1 /*

     2 This file is part of CanFestival, a library implementing CanOpen Stack. 

     3 

     4 Copyright (C): Edouard TISSERANT and Francis DUPIN

     5 

     6 See COPYING file for copyrights details.

     7 

     8 This library is free software; you can redistribute it and/or

     9 modify it under the terms of the GNU Lesser General Public

    10 License as published by the Free Software Foundation; either

    11 version 2.1 of the License, or (at your option) any later version.

    12 

    13 This library is distributed in the hope that it will be useful,

    14 but WITHOUT ANY WARRANTY; without even the implied warranty of

    15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16 Lesser General Public License for more details.

    17 

    18 You should have received a copy of the GNU Lesser General Public

    19 License along with this library; if not, write to the Free Software

    20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21 */

    22 #ifdef USE_XENO

    23 #define eprintf(...)

    24 #else

    25 #define eprintf(...) printf (__VA_ARGS__)

    26 #endif

    27 void print_message(Message *m);

    28 

    29 extern CAN_HANDLE SlaveCanHandle;

    30 extern CAN_HANDLE MasterCanHandle;

    31 

    32 

    33 /*

    34 #define CAN_FIFO_LENGTH 100

    35 

    36 #define DECLARE_A_CAN_FIFO \

    37 static Message FIFO[CAN_FIFO_LENGTH];\

    38 static int FIFO_First = 0;\

    39 static int FIFO_Last = 0;\

    40 \

    41 static void PutInFIFO(Message *m)\

    42 {\

    43 	FIFO[FIFO_Last++] = *m;\

    44 	FIFO_Last %= CAN_FIFO_LENGTH;\

    45 }\

    46 \

    47 static void GetFromFIFO(Message *m)\

    48 {\

    49 	*m = FIFO[FIFO_First++];\

    50 	FIFO_First %= CAN_FIFO_LENGTH;\

    51 }\

    52 \

    53 static void TransmitMessage(CO_Data* d, UNS32 id)\

    54 {\

    55 	Message m;\

    56 	GetFromFIFO(&m);\

    57 	canDispatch(d, &m);\

    58 }

    59 */