CAN management
[User API]

Collaboration diagram for CAN management:

Data Structures
struct	Message
	The CAN message structure. More...
struct	struct_s_BOARD
	The CAN board configuration. More...
Functions
UNS8	UnLoadCanDriver (LIB_HANDLE handle)
	Unload CAN driver interface.
LIB_HANDLE	LoadCanDriver (const char *driver_name)
	Load CAN driver interface.
CAN_PORT	canOpen (s_BOARD *board, CO_Data *d)
	Open a CANOpen device.
int	canClose (CO_Data *d)
	Close a CANOpen device.
UNS8	canChangeBaudRate (CAN_PORT port, char *baud)
	Change the CANOpen device baudrate.

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Function Documentation

UNS8 canChangeBaudRate	(	CAN_PORT	port,
		char *	baud
	)

Change the CANOpen device baudrate.

Parameters:

	port	CanFestival file descriptor
	*baud	The new baudrate to assign

Returns:

• 0 is returned upon success or if not supported by the CAN driver.
• errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)

CAN change baudrate routine

Parameters:

	port	CAN port
	baud	baudrate

Returns:

success or error

Definition at line 231 of file unix.c.

References canChangeBaudRate().

Referenced by canChangeBaudRate(), and LoadCanDriver().

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int canClose

(

CO_Data *

d

)

Close a CANOpen device.

Parameters:

*d

Pointer to the CAN object data structure

Returns:

• 0 is returned upon success.
• errorcode if error. (if implemented)

CAN close routine

Parameters:

d

CAN object data

Returns:

success or error

Definition at line 207 of file unix.c.

References canClose(), struct_CO_Data::canHandle, EnterMutex(), and LeaveMutex().

Referenced by canClose(), and LoadCanDriver().

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CAN_PORT canOpen	(	s_BOARD *	board,
		CO_Data *	d
	)

Open a CANOpen device.

Parameters:

	*board	Pointer to the board structure that contains busname and baudrate
	*d	Pointer to the CAN object data structure

Returns:

• CanFestival file descriptor is returned upon success.
• NULL is returned if the CANOpen board can't be opened.

CAN open routine

Parameters:

	board	device name and baudrate
	d	CAN object data

Returns:

valid CAN_PORT pointer or NULL

Definition at line 173 of file unix.c.

References struct_s_BOARD::baudrate, struct_s_BOARD::busname, struct_CO_Data::canHandle, canOpen(), EnterMutex(), and LeaveMutex().

Referenced by canOpen(), and LoadCanDriver().

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LIB_HANDLE LoadCanDriver

(

const char *

driver_name

)

Load CAN driver interface.

Parameters:

*driver_name

The location of the library to load

Returns:

• handle of the CAN driver interface is returned upon success.
• NULL is returned if the CAN driver interface can't be loaded.

Loads the dll and get funcs ptr

Parameters:

driver_name

String containing driver's dynamic library name

Returns:

Library handle

Definition at line 94 of file unix.c.

References canChangeBaudRate(), canClose(), and canOpen().

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UNS8 UnLoadCanDriver

(

LIB_HANDLE

handle

)

Unload CAN driver interface.

Parameters:

handle

The library handle

Returns:

• 0 is returned upon success.
• -1 is returned if the CAN driver interface can't be unloaded.

Definition at line 76 of file unix.c.