73 #define SDO_FINISHED 0x1 /* data are available */ |
73 #define SDO_FINISHED 0x1 /* data are available */ |
74 #define SDO_ABORTED_RCV 0x80 /* Received an abort message. Data not available */ |
74 #define SDO_ABORTED_RCV 0x80 /* Received an abort message. Data not available */ |
75 #define SDO_ABORTED_INTERNAL 0x85 /* Aborted but not because of an abort message. */ |
75 #define SDO_ABORTED_INTERNAL 0x85 /* Aborted but not because of an abort message. */ |
76 #define SDO_DOWNLOAD_IN_PROGRESS 0x2 |
76 #define SDO_DOWNLOAD_IN_PROGRESS 0x2 |
77 #define SDO_UPLOAD_IN_PROGRESS 0x3 |
77 #define SDO_UPLOAD_IN_PROGRESS 0x3 |
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78 #define SDO_BLOCK_DOWNLOAD_IN_PROGRESS 0x4 |
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79 #define SDO_BLOCK_UPLOAD_IN_PROGRESS 0x5 |
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80 |
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81 /** getReadResultNetworkDict may return any of above status value or this one |
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82 */ |
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83 #define SDO_PROVIDED_BUFFER_TOO_SMALL 0x8A |
78 |
84 |
79 /* Status of the node during the SDO transfert : */ |
85 /* Status of the node during the SDO transfert : */ |
80 #define SDO_SERVER 0x1 |
86 #define SDO_SERVER 0x1 |
81 #define SDO_CLIENT 0x2 |
87 #define SDO_CLIENT 0x2 |
82 #define SDO_UNKNOWN 0x3 |
88 #define SDO_UNKNOWN 0x3 |
85 #define DOWNLOAD_SEGMENT_REQUEST 0 |
91 #define DOWNLOAD_SEGMENT_REQUEST 0 |
86 #define INITIATE_DOWNLOAD_REQUEST 1 |
92 #define INITIATE_DOWNLOAD_REQUEST 1 |
87 #define INITIATE_UPLOAD_REQUEST 2 |
93 #define INITIATE_UPLOAD_REQUEST 2 |
88 #define UPLOAD_SEGMENT_REQUEST 3 |
94 #define UPLOAD_SEGMENT_REQUEST 3 |
89 #define ABORT_TRANSFER_REQUEST 4 |
95 #define ABORT_TRANSFER_REQUEST 4 |
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96 #define BLOCK_UPLOAD_REQUEST 5 |
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97 #define BLOCK_DOWNLOAD_REQUEST 6 |
90 |
98 |
91 /* SDOtx scs: server command specifier */ |
99 /* SDOtx scs: server command specifier */ |
92 #define UPLOAD_SEGMENT_RESPONSE 0 |
100 #define UPLOAD_SEGMENT_RESPONSE 0 |
93 #define DOWNLOAD_SEGMENT_RESPONSE 1 |
101 #define DOWNLOAD_SEGMENT_RESPONSE 1 |
94 #define INITIATE_DOWNLOAD_RESPONSE 3 |
102 #define INITIATE_DOWNLOAD_RESPONSE 3 |
95 #define INITIATE_UPLOAD_RESPONSE 2 |
103 #define INITIATE_UPLOAD_RESPONSE 2 |
96 #define ABORT_TRANSFER_REQUEST 4 |
104 #define ABORT_TRANSFER_REQUEST 4 |
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105 #define BLOCK_DOWNLOAD_RESPONSE 5 |
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106 #define BLOCK_UPLOAD_RESPONSE 6 |
97 |
107 |
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108 /* SDO block upload client subcommand */ |
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109 #define SDO_BCS_INITIATE_UPLOAD_REQUEST 0 |
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110 #define SDO_BCS_END_UPLOAD_REQUEST 1 |
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111 #define SDO_BCS_UPLOAD_RESPONSE 2 |
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112 #define SDO_BCS_START_UPLOAD 3 |
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113 |
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114 /* SDO block upload server subcommand */ |
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115 #define SDO_BSS_INITIATE_UPLOAD_RESPONSE 0 |
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116 #define SDO_BSS_END_UPLOAD_RESPONSE 1 |
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117 |
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118 /* SDO block download client subcommand */ |
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119 #define SDO_BCS_INITIATE_DOWNLOAD_REQUEST 0 |
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120 #define SDO_BCS_END_DOWNLOAD_REQUEST 1 |
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121 |
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122 /* SDO block download server subcommand */ |
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123 #define SDO_BSS_INITIATE_DOWNLOAD_RESPONSE 0 |
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124 #define SDO_BSS_END_DOWNLOAD_RESPONSE 1 |
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125 #define SDO_BSS_DOWNLOAD_RESPONSE 2 |
98 |
126 |
99 /* Function Codes |
127 /* Function Codes |
100 --------------- |
128 --------------- |
101 defined in the canopen DS301 |
129 defined in the canopen DS301 |
102 */ |
130 */ |