include/def.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 694 8dd1e58b3815
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS.
/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef __def_h__
#define __def_h__

#include <config.h>

/** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48)
 */
#define OD_SUCCESSFUL 	             0x00000000
#define OD_READ_NOT_ALLOWED          0x06010001
#define OD_WRITE_NOT_ALLOWED         0x06010002
#define OD_NO_SUCH_OBJECT            0x06020000
#define OD_NOT_MAPPABLE              0x06040041
#define OD_LENGTH_DATA_INVALID       0x06070010
#define OD_NO_SUCH_SUBINDEX 	     0x06090011
#define OD_VALUE_RANGE_EXCEEDED      0x06090030 /* Value range test result */
#define OD_VALUE_TOO_LOW             0x06090031 /* Value range test result */
#define OD_VALUE_TOO_HIGH            0x06090032 /* Value range test result */
/* Others SDO abort codes 
 */
#define SDOABT_TOGGLE_NOT_ALTERNED   0x05030000
#define SDOABT_TIMED_OUT             0x05040000
#define SDOABT_OUT_OF_MEMORY         0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFER */
#define SDOABT_GENERAL_ERROR         0x08000000 /* Error size of SDO message */
#define SDOABT_LOCAL_CTRL_ERROR      0x08000021 

/******************** CONSTANTS ****************/

/** Constantes which permit to define if a PDO frame
   is a request one or a data one
*/
/* Should not be modified */
#define REQUEST 1
#define NOT_A_REQUEST 0

/* Misc constants */
/* -------------- */
/* Should not be modified */
#define Rx 0
#define Tx 1
#ifndef TRUE
#define TRUE  1
#endif
#ifndef FALSE
#define FALSE 0
#endif
    
/** Status of the SDO transmission
 */
#define SDO_RESET                0x0      /* Transmission not started. Init state. */
#define SDO_FINISHED             0x1      /* data are available */                          
#define	SDO_ABORTED_RCV          0x80     /* Received an abort message. Data not available */
#define	SDO_ABORTED_INTERNAL     0x85     /* Aborted but not because of an abort message. */
#define	SDO_DOWNLOAD_IN_PROGRESS 0x2 
#define	SDO_UPLOAD_IN_PROGRESS   0x3   
#define	SDO_BLOCK_DOWNLOAD_IN_PROGRESS 0x4 
#define	SDO_BLOCK_UPLOAD_IN_PROGRESS   0x5

/** getReadResultNetworkDict may return any of above status value or this one
 */
#define SDO_PROVIDED_BUFFER_TOO_SMALL   0x8A

/* Status of the node during the SDO transfer : */
#define SDO_SERVER  0x1
#define SDO_CLIENT  0x2
#define SDO_UNKNOWN 0x3             

/* SDOrx ccs: client command specifier */
#define DOWNLOAD_SEGMENT_REQUEST     0
#define INITIATE_DOWNLOAD_REQUEST    1
#define INITIATE_UPLOAD_REQUEST      2
#define UPLOAD_SEGMENT_REQUEST       3
#define ABORT_TRANSFER_REQUEST       4
#define BLOCK_UPLOAD_REQUEST         5
#define BLOCK_DOWNLOAD_REQUEST       6

/* SDOtx scs: server command specifier */
#define UPLOAD_SEGMENT_RESPONSE      0
#define DOWNLOAD_SEGMENT_RESPONSE    1
#define INITIATE_DOWNLOAD_RESPONSE   3
#define INITIATE_UPLOAD_RESPONSE     2
#define ABORT_TRANSFER_REQUEST       4
#define BLOCK_DOWNLOAD_RESPONSE    	 5
#define BLOCK_UPLOAD_RESPONSE        6

/* SDO block upload client subcommand */
#define SDO_BCS_INITIATE_UPLOAD_REQUEST 0
#define SDO_BCS_END_UPLOAD_REQUEST      1
#define SDO_BCS_UPLOAD_RESPONSE         2
#define SDO_BCS_START_UPLOAD            3

/* SDO block upload server subcommand */
#define SDO_BSS_INITIATE_UPLOAD_RESPONSE 0
#define SDO_BSS_END_UPLOAD_RESPONSE      1

/* SDO block download client subcommand */
#define SDO_BCS_INITIATE_DOWNLOAD_REQUEST 0
#define SDO_BCS_END_DOWNLOAD_REQUEST      1

/* SDO block download server subcommand */
#define SDO_BSS_INITIATE_DOWNLOAD_RESPONSE 0
#define SDO_BSS_END_DOWNLOAD_RESPONSE      1
#define SDO_BSS_DOWNLOAD_RESPONSE          2

/*  Function Codes 
   ---------------
  defined in the canopen DS301 
*/
#define NMT	   0x0
#define SYNC       0x1
#define TIME_STAMP 0x2
#define PDO1tx     0x3
#define PDO1rx     0x4
#define PDO2tx     0x5
#define PDO2rx     0x6
#define PDO3tx     0x7
#define PDO3rx     0x8
#define PDO4tx     0x9
#define PDO4rx     0xA
#define SDOtx      0xB
#define SDOrx      0xC
#define NODE_GUARD 0xE
#define LSS 	   0xF

/* NMT Command Specifier, sent by master to change a slave state */
/* ------------------------------------------------------------- */
/* Should not be modified */
#define NMT_Start_Node              0x01
#define NMT_Stop_Node               0x02
#define NMT_Enter_PreOperational    0x80
#define NMT_Reset_Node              0x81
#define NMT_Reset_Comunication      0x82

/** Status of the LSS transmission
 */
#define LSS_RESET                0x0      /* Transmission not started. Init state. */
#define LSS_FINISHED             0x1      /* data are available */                          
#define	LSS_ABORTED_INTERNAL     0x2     /* Aborted but not because of an abort message. */
#define	LSS_TRANS_IN_PROGRESS 	 0x3    

/* constantes used in the different state machines */
/* ----------------------------------------------- */
/* Must not be modified */
#define state1  0x01
#define state2  0x02
#define state3  0x03
#define state4  0x04
#define state5  0x05
#define state6  0x06
#define state7  0x07
#define state8  0x08
#define state9  0x09
#define state10 0x0A
#define state11 0x0B

#endif /* __def_h__ */