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 *
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 *
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 * Stores a CAN message frame. Flags that are unsupported have been
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 * Stores a CAN message frame. Flags that are unsupported have been
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 * excluded (RTR and standard id).
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 * excluded (RTR and standard id).
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 */
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 */
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typedef struct {
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typedef struct {
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    union {
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    unsigned long Id; /**< CAN extended ID (29 bits). */
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        uint32_t Id;    /**< CAN extended ID (29 bits). */
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        struct {
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            uint8_t Command;
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            uint8_t ModuleId;
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            uint8_t ModuleType;
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            uint8_t ClassAndDirection;
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        } Header;
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    };
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    char Length; /**< Data length [0,8]. */
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    char Length; /**< Data length [0,8]. */
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    unsigned char Data[8]; /**< Data array. Only the first \c Length elements are valid. */
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    unsigned char Data[8]; /**< Data array. Only the first \c Length elements are valid. */
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#if (STDCAN_FILTER)
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#if (STDCAN_FILTER)
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    unsigned char Match; /**< Filter id that matched this message. */
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    unsigned char Match; /**< Filter id that matched this message. */
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#endif
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#endif
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} StdCan_Msg_t;
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} StdCan_Msg_t;
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/**
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 * @brief Node descriptor.
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 *
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 * Describes the node and the application running on it.
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#define StdCan_Ret_class(MSG) ((MSG.Header.ClassAndDirection >> 1) & 0x0F)
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 * TODO: Discuss the purpose and layout of Node_Desc_t.
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 */
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typedef struct {
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    unsigned short Type; /**< Application type (documented elsewhere). */
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#define StdCan_Set_class(MSG, CLASS) MSG.Header.ClassAndDirection &= 0x01; MSG.Header.ClassAndDirection |= (CLASS << 1);
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    unsigned short Version; /**< Application version number (application defined). */
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#define StdCan_Ret_direction(MSG) (MSG.Header.ClassAndDirection & 0x01)
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    unsigned char Id; /**< Node ID. */
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} Node_Desc_t;
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//(why have constats passed as parameters? they are defined at compiletime /arune)
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#define StdCan_Set_direction(MSG, DIR) MSG.Header.ClassAndDirection &= 0xfe; MSG.Header.ClassAndDirection |= DIR;
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/**
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/**
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 * @brief Initialize StdCan.
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 * @brief Initialize StdCan.
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 *
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 *
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 * Initializes the StdCan and lower layers and sends an Application Startup
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 * Initializes the StdCan and lower layers and sends an Application Startup
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 * Message.
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 * Message.
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 *
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 *
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 * @param node_desc
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 *      Pointer to node descriptor, containing information about the type and
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 *      version of the application that should be announced in startup and
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 *      heartbeat messages.
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 */
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 */
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StdCan_Ret_t StdCan_Init(Node_Desc_t* node_desc);
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StdCan_Ret_t StdCan_Init();
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/**
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/**
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 * @brief Get a message.
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 * @brief Get a message.
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 *
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 *
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 * Retrieves a message from the receive queue.
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 * Retrieves a message from the receive queue.