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50 lines
1.5 KiB
C
50 lines
1.5 KiB
C
/*
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* This file is part of the stepper project.
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* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef CANBUS_H__
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#define CANBUS_H__
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#include <stdint.h>
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#ifndef T_POLLING_TMOUT
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#define T_POLLING_TMOUT (0.01)
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#endif
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typedef struct{
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uint32_t timemark; // time since MCU run (ms)
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uint16_t ID; // 11-bit identifier
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uint8_t data[8]; // up to 8 bit data, data[0] is lowest
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uint8_t len; // data length
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} CANmesg;
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// main (necessary) functions of canbus.c:
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void canbus_close();
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int canbus_open(const char *devname);
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int canbus_write(CANmesg *mesg);
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int canbus_read(CANmesg *mesg);
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int canbus_setspeed(int speed);
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void canbus_clear();
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// auxiliary (not necessary) functions
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void setserialspeed(int speed);
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void showM(CANmesg *m);
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CANmesg *parseCANmesg(const char *str);
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int canbus_disconnected();
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#endif // CANBUS_H__
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