include/objdictdef.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 539 187058b4a4b8
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 __objdictdef_h__
#define __objdictdef_h__

/************************* CONSTANTES **********************************/
/** this are static defined datatypes taken fCODE the canopen standard. They
 *  are located at index 0x0001 to 0x001B. As described in the standard, they
 *  are in the object dictionary for definition purpose only. a device does not
 *  to support all of this datatypes.
 */
#define boolean         0x01
#define int8            0x02
#define int16           0x03
#define int32           0x04
#define uint8           0x05
#define uint16          0x06
#define uint32          0x07
#define real32          0x08
#define visible_string  0x09
#define octet_string    0x0A
#define unicode_string  0x0B
#define time_of_day     0x0C
#define time_difference 0x0D

#define domain          0x0F
#define int24           0x10
#define real64          0x11
#define int40           0x12
#define int48           0x13
#define int56           0x14
#define int64           0x15
#define uint24          0x16

#define uint40          0x18
#define uint48          0x19
#define uint56          0x1A
#define uint64          0x1B

#define pdo_communication_parameter 0x20
#define pdo_mapping                 0x21
#define sdo_parameter               0x22
#define identity                    0x23

/* CanFestival is using 0x24 to 0xFF to define some types containing a 
 value range (See how it works in objdict.c)
 */


/** Each entry of the object dictionary can be READONLY (RO), READ/WRITE (RW),
 *  WRITE-ONLY (WO)
 */
#define RW     0x00  
#define WO     0x01
#define RO     0x02

#define TO_BE_SAVE  0x04
#define DCF_TO_SEND 0x08

/************************ STRUCTURES ****************************/
/** This are some structs which are neccessary for creating the entries
 *  of the object dictionary.
 */
typedef struct td_subindex
{
    UNS8                    bAccessType;
    UNS8                    bDataType; /* Defines of what datatype the entry is */
    UNS32                   size;      /* The size (in Byte) of the variable */
    void*                   pObject;   /* This is the pointer of the Variable */
} subindex;

/** Struct for creating entries in the communictaion profile
 */
typedef struct td_indextable
{
    subindex*   pSubindex;   /* Pointer to the subindex */
    UNS8   bSubCount;   /* the count of valid entries for this subindex
                         * This count here defines how many memory has been
                         * allocated. this memory does not have to be used.
                         */
    UNS16   index;
} indextable;

typedef struct s_quick_index{
	UNS16 SDO_SVR;
	UNS16 SDO_CLT;
	UNS16 PDO_RCV;
	UNS16 PDO_RCV_MAP;
	UNS16 PDO_TRS;
	UNS16 PDO_TRS_MAP;
}quick_index;


/*typedef struct struct_CO_Data CO_Data; */
typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex);
typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback);

/************************** MACROS *********************************/

/* CANopen usefull helpers */
#define GET_NODE_ID(m)         (UNS16_LE(m.cob_id) & 0x7f)
#define GET_FUNCTION_CODE(m)   (UNS16_LE(m.cob_id) >> 7)

#endif /* __objdictdef_h__ */