CanFestival: examples/TestMasterSlave/TestMasterSlave.h Source File

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 #ifdef USE_XENO
nico@215: 00023 //#define eprintf(...) if(0){}
nico@215: 00024 #define eprintf(...)
nico@215: 00025 #else
nico@215: 00026 #define eprintf(...) printf (__VA_ARGS__)
nico@215: 00027 #endif
nico@215: 00028 void print_message(Message *m);
nico@215: 00029 
nico@215: 00030 /*UNS8 canSend(CAN_HANDLE fd0, Message *m);*/
nico@215: 00031 
nico@215: 00032 #include "canfestival.h"
nico@215: 00033 
nico@215: 00034 /*
nico@215: 00035 #define CAN_FIFO_LENGTH 100
nico@215: 00036 
nico@215: 00037 #define DECLARE_A_CAN_FIFO \
nico@215: 00038 static Message FIFO[CAN_FIFO_LENGTH];\
nico@215: 00039 static int FIFO_First = 0;\
nico@215: 00040 static int FIFO_Last = 0;\
nico@215: 00041 \
nico@215: 00042 static void PutInFIFO(Message *m)\
nico@215: 00043 {\
nico@215: 00044         FIFO[FIFO_Last++] = *m;\
nico@215: 00045         FIFO_Last %= CAN_FIFO_LENGTH;\
nico@215: 00046 }\
nico@215: 00047 \
nico@215: 00048 static void GetFromFIFO(Message *m)\
nico@215: 00049 {\
nico@215: 00050         *m = FIFO[FIFO_First++];\
nico@215: 00051         FIFO_First %= CAN_FIFO_LENGTH;\
nico@215: 00052 }\
nico@215: 00053 \
nico@215: 00054 static void TransmitMessage(CO_Data* d, UNS32 id)\
nico@215: 00055 {\
nico@215: 00056         Message m;\
nico@215: 00057         GetFromFIFO(&m);\
nico@215: 00058         canDispatch(d, &m);\
nico@215: 00059 }
nico@215: 00060 */
nico@215: