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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 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #ifndef __can_h__ |
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24 #define __can_h__ |
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25 /** Used for the Can message structure */ |
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26 /* |
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27 union SHORT_CAN { |
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28 struct { UNS8 b0,b1; } b; |
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29 UNS32 w; |
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30 }; |
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31 */ |
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32 |
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33 typedef struct { |
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34 UNS32 w; // 32 bits |
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35 } SHORT_CAN; |
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36 |
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37 |
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38 /** Can message structure */ |
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39 typedef struct { |
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40 SHORT_CAN cob_id; // l'ID du mesg |
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41 UNS8 rtr; // remote transmission request. 0 if not rtr, |
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42 // 1 for a rtr message |
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43 UNS8 len; // message length (0 to 8) |
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44 UNS8 data[8]; // data |
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45 } Message; |
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46 |
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47 |
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48 typedef UNS8 (*canSend_t)(Message *); |
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49 |
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50 #endif // __can_h__ |