/*
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_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_TRANSFERT */
#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
#define TRUE 1
#define FALSE 0
/* TODO: remove this limitation. do bit granularity mapping */
#define PDO_MAX_LEN 8
/** 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
/* Status of the node during the SDO transfert : */
#define SDO_SERVER 0x1
#define SDO_CLIENT 0x2
#define SDO_UNKNOWN 0x3
/* 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
/* 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
/* 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__ */