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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 AVR Port: Andreas GLAUSER and Peter CHRISTEN |
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6 |
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7 See COPYING file for copyrights details. |
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8 |
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9 This library is free software; you can redistribute it and/or |
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10 modify it under the terms of the GNU Lesser General Public |
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11 License as published by the Free Software Foundation; either |
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12 version 2.1 of the License, or (at your option) any later version. |
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13 |
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14 This library is distributed in the hope that it will be useful, |
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15 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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17 Lesser General Public License for more details. |
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18 |
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19 You should have received a copy of the GNU Lesser General Public |
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20 License along with this library; if not, write to the Free Software |
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21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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22 */ |
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23 |
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24 #ifndef __CAN_AVR__ |
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25 #define __CAN_AVR__ |
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26 |
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27 // AVR implementation of the CANopen driver includes |
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28 // Hardware related macros and ATMEL lib can_drv |
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29 #include "config.h" |
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30 #include "can_drv.h" |
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31 |
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32 // Canfestivals includes |
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33 #include "can.h" |
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34 |
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35 // Number of receive MOb |
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36 #define NB_RX_MOB 13 // minimal 8 |
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37 // Number of transmit MOb |
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38 #define NB_TX_MOB (NB_MOB - NB_RX_MOB) |
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39 |
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40 #if (NB_TX_MOB < 1) |
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41 #error define less RX Mobs, you must have at least 1 TX MOb! |
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42 #elif (NB_RX_MOB < 8) |
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43 #error define at least 8 RX MObs! |
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44 #endif |
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45 |
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46 #define START_TX_MOB NB_RX_MOB |
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47 #define TX_INT_MSK ((0x7F << (7 - NB_TX_MOB)) & 0x7F) |
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48 |
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49 /************************* To be called by user app ***************************/ |
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50 |
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51 unsigned char canInit(unsigned int bitrate); |
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52 unsigned char canSend(CAN_PORT notused, Message *m); |
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53 unsigned char canReceive(Message *m); |
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54 #endif |