112 #define PDO4tx 0x9 |
112 #define PDO4tx 0x9 |
113 #define PDO4rx 0xA |
113 #define PDO4rx 0xA |
114 #define SDOtx 0xB |
114 #define SDOtx 0xB |
115 #define SDOrx 0xC |
115 #define SDOrx 0xC |
116 #define NODE_GUARD 0xE |
116 #define NODE_GUARD 0xE |
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117 #define LSS 0xF |
117 |
118 |
118 /* NMT Command Specifier, sent by master to change a slave state */ |
119 /* NMT Command Specifier, sent by master to change a slave state */ |
119 /* ------------------------------------------------------------- */ |
120 /* ------------------------------------------------------------- */ |
120 /* Should not be modified */ |
121 /* Should not be modified */ |
121 #define NMT_Start_Node 0x01 |
122 #define NMT_Start_Node 0x01 |
122 #define NMT_Stop_Node 0x02 |
123 #define NMT_Stop_Node 0x02 |
123 #define NMT_Enter_PreOperational 0x80 |
124 #define NMT_Enter_PreOperational 0x80 |
124 #define NMT_Reset_Node 0x81 |
125 #define NMT_Reset_Node 0x81 |
125 #define NMT_Reset_Comunication 0x82 |
126 #define NMT_Reset_Comunication 0x82 |
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127 |
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128 /** Status of the LSS transmission |
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129 */ |
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130 #define LSS_RESET 0x0 /* Transmission not started. Init state. */ |
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131 #define LSS_FINISHED 0x1 /* data are available */ |
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132 #define LSS_ABORTED_INTERNAL 0x2 /* Aborted but not because of an abort message. */ |
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133 #define LSS_TRANS_IN_PROGRESS 0x3 |
126 |
134 |
127 /* constantes used in the different state machines */ |
135 /* constantes used in the different state machines */ |
128 /* ----------------------------------------------- */ |
136 /* ----------------------------------------------- */ |
129 /* Must not be modified */ |
137 /* Must not be modified */ |
130 #define state1 0x01 |
138 #define state1 0x01 |