1 #ifndef CANFESTIVAL_H_

     2 #define CANFESTIVAL_H_

     3 

     4 #include "timerscfg.h"

     5 #include "can_driver.h"

     6 #include "data.h"

     7 #include "timers_driver.h"

     8 

     9 

    10 /** @defgroup userapi User API */

    11 

    12 /** @defgroup can CAN management

    13  *  @ingroup userapi

    14  */

    15 

    16 /**

    17  * @brief Send a CAN message

    18  * @param port CanFestival file descriptor

    19  * @param *m The CAN message to send

    20  * @return 0 if succes

    21  */

    22 UNS8 canSend(CAN_PORT port, Message *m);

    23 

    24 /**

    25  * @ingroup can

    26  * @brief Open a CANOpen device

    27  * @param *board Pointer to the board structure that contains busname and baudrate 

    28  * @param *d Pointer to the CAN object data structure

    29  * @return

    30  *       - CanFestival file descriptor is returned upon success.

    31  *       - NULL is returned if the CANOpen board can't be opened.

    32  */

    33 CAN_PORT canOpen(s_BOARD *board, CO_Data * d);

    34 

    35 /**

    36  * @ingroup can

    37  * @brief Close a CANOpen device

    38  * @param *d Pointer to the CAN object data structure

    39  * @return

    40  *       - 0 is returned upon success.

    41  *       - errorcode if error. (if implemented)  

    42  */

    43 int canClose(CO_Data * d);

    44 

    45 /**

    46  * @ingroup can

    47  * @brief Change the CANOpen device baudrate 

    48  * @param port CanFestival file descriptor 

    49  * @param *baud The new baudrate to assign

    50  * @return

    51  *       - 0 is returned upon success or if not supported by the CAN driver.

    52  *       - errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)

    53  */

    54 UNS8 canChangeBaudRate(CAN_PORT port, char* baud);

    55 

    56 #endif