etisserant@0: /* etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. etisserant@0: etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN etisserant@0: etisserant@0: See COPYING file for copyrights details. etisserant@0: etisserant@0: This library is free software; you can redistribute it and/or etisserant@0: modify it under the terms of the GNU Lesser General Public etisserant@0: License as published by the Free Software Foundation; either etisserant@0: version 2.1 of the License, or (at your option) any later version. etisserant@0: etisserant@0: This library is distributed in the hope that it will be useful, etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU etisserant@0: Lesser General Public License for more details. etisserant@0: etisserant@0: You should have received a copy of the GNU Lesser General Public etisserant@0: License along with this library; if not, write to the Free Software etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA etisserant@0: */ etisserant@0: etisserant@0: etisserant@0: #ifndef __def_h__ etisserant@0: #define __def_h__ etisserant@0: etisserant@0: #include "config.h" etisserant@0: etisserant@0: /** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48) etisserant@0: */ etisserant@0: #define OD_SUCCESSFUL 0x00000000 etisserant@0: #define OD_READ_NOT_ALLOWED 0x06010001 etisserant@0: #define OD_WRITE_NOT_ALLOWED 0x06010002 etisserant@0: #define OD_NO_SUCH_OBJECT 0x06020000 etisserant@0: #define OD_NOT_MAPPABLE 0x06040041 etisserant@0: #define OD_LENGTH_DATA_INVALID 0x06070010 etisserant@0: #define OD_NO_SUCH_SUBINDEX 0x06090011 etisserant@0: #define OD_VALUE_TOO_LOW 0x06090031 /* Value range test result */ etisserant@0: #define OD_VALUE_TOO_HIGH 0x06090032 /* Value range test result */ etisserant@0: /* Others SDO abort codes etisserant@0: */ etisserant@0: #define SDOABT_TOGGLE_NOT_ALTERNED 0x05030000 etisserant@0: #define SDOABT_TIMED_OUT 0x05040000 etisserant@0: #define SDOABT_OUT_OF_MEMORY 0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */ etisserant@0: #define SDOABT_GENERAL_ERROR 0x08000000 /* Error size of SDO message */ etisserant@0: #define SDOABT_LOCAL_CTRL_ERROR 0x08000021 etisserant@0: etisserant@0: /******************** CONSTANTS ****************/ etisserant@0: etisserant@0: /** Constantes which permit to define if a PDO frame etisserant@0: is a request one or a data one etisserant@0: */ etisserant@0: /* Should not be modified */ etisserant@0: #define REQUEST 1 etisserant@0: #define NOT_A_REQUEST 0 etisserant@0: etisserant@0: /// Misc constants etisserant@0: // -------------- etisserant@0: /* Should not be modified */ etisserant@0: #define Rx 0 etisserant@0: #define Tx 1 etisserant@0: #define TRUE 1 etisserant@0: #define FALSE 0 etisserant@0: etisserant@0: //TODO: remove this limitation. do bit granularity mapping etisserant@0: #define PDO_MAX_LEN 8 etisserant@0: etisserant@0: /** Status of the SDO transmission etisserant@0: */ etisserant@0: #define SDO_RESET 0x0 // Transmission not started. Init state. etisserant@0: #define SDO_FINISHED 0x1 // data are available etisserant@0: #define SDO_ABORTED_RCV 0x80 // Received an abort message. Data not available etisserant@0: #define SDO_ABORTED_INTERNAL 0x85 // Aborted but not because of an abort message. etisserant@0: #define SDO_DOWNLOAD_IN_PROGRESS 0x2 etisserant@0: #define SDO_UPLOAD_IN_PROGRESS 0x3 etisserant@0: etisserant@0: // Status of the node during the SDO transfert : etisserant@0: #define SDO_SERVER 0x1 etisserant@0: #define SDO_CLIENT 0x2 etisserant@0: #define SDO_UNKNOWN 0x3 etisserant@0: etisserant@0: /* Function Codes etisserant@0: --------------- etisserant@0: defined in the canopen DS301 etisserant@0: */ etisserant@0: #define NMT 0x0 etisserant@0: #define SYNC 0x1 etisserant@0: #define TIME_STAMP 0x2 etisserant@0: #define PDO1tx 0x3 etisserant@0: #define PDO1rx 0x4 etisserant@0: #define PDO2tx 0x5 etisserant@0: #define PDO2rx 0x6 etisserant@0: #define PDO3tx 0x7 etisserant@0: #define PDO3rx 0x8 etisserant@0: #define PDO4tx 0x9 etisserant@0: #define PDO4rx 0xA etisserant@0: #define SDOtx 0xB etisserant@0: #define SDOrx 0xC etisserant@0: #define NODE_GUARD 0xE etisserant@0: etisserant@0: /// NMT Command Specifier, sent by master to change a slave state etisserant@0: // ------------------------------------------------------------- etisserant@0: /* Should not be modified */ etisserant@0: #define NMT_Start_Node 0x01 etisserant@0: #define NMT_Stop_Node 0x02 etisserant@0: #define NMT_Enter_PreOperational 0x80 etisserant@0: #define NMT_Reset_Node 0x81 etisserant@0: #define NMT_Reset_Comunication 0x82 etisserant@0: etisserant@0: /// constantes used in the different state machines etisserant@0: // ----------------------------------------------- etisserant@0: /* Must not be modified */ etisserant@0: #define state1 0x01 etisserant@0: #define state2 0x02 etisserant@0: #define state3 0x03 etisserant@0: #define state4 0x04 etisserant@0: #define state5 0x05 etisserant@0: #define state6 0x06 etisserant@0: #define state7 0x07 etisserant@0: #define state8 0x08 etisserant@0: #define state9 0x09 etisserant@0: #define state10 0x0A etisserant@0: #define state11 0x0B etisserant@0: etisserant@0: #endif // __def_h__ etisserant@0: