include/def.h
author fbeaulier
Mon, 29 Aug 2011 17:31:55 +0200
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parent 664 a03f0aa7d219
child 675 e5c5101c4f0b
permissions -rw-r--r--
patch from Christian Taedcke <hacking@taedcke.com> : fix-wrong-resetSDOline-for-sdo-timeout.patch
FIXED: - The sdo line must not be closed at the end of SDOTimeoutAlarm() if the same sdo line is closed and reopened for a new transfer inside the callback. (Patch from Jaroslav Fojtik)
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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_RANGE_EXCEEDED      0x06090030 /* Value range test result */
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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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#ifndef TRUE
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#define TRUE  1
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#endif
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#ifndef FALSE
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#define FALSE 0
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#endif
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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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#define	SDO_BLOCK_DOWNLOAD_IN_PROGRESS 0x4 
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#define	SDO_BLOCK_UPLOAD_IN_PROGRESS   0x5
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/** getReadResultNetworkDict may return any of above status value or this one
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 */
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#define SDO_PROVIDED_BUFFER_TOO_SMALL   0x8A
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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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/* SDOrx ccs: client command specifier */
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#define DOWNLOAD_SEGMENT_REQUEST     0
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#define INITIATE_DOWNLOAD_REQUEST    1
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#define INITIATE_UPLOAD_REQUEST      2
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#define UPLOAD_SEGMENT_REQUEST       3
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#define ABORT_TRANSFER_REQUEST       4
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#define BLOCK_UPLOAD_REQUEST         5
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#define BLOCK_DOWNLOAD_REQUEST       6
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/* SDOtx scs: server command specifier */
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#define UPLOAD_SEGMENT_RESPONSE      0
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#define DOWNLOAD_SEGMENT_RESPONSE    1
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#define INITIATE_DOWNLOAD_RESPONSE   3
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#define INITIATE_UPLOAD_RESPONSE     2
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#define ABORT_TRANSFER_REQUEST       4
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#define BLOCK_DOWNLOAD_RESPONSE    	 5
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#define BLOCK_UPLOAD_RESPONSE        6
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/* SDO block upload client subcommand */
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#define SDO_BCS_INITIATE_UPLOAD_REQUEST 0
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#define SDO_BCS_END_UPLOAD_REQUEST      1
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#define SDO_BCS_UPLOAD_RESPONSE         2
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#define SDO_BCS_START_UPLOAD            3
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/* SDO block upload server subcommand */
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#define SDO_BSS_INITIATE_UPLOAD_RESPONSE 0
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#define SDO_BSS_END_UPLOAD_RESPONSE      1
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/* SDO block download client subcommand */
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#define SDO_BCS_INITIATE_DOWNLOAD_REQUEST 0
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#define SDO_BCS_END_DOWNLOAD_REQUEST      1
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/* SDO block download server subcommand */
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#define SDO_BSS_INITIATE_DOWNLOAD_RESPONSE 0
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#define SDO_BSS_END_DOWNLOAD_RESPONSE      1
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#define SDO_BSS_DOWNLOAD_RESPONSE          2
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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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#define LSS 	   0xF
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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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/** Status of the LSS transmission
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 */
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#define LSS_RESET                0x0      /* Transmission not started. Init state. */
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#define LSS_FINISHED             0x1      /* data are available */                          
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#define	LSS_ABORTED_INTERNAL     0x2     /* Aborted but not because of an abort message. */
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#define	LSS_TRANS_IN_PROGRESS 	 0x3    
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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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