_id & 0x7F);
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    fc = m->cob_id >> 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 == 0x080)
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                MSG("SYNC ");
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            else
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                MSG("EMCY ");
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        break;
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#ifdef CO_ENABLE_LSS
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        case LSS:
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        	if(m->cob_id == 0x7E5)
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                MSG("MLSS ");
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            else
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                MSG("SLSS ");
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        break;
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#endif
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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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    MSG(" rtr:%d", m->rtr);
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    MSG(" len:%d", m->len);
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    for (i = 0 ; i < m->len ; i++)
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        MSG(" %02x", m->data[i]);
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    MSG("\n");
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}
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#endif
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#endif