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: #ifndef __objdictdef_h__
etisserant@0: #define __objdictdef_h__
etisserant@0: 
etisserant@0: /************************* CONSTANTES **********************************/
etisserant@0: /** this are static defined datatypes taken fCODE the canopen standard. They
etisserant@0:  *  are located at index 0x0001 to 0x001B. As described in the standard, they
etisserant@0:  *  are in the object dictionary for definition purpose only. a device does not
etisserant@0:  *  to support all of this datatypes.
etisserant@0:  */
etisserant@0: #define boolean         0x01
etisserant@0: #define int8            0x02
etisserant@0: #define int16           0x03
etisserant@0: #define int32           0x04
etisserant@0: #define uint8           0x05
etisserant@0: #define uint16          0x06
etisserant@0: #define uint32          0x07
etisserant@0: #define real32          0x08
etisserant@0: #define visible_string  0x09
etisserant@0: #define octet_string    0x0A
etisserant@0: #define unicode_string  0x0B
etisserant@0: #define time_of_day     0x0C
etisserant@0: #define time_difference 0x0D
etisserant@0: 
etisserant@0: #define domain          0x0F
etisserant@0: #define int24           0x10
etisserant@0: #define real64          0x11
etisserant@0: #define int40           0x12
etisserant@0: #define int48           0x13
etisserant@0: #define int56           0x14
etisserant@0: #define int64           0x15
etisserant@0: #define uint24          0x16
etisserant@0: 
etisserant@0: #define uint40          0x18
etisserant@0: #define uint48          0x19
etisserant@0: #define uint56          0x1A
etisserant@0: #define uint64          0x1B
etisserant@0: 
etisserant@0: #define pdo_communication_parameter 0x20
etisserant@0: #define pdo_mapping                 0x21
etisserant@0: #define sdo_parameter               0x22
etisserant@0: #define identity                    0x23
etisserant@0: 
frdupin@71: /* CanFestival is using 0x24 to 0xFF to define some types containing a 
frdupin@71:  value range (See how it works in objdict.c)
frdupin@71:  */
etisserant@0: 
etisserant@0: 
etisserant@0: /** Each entry of the object dictionary can be READONLY (RO), READ/WRITE (RW),
etisserant@0:  *  WRITE-ONLY (WO)
etisserant@0:  */
etisserant@0: #define RW     0x00  
etisserant@0: #define WO     0x01
etisserant@0: #define RO     0x02
etisserant@0: 
etisserant@161: #define TO_BE_SAVE  0x04
groke6@349: #define DCF_TO_SEND 0x08
etisserant@0: 
etisserant@0: /************************ STRUCTURES ****************************/
etisserant@0: /** This are some structs which are neccessary for creating the entries
etisserant@0:  *  of the object dictionary.
etisserant@0:  */
etisserant@0: typedef struct td_subindex
etisserant@0: {
etisserant@0:     UNS8                    bAccessType;
frdupin@71:     UNS8                    bDataType; /* Defines of what datatype the entry is */
etisserant@539:     UNS32                   size;      /* The size (in Byte) of the variable */
frdupin@71:     void*                   pObject;   /* This is the pointer of the Variable */
etisserant@0: } subindex;
etisserant@0: 
etisserant@0: /** Struct for creating entries in the communictaion profile
etisserant@0:  */
etisserant@0: typedef struct td_indextable
etisserant@0: {
frdupin@71:     subindex*   pSubindex;   /* Pointer to the subindex */
frdupin@71:     UNS8   bSubCount;   /* the count of valid entries for this subindex
frdupin@71:                          * This count here defines how many memory has been
frdupin@71:                          * allocated. this memory does not have to be used.
frdupin@71:                          */
etisserant@0:     UNS16   index;
etisserant@0: } indextable;
etisserant@0: 
etisserant@0: typedef struct s_quick_index{
etisserant@0: 	UNS16 SDO_SVR;
etisserant@0: 	UNS16 SDO_CLT;
etisserant@0: 	UNS16 PDO_RCV;
etisserant@0: 	UNS16 PDO_RCV_MAP;
etisserant@0: 	UNS16 PDO_TRS;
etisserant@0: 	UNS16 PDO_TRS_MAP;
etisserant@0: }quick_index;
etisserant@0: 
etisserant@0: 
frdupin@71: /*typedef struct struct_CO_Data CO_Data; */
etisserant@0: typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex);
etisserant@0: typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback);
etisserant@0: 
etisserant@0: /************************** MACROS *********************************/
etisserant@0: 
frdupin@71: /* CANopen usefull helpers */
etisserant@449: #define GET_NODE_ID(m)         (UNS16_LE(m.cob_id) & 0x7f)
etisserant@449: #define GET_FUNCTION_CODE(m)   (UNS16_LE(m.cob_id) >> 7)
etisserant@0: 
frdupin@71: #endif /* __objdictdef_h__ */