include/objdictdef.h
author etisserant
Tue, 22 Jul 2008 23:47:05 +0200
changeset 498 aae8531341df
parent 449 85f6acbb9d54
child 539 187058b4a4b8
permissions -rw-r--r--
Edward's patch fixing nmtSlave compilation with LSS enabled.
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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 __objdictdef_h__
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#define __objdictdef_h__
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/************************* CONSTANTES **********************************/
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/** this are static defined datatypes taken fCODE the canopen standard. They
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 *  are located at index 0x0001 to 0x001B. As described in the standard, they
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 *  are in the object dictionary for definition purpose only. a device does not
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 *  to support all of this datatypes.
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 */
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#define boolean         0x01
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#define int8            0x02
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#define int16           0x03
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#define int32           0x04
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#define uint8           0x05
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#define uint16          0x06
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#define uint32          0x07
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#define real32          0x08
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#define visible_string  0x09
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#define octet_string    0x0A
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#define unicode_string  0x0B
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#define time_of_day     0x0C
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#define time_difference 0x0D
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#define domain          0x0F
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#define int24           0x10
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#define real64          0x11
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#define int40           0x12
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#define int48           0x13
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#define int56           0x14
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#define int64           0x15
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#define uint24          0x16
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#define uint40          0x18
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#define uint48          0x19
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#define uint56          0x1A
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#define uint64          0x1B
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#define pdo_communication_parameter 0x20
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#define pdo_mapping                 0x21
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#define sdo_parameter               0x22
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#define identity                    0x23
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/* CanFestival is using 0x24 to 0xFF to define some types containing a 
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 value range (See how it works in objdict.c)
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 */
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/** Each entry of the object dictionary can be READONLY (RO), READ/WRITE (RW),
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 *  WRITE-ONLY (WO)
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 */
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#define RW     0x00  
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#define WO     0x01
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#define RO     0x02
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#define TO_BE_SAVE  0x04
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#define DCF_TO_SEND 0x08
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/************************ STRUCTURES ****************************/
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/** This are some structs which are neccessary for creating the entries
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 *  of the object dictionary.
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 */
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typedef struct td_subindex
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{
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    UNS8                    bAccessType;
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    UNS8                    bDataType; /* Defines of what datatype the entry is */
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    UNS8                    size;      /* The size (in Byte) of the variable */
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    void*                   pObject;   /* This is the pointer of the Variable */
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} subindex;
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/** Struct for creating entries in the communictaion profile
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 */
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typedef struct td_indextable
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{
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    subindex*   pSubindex;   /* Pointer to the subindex */
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    UNS8   bSubCount;   /* the count of valid entries for this subindex
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                         * This count here defines how many memory has been
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                         * allocated. this memory does not have to be used.
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                         */
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    UNS16   index;
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} indextable;
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typedef struct s_quick_index{
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	UNS16 SDO_SVR;
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	UNS16 SDO_CLT;
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	UNS16 PDO_RCV;
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	UNS16 PDO_RCV_MAP;
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	UNS16 PDO_TRS;
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	UNS16 PDO_TRS_MAP;
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}quick_index;
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/*typedef struct struct_CO_Data CO_Data; */
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typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex);
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typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback);
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/************************** MACROS *********************************/
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/* CANopen usefull helpers */
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#define GET_NODE_ID(m)         (UNS16_LE(m.cob_id) & 0x7f)
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#define GET_FUNCTION_CODE(m)   (UNS16_LE(m.cob_id) >> 7)
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#endif /* __objdictdef_h__ */