bcs_can.h

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/*
* Copyright (c) 2008-2011 Marius Zwicker / Elefant Racing Bayreuth. 
* All rights reserved.
*
* @ERB_OPEN_LICENSE_HEADER_START@
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
* 
*     http://www.apache.org/licenses/LICENSE-2.0
* 
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*      http://www.elefantracing.de
*
* @ERB_OPEN_LICENSE_HEADER_END@
*/

#ifndef FR9BCS_CAN_H_
#define FR9BCS_CAN_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "bcs_general.h"

typedef UInt32 BCS_canmsg_id;

#define BCS_CAN_ECU "/dev/can0"

#define BCS_CAN_BOARD "/dev/can1"

#define BCS_CAN_MSG_LENGTH 8

typedef struct {
       int                         flags; 
       int                                cob; 
       BCS_canmsg_id        id; 
       UInt16                      length; 
       UInt8                       data[BCS_CAN_MSG_LENGTH]; 
} BCS_canmsg;

typedef enum {
       BCS_CAN_NONE, 
       BCS_CAN_NOWAIT 
} BCS_CAN_Flag;

BCS_ERROR BCS_CAN_open(BCS_canport* fd, const char * port, BCS_CAN_Flag f);

// for simulator functions
#define _MESSAGEIN 1
#define _MESSAGEOUT 2
// private methods
BCS_ERROR _BCS_CAN_read(BCS_canport* filedescriptor, BCS_canmsg * data, long flag);
BCS_ERROR _BCS_CAN_write(BCS_canport* filedescriptor, BCS_canmsg * data, long flag);

static inline BCS_ERROR BCS_CAN_read(BCS_canport* fd, BCS_canmsg * dt) {
       return _BCS_CAN_read(fd, dt, _MESSAGEIN);
}
       
static inline BCS_ERROR _SIM_CAN_read(BCS_canport* fd, BCS_canmsg * dt) {
       return _BCS_CAN_read(fd, dt, _MESSAGEOUT);
}

static inline BCS_ERROR BCS_CAN_write(BCS_canport* fd, BCS_canmsg * dt) {
       return _BCS_CAN_write(fd, dt, _MESSAGEOUT);
}

static inline BCS_ERROR _SIM_CAN_write(BCS_canport* fd, BCS_canmsg * dt) {
       return _BCS_CAN_write(fd, dt, _MESSAGEIN);
}
       
#undef _MESSAGEIN
#undef _MESSAGEOUT

BCS_ERROR BCS_CAN_close(BCS_canport* filedescriptor);

#ifdef __cplusplus
}
#endif

#endif /* FR9BCS_CAN_H_ */