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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library 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 GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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#ifndef __def_h__

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#define __def_h__

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#include "config.h"

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/** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48)

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 */

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#define OD_SUCCESSFUL 	             0x00000000

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#define OD_READ_NOT_ALLOWED          0x06010001

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#define OD_WRITE_NOT_ALLOWED         0x06010002

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#define OD_NO_SUCH_OBJECT            0x06020000

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#define OD_NOT_MAPPABLE              0x06040041

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#define OD_LENGTH_DATA_INVALID       0x06070010

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#define OD_NO_SUCH_SUBINDEX 	     0x06090011

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#define OD_VALUE_TOO_LOW             0x06090031 /* Value range test result */

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#define OD_VALUE_TOO_HIGH            0x06090032 /* Value range test result */

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/* Others SDO abort codes 

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 */

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#define SDOABT_TOGGLE_NOT_ALTERNED   0x05030000

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#define SDOABT_TIMED_OUT             0x05040000

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#define SDOABT_OUT_OF_MEMORY         0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */

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#define SDOABT_GENERAL_ERROR         0x08000000 /* Error size of SDO message */

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#define SDOABT_LOCAL_CTRL_ERROR      0x08000021 

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/******************** CONSTANTS ****************/

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/** Constantes which permit to define if a PDO frame

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   is a request one or a data one

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*/

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/* Should not be modified */

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#define REQUEST 1

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#define NOT_A_REQUEST 0

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/// Misc constants

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// --------------

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/* Should not be modified */

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#define Rx 0

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#define Tx 1

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#define TRUE  1

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#define FALSE 0

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//TODO: remove this limitation. do bit granularity mapping

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#define PDO_MAX_LEN 8    

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/** Status of the SDO transmission

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 */

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#define SDO_RESET                0x0      // Transmission not started. Init state.

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#define SDO_FINISHED             0x1      // data are available                            

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#define	SDO_ABORTED_RCV          0x80     // Received an abort message. Data not available 

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#define	SDO_ABORTED_INTERNAL     0x85     // Aborted but not because of an abort message.

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#define	SDO_DOWNLOAD_IN_PROGRESS 0x2 

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#define	SDO_UPLOAD_IN_PROGRESS   0x3   

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// Status of the node during the SDO transfert :

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#define SDO_SERVER  0x1

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#define SDO_CLIENT  0x2

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#define SDO_UNKNOWN 0x3             

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/*  Function Codes 

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  --------------- 

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  defined in the canopen DS301 

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*/

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#define NMT	   0x0

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#define SYNC       0x1

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#define TIME_STAMP 0x2

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#define PDO1tx     0x3

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#define PDO1rx     0x4

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#define PDO2tx     0x5

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#define PDO2rx     0x6

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#define PDO3tx     0x7

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#define PDO3rx     0x8

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#define PDO4tx     0x9

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#define PDO4rx     0xA

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#define SDOtx      0xB

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#define SDOrx      0xC

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#define NODE_GUARD 0xE

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/// NMT Command Specifier, sent by master to change a slave state

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// -------------------------------------------------------------

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/* Should not be modified */

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#define NMT_Start_Node              0x01

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#define NMT_Stop_Node               0x02

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#define NMT_Enter_PreOperational    0x80

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#define NMT_Reset_Node              0x81

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#define NMT_Reset_Comunication      0x82

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/// constantes used in the different state machines

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// -----------------------------------------------

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/* Must not be modified */

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#define state1  0x01

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#define state2  0x02

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#define state3  0x03

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#define state4  0x04

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#define state5  0x05

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#define state6  0x06

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#define state7  0x07

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#define state8  0x08

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#define state9  0x09

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#define state10 0x0A

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#define state11 0x0B

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#endif // __def_h__

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