etisserant@145: #ifndef UNIX_H_
etisserant@145: #define UNIX_H_
etisserant@145: 
etisserant@251: #ifdef __cplusplus
etisserant@251: extern "C" {
etisserant@251: #endif
etisserant@251: 
etisserant@145: #include "timerscfg.h"
etisserant@145: #include "can_driver.h"
etisserant@145: #include "data.h"
etisserant@167: #include "timers_driver.h"
greg@329: 
etisserant@391: #ifndef __KERNEL__
etisserant@145: #include <dlfcn.h>
etisserant@391: #endif
etisserant@391: 
etisserant@145: typedef void* LIB_HANDLE;
etisserant@145: 
greg@528: /** @defgroup userapi User API */
greg@528: 
greg@528: /** @defgroup can CAN management
greg@528:  *  @ingroup userapi
greg@528:  */
greg@528: 
greg@528: /**
greg@528:  * @ingroup can
greg@528:  * @brief Unload CAN driver interface
greg@528:  * @param handle The library handle
greg@561:  * @return
greg@561:  *       -  0 is returned upon success.
greg@561:  *       - -1 is returned if the CAN driver interface can't be unloaded.
greg@528:  */
etisserant@145: UNS8 UnLoadCanDriver(LIB_HANDLE handle);
greg@528: 
greg@528: /**
greg@528:  * @ingroup can
greg@561:  * @brief Load CAN driver interface.
greg@528:  * @param *driver_name The location of the library to load
greg@561:  * @return
greg@561:  *       - handle of the CAN driver interface is returned upon success.
greg@561:  *       - NULL is returned if the CAN driver interface can't be loaded.
greg@528:  */
etisserant@480: LIB_HANDLE LoadCanDriver(const char* driver_name);
greg@528: 
greg@528: /**
greg@528:  * @brief Send a CAN message
greg@528:  * @param port CanFestival file descriptor
greg@561:  * @param *m The CAN message to send
greg@528:  * @return 0 if succes
greg@528:  */
etisserant@145: UNS8 canSend(CAN_PORT port, Message *m);
greg@528: 
greg@528: /**
greg@528:  * @ingroup can
greg@561:  * @brief Open a CANOpen device
greg@561:  * @param *board Pointer to the board structure that contains busname and baudrate 
greg@561:  * @param *d Pointer to the CAN object data structure
greg@561:  * @return
greg@561:  *       - CanFestival file descriptor is returned upon success.
greg@561:  *       - NULL is returned if the CANOpen board can't be opened.
greg@528:  */
etisserant@145: CAN_PORT canOpen(s_BOARD *board, CO_Data * d);
greg@528: 
greg@528: /**
greg@528:  * @ingroup can
greg@561:  * @brief Close a CANOpen device
greg@561:  * @param *d Pointer to the CAN object data structure
greg@561:  * @return
greg@561:  *       - 0 is returned upon success.
greg@561:  *       - errorcode if error. (if implemented)  
greg@528:  */
etisserant@149: int canClose(CO_Data * d);
greg@528: 
greg@528: /**
greg@528:  * @ingroup can
greg@561:  * @brief Change the CANOpen device baudrate 
greg@528:  * @param port CanFestival file descriptor 
greg@528:  * @param *baud The new baudrate to assign
greg@561:  * @return
greg@561:  *       - 0 is returned upon success or if not supported by the CAN driver.
greg@561:  *       - errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)
greg@528:  */
groke6@384: UNS8 canChangeBaudRate(CAN_PORT port, char* baud);
greg@561: 
greg@528: 
etisserant@145: 
etisserant@251: #ifdef __cplusplus
etisserant@251: };
etisserant@251: #endif
etisserant@251: 
etisserant@145: #endif /*UNIX_H_*/