/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

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_driver_h__
#define __can_driver_h__

struct struct_s_BOARD;

typedef struct struct_s_BOARD s_BOARD;

#include "applicfg.h"
#include "can.h"

struct struct_s_BOARD {
  char * busname;
  char * baudrate;
};

#ifndef DLL_CALL
#define DLL_CALL(funcname) funcname##_driver
#endif

#ifndef FCT_PTR_INIT
#define FCT_PTR_INIT
#endif


UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;
UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *)FCT_PTR_INIT;
CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;
int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;

#if defined DEBUG_WAR_CONSOLE_ON || defined DEBUG_ERR_CONSOLE_ON || defined NEED_PRINT_MESSAGE
#include "def.h"

#define _P(fc) case fc: printf(#fc" ");break;

static inline void print_message(Message *m)
{
    int i;
    printf("id:%02x ", m->cob_id.w & 0x7F);
    UNS8 fc = m->cob_id.w >> 7;
    switch(fc)
    {
        case SYNC: 
            if(m->cob_id.w == 0x080)
                printf("SYNC ");
            else
                printf("EMCY ");
        break;
        _P(TIME_STAMP)
        _P(PDO1tx)
        _P(PDO1rx)
        _P(PDO2tx)
        _P(PDO2rx)
        _P(PDO3tx)
        _P(PDO3rx)
        _P(PDO4tx)
        _P(PDO4rx)
        _P(SDOtx)
        _P(SDOrx)
        _P(NODE_GUARD)
        _P(NMT)
    }
    if( fc == SDOtx)
    {
        switch(m->data[0] >> 5)
        {
            /* scs: server command specifier */
            _P(UPLOAD_SEGMENT_RESPONSE)
            _P(DOWNLOAD_SEGMENT_RESPONSE)
            _P(INITIATE_DOWNLOAD_RESPONSE)
            _P(INITIATE_UPLOAD_RESPONSE)
            _P(ABORT_TRANSFER_REQUEST)
        }
    }else if( fc == SDOrx)
    {
        switch(m->data[0] >> 5)
        {
            /* ccs: client command specifier */
            _P(DOWNLOAD_SEGMENT_REQUEST)
            _P(INITIATE_DOWNLOAD_REQUEST)
            _P(INITIATE_UPLOAD_REQUEST)
            _P(UPLOAD_SEGMENT_REQUEST)
            _P(ABORT_TRANSFER_REQUEST)
        }
    }
    printf(" rtr:%d", m->rtr);
    printf(" len:%d", m->len);
    for (i = 0 ; i < m->len ; i++)
        printf(" %02x", m->data[i]);
    printf("\n");
}

#endif

#endif