general.h

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

/***************************************************************************
                          general.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).   *
 *                                                                         *
 ***************************************************************************/


/** \file
 *  \brief Contains general functions for handling CANopen messages.
 *
 *  The functions in this file helps the other functions to perform general
 *  can/canopen related things such as analysing all received can-messages
 *  and sending them to the correct function (nmt-processor, pdo-processor,
 *  ...
 */

#ifndef __general_h__
#define __general_h__

#include <def.h>


// Typedefs and datatypes used to store incomming can-messages. code was
//  taken from arbracan (arbracan.sourceforge.net)

/** Union short. (taken from CanFestival)
 */
typedef union td_u_short {
                struct { BYTE b0,b1; } b;
                WORD w;
} SHORT;

/** incoming and outgoing messages are stored in this datatype. this datatype
 *  was taken from CanFestival
 */
typedef struct td_s_message {
        /** CAN-id of the received/transmitted message
         */
        SHORT cob_id;
        /** sets rtr flag or not
         */
        BYTE rtr;
        /** defines count of valid data in the data-array

         */
        BYTE len;
        /** contains the data to send/receive. Datalength is up to 8 byte
         */
        BYTE data[8];
} Message;


/** proccessRxCanMessages processes 5 messages from the queue. before the messages are 
 *  processed by proccessRxCanMessages, they are stored in an receivebuffer 
 *  (by interrupt). the size of this buffer can be specified here: maximum size: 256! 
 */
#define RX_CAN_BUFFER_SIZE  5

/** this is the maximum of messages which will be processed by one call
 *  of Process_remoteRecv_PDO. this makes sure, the application has enough
 *  time to do its job.                                   
 */
#define MAX_CAN_MESSAGE_ANALYSE 5

/** this function calles readRxBuffer( ), which reads all arrived can-message
 *  from the can-controller( if there's empty space to but the data in the 
 *  buffer). then this function analyses every of the received CAN-message
 *  (up to MAX_CAN_MESSAGE_ANALYSE). analysing means: it checks wheter the 
 *  message is a NMT, PDO, SDO, ... and sends the message to the correct 
 *  function, which does the rest.
 */
void proccessRxCanMessages( void );

#endif // __general_h__