CO_can.h

/*
 This file is part of CanFestival, a library implementing CanOpen Stack. 

 Copyright (C): Edouard TISSERANT and Francis DUPIN

 See COPYING file for copyrights details.

 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.

 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.

 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#ifndef __can_h__
#define __can_h__

#include "applicfg.h"
#include "mcp_can.h"

/** 
 * @brief The CAN message structure 
 * @ingroup can
 */
typedef struct {
    UNS16 cob_id; /**< message's ID */
    UNS8 rtr; /**< remote transmission request. (0 if not rtr message, 1 if rtr message) */
    UNS8 len; /**< message's length (0 to 8) */
    UNS8 data[8]; /**< message's datas */
} Message;

#define Message_Initializer {0,0,0,{0,0,0,0,0,0,0,0}}

extern MCP_CAN CAN;

UNS8 canSend(Message *m);
void initCAN();

#endif /* __can_h__ */