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canop.h

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/***************************************************************************
                         canop.h  -  description
                             -------------------
    begin                : Fri May 17 2002
    copyright            : (C) 2002 by Raphael Zulliger
    email                : zulli@hsr.ch
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library is Copyright (c) Raphael Zulliger <zulli@gmx.net>.       *
 *   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>

BYTE canSend( BYTE notused, Message* m);

BYTE canReceive( BYTE notused, Message* m);

void setupCanInterface( sInitParameter* pParameter );

void closeCanInterface( void );

typedef struct
{
    BOOL valid;             
    Message m;
} s_rx_buffer_message;


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__

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