can-net.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2012:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program 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, version 3 of the License.
        
        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 Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser 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