00001 /* 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 00003 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN 00005 00006 See COPYING file for copyrights details. 00007 00008 This library is free software; you can redistribute it and/or 00009 modify it under the terms of the GNU Lesser General Public 00010 License as published by the Free Software Foundation; either 00011 version 2.1 of the License, or (at your option) any later version. 00012 00013 This library is distributed in the hope that it will be useful, 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 Lesser General Public License for more details. 00017 00018 You should have received a copy of the GNU Lesser General Public 00019 License along with this library; if not, write to the Free Software 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00021 */ 00022 00023 #ifndef __can_h__ 00024 #define __can_h__ 00025 00026 #include "applicfg.h" 00028 /* 00029 union SHORT_CAN { 00030 struct { UNS8 b0,b1; } b; 00031 UNS32 w; 00032 }; 00033 */ 00034 00035 typedef struct { 00036 UNS32 w; /* 32 bits */ 00037 } SHORT_CAN; 00038 00039 00041 typedef struct { 00042 SHORT_CAN cob_id; /* l'ID du mesg */ 00043 UNS8 rtr; /* remote transmission request. 0 if not rtr, 00044 1 for a rtr message */ 00045 UNS8 len; /* message length (0 to 8) */ 00046 UNS8 data[8]; /* data */ 00047 } Message; 00048 00049 #define Message_Initializer {0,0,0,{0,0,0,0,0,0,0,0}} 00050 00051 typedef UNS8 (*canSend_t)(Message *); 00052 00053 #endif /* __can_h__ */
1.5.1