1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

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

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

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

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

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

    19

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

    20

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

    21

*/

    22

    23

#ifndef __objdictdef_h__

    24

#define __objdictdef_h__

    25

    26

/************************* CONSTANTES **********************************/

    27

/** this are static defined datatypes taken fCODE the canopen standard. They

    28

 *  are located at index 0x0001 to 0x001B. As described in the standard, they

    29

 *  are in the object dictionary for definition purpose only. a device does not

    30

 *  to support all of this datatypes.

    31

 */

    32

#define boolean         0x01

    33

#define int8            0x02

    34

#define int16           0x03

    35

#define int32           0x04

    36

#define uint8           0x05

    37

#define uint16          0x06

    38

#define uint32          0x07

    39

#define real32          0x08

    40

#define visible_string  0x09

    41

#define octet_string    0x0A

    42

#define unicode_string  0x0B

    43

#define time_of_day     0x0C

    44

#define time_difference 0x0D

    45

    46

#define domain          0x0F

    47

#define int24           0x10

    48

#define real64          0x11

    49

#define int40           0x12

    50

#define int48           0x13

    51

#define int56           0x14

    52

#define int64           0x15

    53

#define uint24          0x16

    54

    55

#define uint40          0x18

    56

#define uint48          0x19

    57

#define uint56          0x1A

    58

#define uint64          0x1B

    59

    60

#define pdo_communication_parameter 0x20

    61

#define pdo_mapping                 0x21

    62

#define sdo_parameter               0x22

    63

#define identity                    0x23

    64

    65

/* CanFestival is using 0x24 to 0xFF to define some types containing a 

    66

 value range (See how it works in objdict.c)

    67

 */

    68

    69

    70

/** Each entry of the object dictionary can be READONLY (RO), READ/WRITE (RW),

    71

 *  WRITE-ONLY (WO)

    72

 */

    73

#define RW     0x00  

    74

#define WO     0x01

    75

#define RO     0x02

    76

    77

#define TO_BE_SAVE  0x04

    78

#define DCF_TO_SEND 0x08

    79

    80

/************************ STRUCTURES ****************************/

    81

/** This are some structs which are neccessary for creating the entries

    82

 *  of the object dictionary.

    83

 */

    84

typedef struct td_subindex

    85

{

    86

    UNS8                    bAccessType;

    87

    UNS8                    bDataType; /* Defines of what datatype the entry is */

    88

    UNS32                   size;      /* The size (in Byte) of the variable */

    89

    void*                   pObject;   /* This is the pointer of the Variable */

    90

} subindex;

    91

    92

/** Struct for creating entries in the communictaion profile

    93

 */

    94

typedef struct td_indextable

    95

{

    96

    subindex*   pSubindex;   /* Pointer to the subindex */

    97

    UNS8   bSubCount;   /* the count of valid entries for this subindex

    98

                         * This count here defines how many memory has been

    99

                         * allocated. this memory does not have to be used.

   100

                         */

   101

    UNS16   index;

   102

} indextable;

   103

   104

typedef struct s_quick_index{

   105

	UNS16 SDO_SVR;

   106

	UNS16 SDO_CLT;

   107

	UNS16 PDO_RCV;

   108

	UNS16 PDO_RCV_MAP;

   109

	UNS16 PDO_TRS;

   110

	UNS16 PDO_TRS_MAP;

   111

}quick_index;

   112

   113

   114

/*typedef struct struct_CO_Data CO_Data; */

   115

typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex);

   116

typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback);

   117

   118

/************************** MACROS *********************************/

   119

   120

/* CANopen usefull helpers */

   121

#define GET_NODE_ID(m)         (UNS16_LE(m.cob_id) & 0x7f)

   122

#define GET_FUNCTION_CODE(m)   (UNS16_LE(m.cob_id) >> 7)

   123

   124

#endif /* __objdictdef_h__ */