nico@215: nico@215:
nico@215:00001 /* nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. nico@215: 00003 nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN nico@215: 00005 nico@215: 00006 See COPYING file for copyrights details. nico@215: 00007 nico@215: 00008 This library is free software; you can redistribute it and/or nico@215: 00009 modify it under the terms of the GNU Lesser General Public nico@215: 00010 License as published by the Free Software Foundation; either nico@215: 00011 version 2.1 of the License, or (at your option) any later version. nico@215: 00012 nico@215: 00013 This library is distributed in the hope that it will be useful, nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU nico@215: 00016 Lesser General Public License for more details. nico@215: 00017 nico@215: 00018 You should have received a copy of the GNU Lesser General Public nico@215: 00019 License along with this library; if not, write to the Free Software nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA nico@215: 00021 */ nico@215: 00022 nico@215: 00023 #ifndef __objdictdef_h__ nico@215: 00024 #define __objdictdef_h__ nico@215: 00025 nico@215: 00026 /************************* CONSTANTES **********************************/ etisserant@240: 00032 #define boolean 0x01 etisserant@240: 00033 #define int8 0x02 etisserant@240: 00034 #define int16 0x03 etisserant@240: 00035 #define int32 0x04 etisserant@240: 00036 #define uint8 0x05 etisserant@240: 00037 #define uint16 0x06 etisserant@240: 00038 #define uint32 0x07 etisserant@240: 00039 #define real32 0x08 etisserant@240: 00040 #define visible_string 0x09 etisserant@240: 00041 #define octet_string 0x0A etisserant@240: 00042 #define unicode_string 0x0B etisserant@240: 00043 #define time_of_day 0x0C etisserant@240: 00044 #define time_difference 0x0D nico@215: 00045 etisserant@240: 00046 #define domain 0x0F etisserant@240: 00047 #define int24 0x10 etisserant@240: 00048 #define real64 0x11 etisserant@240: 00049 #define int40 0x12 etisserant@240: 00050 #define int48 0x13 etisserant@240: 00051 #define int56 0x14 etisserant@240: 00052 #define int64 0x15 etisserant@240: 00053 #define uint24 0x16 nico@215: 00054 etisserant@240: 00055 #define uint40 0x18 etisserant@240: 00056 #define uint48 0x19 etisserant@240: 00057 #define uint56 0x1A etisserant@240: 00058 #define uint64 0x1B nico@215: 00059 etisserant@240: 00060 #define pdo_communication_parameter 0x20 etisserant@240: 00061 #define pdo_mapping 0x21 etisserant@240: 00062 #define sdo_parameter 0x22 etisserant@240: 00063 #define identity 0x23 nico@215: 00064 nico@215: 00065 /* CanFestival is using 0x24 to 0xFF to define some types containing a nico@215: 00066 value range (See how it works in objdict.c) nico@215: 00067 */ nico@215: 00068 nico@215: 00069 etisserant@240: 00073 #define RW 0x00 etisserant@240: 00074 #define WO 0x01 etisserant@240: 00075 #define RO 0x02 etisserant@240: 00076 etisserant@240: 00077 #define TO_BE_SAVE 0x04 etisserant@240: 00078 etisserant@240: 00079 /************************ STRUCTURES ****************************/ etisserant@240: 00083 typedef struct td_subindex etisserant@240: 00084 { etisserant@240: 00085 UNS8 bAccessType; etisserant@240: 00086 UNS8 bDataType; /* Defines of what datatype the entry is */ etisserant@240: 00087 UNS8 size; /* The size (in Byte) of the variable */ etisserant@240: 00088 void* pObject; /* This is the pointer of the Variable */ etisserant@240: 00089 } subindex; etisserant@240: 00090 etisserant@240: 00093 typedef struct td_indextable etisserant@240: 00094 { etisserant@240: 00095 subindex* pSubindex; /* Pointer to the subindex */ etisserant@240: 00096 UNS8 bSubCount; /* the count of valid entries for this subindex etisserant@240: 00097 * This count here defines how many memory has been etisserant@240: 00098 * allocated. this memory does not have to be used. etisserant@240: 00099 */ etisserant@240: 00100 UNS16 index; etisserant@240: 00101 } indextable; nico@215: 00102 etisserant@240: 00103 typedef struct s_quick_index{ etisserant@240: 00104 UNS16 SDO_SVR; etisserant@240: 00105 UNS16 SDO_CLT; etisserant@240: 00106 UNS16 PDO_RCV; etisserant@240: 00107 UNS16 PDO_RCV_MAP; etisserant@240: 00108 UNS16 PDO_TRS; etisserant@240: 00109 UNS16 PDO_TRS_MAP; etisserant@240: 00110 }quick_index; etisserant@240: 00111 etisserant@240: 00112 etisserant@240: 00113 /*typedef struct struct_CO_Data CO_Data; */ etisserant@240: 00114 typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex); etisserant@240: 00115 typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback); etisserant@240: 00116 etisserant@240: 00117 /************************** MACROS *********************************/ etisserant@240: 00118 etisserant@240: 00119 /* CANopen usefull helpers */ etisserant@240: 00120 #define GET_NODE_ID(m) (m.cob_id.w & 0x7f) etisserant@240: 00121 #define GET_FUNCTION_CODE(m) (m.cob_id.w >> 7) etisserant@240: 00122 etisserant@240: 00123 #endif /* __objdictdef_h__ */ etisserant@240: