canop.h

This library is Copyright (c) Raphael Zulliger <[e-mail]>. It is licensed under the GNU L

/***************************************************************************
                         canop.h  -  description
                             -------------------
    begin                : Fri May 17 2002
    copyright            : (C) 2002 by Raphael Zulliger
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library is Copyright (c) Raphael Zulliger <[e-mail]>.       *
 *   It is licensed under the GNU Library General Public License (LGPL).   *
 *                                                                         *
 ***************************************************************************/


/***************************************************************************
 *                                                                         *
 *                                                                         *
 ***************************************************************************/

#ifndef __canop_h__
#define __canop_h__

#include <def.h>
#include <general.h>
#include <init.h>

/** Sends a CAN-Message to the bus
 *  \return 1 if the message has been sent, 0 if sending of the message failed.
 */
BYTE canSend( BYTE, Message*);

/** Reads a CAN-Message from the CAN-buffer of the PIC microcontroller
 *  \return 0 if a new message has received, 1 if no new message arrived.
 */
BYTE canReceive( BYTE, Message*);

/** Sets up the CAN-Interface of the PIC microcontroller
 */
void setupCanInterface( sInitParameter* );

/** This function does nothing, because it isn't useful for microcontrollers, isn't it?
 */
void closeCanInterface( void );


typedef struct td_s_rx_buffer_message
{
	BOOL valid;				// if set to true, the message is valid: so it has been written 
							// but not yet read. if false, the message has not been written 
							// yet, or is neither valid.
	Message m;				// contains the message itself
} s_rx_buffer_message;


// this is the buffer, where all incoming can/canopen messages are stored
// a valid flag indicates wheter an entry is valid or not. if someone/thing 
// reads/processes a message it must! set the valid flag to false!

extern s_rx_buffer_message RAM canMessageRxBuffer[RX_CAN_BUFFER_SIZE];

#ifdef ARBRACAN

	// taken from arbracan
	#define MESS_BUFF_SIZE	256
	#define PRIORITY_LEVELS	8

	/* ioctl's for canboard. */
	#define SCHAR_MAJOR		91
	#define CANBOARD_IOCTL_BASE	0x7a
	#define CANBOARD_READ	_IOR(CANBOARD_IOCTL_BASE, 0, unsigned long)
	#define CANBOARD_WRITE	_IOW(CANBOARD_IOCTL_BASE, 2, unsigned long)
	#define CANBOARD_STATUS	_IOR(CANBOARD_IOCTL_BASE, 4, unsigned long)
	
	/* No blocking access in RealTime OS*/
	#define CANBOARD_READ_BLOCK	_IOR(CANBOARD_IOCTL_BASE, 1, unsigned long)
	#define CANBOARD_WRITE_BLOCK	_IOW(CANBOARD_IOCTL_BASE, 3, unsigned long)
	
	#define Rx 0
	#define Tx 1
#endif // ARBRACAN


#endif // #define __canop_h__