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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__ */