author | etisserant |
Thu, 30 Aug 2007 17:03:34 +0200 | |
changeset 262 | f1c892f3f93c |
parent 235 | f812bf6b7237 |
child 349 | 1e6dd4ef46b9 |
permissions | -rw-r--r-- |
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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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161
c4908cc776a9
SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI)
etisserant
parents:
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diff
changeset
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#define TO_BE_SAVE 0x04 |
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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) (m.cob_id.w & 0x7f) |
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#define GET_FUNCTION_CODE(m) (m.cob_id.w >> 7) |
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#endif /* __objdictdef_h__ */ |