include/none/canfestival.h
author fbeaulier
Tue, 16 Aug 2011 14:15:52 +0200
changeset 663 70fc3603e36f
parent 619 96f84395154f
permissions -rw-r--r--
timers_unix.c : remove sigint and sigterm catch
sdo : Allow multiple servers
The sdo transfer struct is not anymore referenced by server's node id but by
client or server number in the OD. Node id is not relevant in SDO transfert.
#ifndef CANFESTIVAL_H_
#define CANFESTIVAL_H_

#include "timerscfg.h"
#include "can_driver.h"
#include "data.h"
#include "timers_driver.h"

typedef void* LIB_HANDLE;

/** @defgroup userapi User API */

/** @defgroup can CAN management
 *  @ingroup userapi
 */
/**
 * @ingroup can
 * @brief Load CAN driver interface.
 * @param *driver_name The location of the library to load
 * @return
 *       - handle of the CAN driver interface is returned upon success.
 *       - NULL is returned if the CAN driver interface can't be loaded.
 */
#define LoadCanDriver(driver_name) 1

/**
 * @brief Send a CAN message
 * @param port CanFestival file descriptor
 * @param *m The CAN message to send
 * @return 0 if succes
 */
UNS8 canSend(CAN_PORT port, Message *m);

/**
 * @ingroup can
 * @brief Open a CANOpen device
 * @param *board Pointer to the board structure that contains busname and baudrate 
 * @param *d Pointer to the CAN object data structure
 * @return
 *       - CanFestival file descriptor is returned upon success.
 *       - NULL is returned if the CANOpen board can't be opened.
 */
CAN_PORT canOpen(s_BOARD *board, CO_Data * d);

/**
 * @ingroup can
 * @brief Close a CANOpen device
 * @param *d Pointer to the CAN object data structure
 * @return
 *       - 0 is returned upon success.
 *       - errorcode if error. (if implemented)  
 */
int canClose(CO_Data * d);

/**
 * @ingroup can
 * @brief Change the CANOpen device baudrate 
 * @param port CanFestival file descriptor 
 * @param *baud The new baudrate to assign
 * @return
 *       - 0 is returned upon success or if not supported by the CAN driver.
 *       - errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)
 */
UNS8 canChangeBaudRate(CAN_PORT port, char* baud);

#endif