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 nico@215: 00024 #ifndef __def_h__ nico@215: 00025 #define __def_h__ nico@215: 00026 nico@215: 00027 #include "config.h" nico@215: 00028 etisserant@240: 00031 #define OD_SUCCESSFUL 0x00000000 etisserant@240: 00032 #define OD_READ_NOT_ALLOWED 0x06010001 etisserant@240: 00033 #define OD_WRITE_NOT_ALLOWED 0x06010002 etisserant@240: 00034 #define OD_NO_SUCH_OBJECT 0x06020000 etisserant@240: 00035 #define OD_NOT_MAPPABLE 0x06040041 etisserant@240: 00036 #define OD_LENGTH_DATA_INVALID 0x06070010 etisserant@240: 00037 #define OD_NO_SUCH_SUBINDEX 0x06090011 etisserant@240: 00038 #define OD_VALUE_TOO_LOW 0x06090031 /* Value range test result */ etisserant@240: 00039 #define OD_VALUE_TOO_HIGH 0x06090032 /* Value range test result */ nico@215: 00040 /* Others SDO abort codes nico@215: 00041 */ etisserant@240: 00042 #define SDOABT_TOGGLE_NOT_ALTERNED 0x05030000 etisserant@240: 00043 #define SDOABT_TIMED_OUT 0x05040000 etisserant@240: 00044 #define SDOABT_OUT_OF_MEMORY 0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */ etisserant@240: 00045 #define SDOABT_GENERAL_ERROR 0x08000000 /* Error size of SDO message */ etisserant@240: 00046 #define SDOABT_LOCAL_CTRL_ERROR 0x08000021 nico@215: 00047 nico@215: 00048 /******************** CONSTANTS ****************/ nico@215: 00049 nico@215: 00053 /* Should not be modified */ etisserant@240: 00054 #define REQUEST 1 etisserant@240: 00055 #define NOT_A_REQUEST 0 nico@215: 00056 nico@215: 00057 /* Misc constants */ nico@215: 00058 /* -------------- */ nico@215: 00059 /* Should not be modified */ etisserant@240: 00060 #define Rx 0 etisserant@240: 00061 #define Tx 1 etisserant@240: 00062 #define TRUE 1 etisserant@240: 00063 #define FALSE 0 nico@215: 00064 etisserant@240: 00065 etisserant@240: 00068 #define SDO_RESET 0x0 /* Transmission not started. Init state. */ etisserant@240: 00069 #define SDO_FINISHED 0x1 /* data are available */ etisserant@240: 00070 #define SDO_ABORTED_RCV 0x80 /* Received an abort message. Data not available */ etisserant@240: 00071 #define SDO_ABORTED_INTERNAL 0x85 /* Aborted but not because of an abort message. */ etisserant@240: 00072 #define SDO_DOWNLOAD_IN_PROGRESS 0x2 etisserant@240: 00073 #define SDO_UPLOAD_IN_PROGRESS 0x3 etisserant@240: 00074 etisserant@240: 00075 /* Status of the node during the SDO transfert : */ etisserant@240: 00076 #define SDO_SERVER 0x1 etisserant@240: 00077 #define SDO_CLIENT 0x2 etisserant@240: 00078 #define SDO_UNKNOWN 0x3 etisserant@240: 00079 etisserant@240: 00080 /* Function Codes etisserant@240: 00081 --------------- etisserant@240: 00082 defined in the canopen DS301 etisserant@240: 00083 */ etisserant@240: 00084 #define NMT 0x0 etisserant@240: 00085 #define SYNC 0x1 etisserant@240: 00086 #define TIME_STAMP 0x2 etisserant@240: 00087 #define PDO1tx 0x3 etisserant@240: 00088 #define PDO1rx 0x4 etisserant@240: 00089 #define PDO2tx 0x5 etisserant@240: 00090 #define PDO2rx 0x6 etisserant@240: 00091 #define PDO3tx 0x7 etisserant@240: 00092 #define PDO3rx 0x8 etisserant@240: 00093 #define PDO4tx 0x9 etisserant@240: 00094 #define PDO4rx 0xA etisserant@240: 00095 #define SDOtx 0xB etisserant@240: 00096 #define SDOrx 0xC etisserant@240: 00097 #define NODE_GUARD 0xE etisserant@240: 00098 etisserant@240: 00099 /* NMT Command Specifier, sent by master to change a slave state */ etisserant@240: 00100 /* ------------------------------------------------------------- */ etisserant@240: 00101 /* Should not be modified */ etisserant@240: 00102 #define NMT_Start_Node 0x01 etisserant@240: 00103 #define NMT_Stop_Node 0x02 etisserant@240: 00104 #define NMT_Enter_PreOperational 0x80 etisserant@240: 00105 #define NMT_Reset_Node 0x81 etisserant@240: 00106 #define NMT_Reset_Comunication 0x82 etisserant@240: 00107 etisserant@240: 00108 /* constantes used in the different state machines */ etisserant@240: 00109 /* ----------------------------------------------- */ etisserant@240: 00110 /* Must not be modified */ etisserant@240: 00111 #define state1 0x01 etisserant@240: 00112 #define state2 0x02 etisserant@240: 00113 #define state3 0x03 etisserant@240: 00114 #define state4 0x04 etisserant@240: 00115 #define state5 0x05 etisserant@240: 00116 #define state6 0x06 etisserant@240: 00117 #define state7 0x07 etisserant@240: 00118 #define state8 0x08 etisserant@240: 00119 #define state9 0x09 etisserant@240: 00120 #define state10 0x0A etisserant@240: 00121 #define state11 0x0B etisserant@240: 00122 etisserant@240: 00123 #endif /* __def_h__ */ etisserant@240: 00124 etisserant@240: