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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): Cosateq GmbH & Co.KG |
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5 http://www.cosateq.com/ |
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6 http://www.scale-rt.com/ |
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7 |
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8 See COPYING file for copyrights details. |
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9 |
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10 This library is free software; you can redistribute it and/or |
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11 modify it under the terms of the GNU Lesser General Public |
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12 License as published by the Free Software Foundation; either |
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13 version 2.1 of the License, or (at your option) any later version. |
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14 |
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15 This library is distributed in the hope that it will be useful, |
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16 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 Lesser General Public License for more details. |
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19 |
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20 You should have received a copy of the GNU Lesser General Public |
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21 License along with this library; if not, write to the Free Software |
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22 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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23 */ |
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24 |
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25 /* |
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26 CAN driver interface for CO-PCICAN card. |
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27 */ |
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28 |
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29 #ifndef _CO_PCICANOPS_ |
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30 #define _CO_PCICANOPS_ |
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31 |
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32 #define NUM_CAN_CHANNELS 4 |
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33 |
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34 #define CMDQ_OPC_ENTER_RUN_MODE 0x01 |
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35 #define CMDQ_OPC_ENTER_CONFIG_MODE 0x02 |
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36 #define CMDQ_OPC_SET_CONFIG_CHANNEL 0xA2 |
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37 |
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38 typedef struct |
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39 { |
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40 unsigned char opcode; |
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41 unsigned long param[15]; |
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42 } co_pcican_config_t; |
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43 |
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44 typedef struct |
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45 { |
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46 unsigned char channelnum; |
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47 unsigned long type; |
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48 unsigned long size; |
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49 unsigned long id; |
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50 unsigned char data[8]; |
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51 unsigned long timestamp_lo; |
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52 unsigned long timestamp_hi; |
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53 } co_pcican_message_t; |
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54 |
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55 /*============================================================================= |
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56 supported operations |
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57 ===========================================================================*/ |
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58 #define CAN_CONFIG 2 |
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59 #define CAN_WRITE 3 |
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60 #define CAN_READ 4 |
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61 |
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62 /*============================================================================= |
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63 directions |
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64 ===========================================================================*/ |
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65 #define RX 0 |
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66 #define TX 1 |
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67 |
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68 /*============================================================================= |
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69 supported types |
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70 ===========================================================================*/ |
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71 #define MSG_EXT 0x00000001 |
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72 #define MSG_RTR 0x00000002 |
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73 |
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74 |
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75 |
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76 #endif |
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77 |