etisserant@0: /*
greg@561: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #ifndef __can_driver_h__
etisserant@0: #define __can_driver_h__
etisserant@0: 
etisserant@0: struct struct_s_BOARD;
etisserant@0: 
etisserant@0: typedef struct struct_s_BOARD s_BOARD;
etisserant@0: 
etisserant@145: #include "applicfg.h"
etisserant@0: #include "can.h"
etisserant@0: 
greg@561: /**
greg@561:  * @brief The CAN board configuration
greg@528:  * @ingroup can
greg@528:  */
greg@561: 
greg@561: //struct struct_s_BOARD {
greg@561: //  char busname[100]; /**< The bus name on which the CAN board is connected */
greg@561: //  char baudrate[4]; /**< The board baudrate */
greg@561: //};
greg@561: 
etisserant@0: struct struct_s_BOARD {
greg@561:   char * busname;  /**< The bus name on which the CAN board is connected */
greg@561:   char * baudrate; /**< The board baudrate */
etisserant@0: };
etisserant@0: 
etisserant@145: #ifndef DLL_CALL
Edouard@774: #if !defined(WIN32) || defined(__CYGWIN__) || defined(__MINGW32__)
Edouard@774: #define LIBAPI
etisserant@145: #define DLL_CALL(funcname) funcname##_driver
edouard@629: #else
hacking@728: #define LIBAPI __stdcall
edouard@629: //Windows was missing the definition of the calling convention
hacking@728: #define DLL_CALL(funcname) LIBAPI funcname##_driver
etisserant@0: #endif
hacking@644: #endif //DLL_CALL
etisserant@145: 
hacking@728: #define LIBPUBLIC
hacking@728: 
etisserant@145: #ifndef FCT_PTR_INIT
etisserant@145: #define FCT_PTR_INIT
etisserant@145: #endif
etisserant@145: 
etisserant@145: 
etisserant@145: UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;
edouard@631: UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message const *)FCT_PTR_INIT;
etisserant@145: CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;
etisserant@145: int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;
groke6@384: UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;
etisserant@145: 
etisserant@341: #if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE
etisserant@301: #include "def.h"
etisserant@301: 
etisserant@391: #define _P(fc) case fc: MSG(#fc" ");break;
etisserant@301: 
edouard@631: static inline void print_message(Message const *m)
etisserant@301: {
etisserant@301:     int i;
luis@319:     UNS8 fc;
etisserant@391:     MSG("id:%02x ", m->cob_id & 0x7F);
etisserant@365:     fc = m->cob_id >> 7;
etisserant@301:     switch(fc)
etisserant@301:     {
greg@561:         case SYNC:
etisserant@365:             if(m->cob_id == 0x080)
etisserant@391:                 MSG("SYNC ");
etisserant@314:             else
etisserant@391:                 MSG("EMCY ");
etisserant@314:         break;
groke6@381: #ifdef CO_ENABLE_LSS
groke6@381:         case LSS:
groke6@381:         	if(m->cob_id == 0x7E5)
etisserant@391:                 MSG("MLSS ");
groke6@381:             else
etisserant@391:                 MSG("SLSS ");
groke6@381:         break;
groke6@381: #endif
etisserant@301:         _P(TIME_STAMP)
etisserant@301:         _P(PDO1tx)
etisserant@301:         _P(PDO1rx)
etisserant@301:         _P(PDO2tx)
etisserant@301:         _P(PDO2rx)
etisserant@301:         _P(PDO3tx)
etisserant@301:         _P(PDO3rx)
etisserant@301:         _P(PDO4tx)
etisserant@301:         _P(PDO4rx)
etisserant@301:         _P(SDOtx)
etisserant@301:         _P(SDOrx)
etisserant@301:         _P(NODE_GUARD)
etisserant@301:         _P(NMT)
etisserant@301:     }
etisserant@301:     if( fc == SDOtx)
etisserant@301:     {
etisserant@301:         switch(m->data[0] >> 5)
etisserant@301:         {
etisserant@301:             /* scs: server command specifier */
etisserant@301:             _P(UPLOAD_SEGMENT_RESPONSE)
etisserant@301:             _P(DOWNLOAD_SEGMENT_RESPONSE)
etisserant@301:             _P(INITIATE_DOWNLOAD_RESPONSE)
etisserant@301:             _P(INITIATE_UPLOAD_RESPONSE)
etisserant@301:             _P(ABORT_TRANSFER_REQUEST)
etisserant@301:         }
etisserant@301:     }else if( fc == SDOrx)
etisserant@301:     {
etisserant@301:         switch(m->data[0] >> 5)
etisserant@301:         {
etisserant@301:             /* ccs: client command specifier */
etisserant@301:             _P(DOWNLOAD_SEGMENT_REQUEST)
etisserant@301:             _P(INITIATE_DOWNLOAD_REQUEST)
etisserant@301:             _P(INITIATE_UPLOAD_REQUEST)
etisserant@301:             _P(UPLOAD_SEGMENT_REQUEST)
etisserant@301:             _P(ABORT_TRANSFER_REQUEST)
etisserant@301:         }
etisserant@301:     }
etisserant@391:     MSG(" rtr:%d", m->rtr);
etisserant@391:     MSG(" len:%d", m->len);
etisserant@301:     for (i = 0 ; i < m->len ; i++)
etisserant@391:         MSG(" %02x", m->data[i]);
etisserant@391:     MSG("\n");
etisserant@301: }
etisserant@301: 
etisserant@145: #endif
etisserant@301: 
etisserant@301: #endif