Mercurial Mercurial > canfestival / file revision
summary | shortlog | changelog | graph | tags | bookmarks | branches | files | changeset | file | latest | revisions | annotate | diff | comparison | raw | help
include/AVR/can_AVR.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 384 83793fc7ce48
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): Edouard TISSERANT and Francis DUPIN
AVR Port: Andreas GLAUSER and Peter CHRISTEN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __CAN_AVR__
#define __CAN_AVR__

// AVR implementation of the CANopen driver includes
// Hardware related macros and ATMEL lib can_drv
#include "config.h"
#include "can_drv.h"

// Canfestivals includes
#include "can.h"

// Number of receive MOb
#define NB_RX_MOB                       13	// minimal 8
// Number of transmit MOb
#define NB_TX_MOB                       (NB_MOB - NB_RX_MOB)

#if (NB_TX_MOB < 1)
#error define less RX Mobs, you must have at least 1 TX MOb!
#elif (NB_RX_MOB < 8)
#error define at least 8 RX MObs!
#endif

#define START_TX_MOB                    NB_RX_MOB
#define TX_INT_MSK			((0x7F << (7 - NB_TX_MOB)) & 0x7F)

/************************* To be called by user app ***************************/

unsigned char canInit(unsigned int bitrate);
unsigned char canSend(CAN_PORT notused, Message *m);
unsigned char canReceive(Message *m);
unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud);
#endif
canfestival