/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/transport/can/can-net.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program 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 General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef ASEBA_CAN
#define ASEBA_CAN

#ifdef __cplusplus
extern "C" {
#endif

#include "../../common/types.h"


// Network

typedef struct
{
        uint8 data[8] __attribute__((aligned(sizeof(int)))); 
        unsigned id:11; 
        unsigned len:4; 
        unsigned used:1; 
} CanFrame;

typedef void (*AsebaCanVoidVoidFP)();

typedef int (*AsebaCanIntVoidFP)();

typedef void (*AsebaCanSendFrameFP)(const CanFrame *frame);

void AsebaCanInit(uint16 id, AsebaCanSendFrameFP sendFrameFP, AsebaCanIntVoidFP isFrameRoomFP, AsebaCanVoidVoidFP receivedPacketDroppedFP, AsebaCanVoidVoidFP sentPacketDroppedFP, CanFrame* sendQueue, size_t sendQueueSize, CanFrame* recvQueue, size_t recvQueueSize);

uint16 AsebaCanSend(const uint8 *data, size_t size);

uint16 AsebaCanSendSpecificSource(const uint8 *data, size_t size, uint16 source);

uint16 AsebaCanRecv(uint8 *data, size_t size, uint16 *source);

void AsebaCanFlushQueue(void);

void AsebaCanRecvFreeQueue(void);

// to be implemented by the glue 

void AsebaIdle(void);

uint16 AsebaShouldDropPacket(uint16 source, const uint8* data);

// to be called by data layer on interrupts

void AsebaCanFrameReceived(const CanFrame *frame);

void AsebaCanFrameSent();

uint16 AsebaCanRecvBufferEmpty(void);

#ifdef __cplusplus
}
#endif

#endif

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011