00001 /* -00002 This file is part of CanFestival, a library implementing CanOpen Stack. -00003 -00004 Copyright (C): Edouard TISSERANT and Francis DUPIN -00005 -00006 See COPYING file for copyrights details. -00007 -00008 This library is free software; you can redistribute it and/or -00009 modify it under the terms of the GNU Lesser General Public -00010 License as published by the Free Software Foundation; either -00011 version 2.1 of the License, or (at your option) any later version. -00012 -00013 This library is distributed in the hope that it will be useful, -00014 but WITHOUT ANY WARRANTY; without even the implied warranty of -00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -00016 Lesser General Public License for more details. -00017 -00018 You should have received a copy of the GNU Lesser General Public -00019 License along with this library; if not, write to the Free Software -00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -00021 */ -00022 -00023 #ifndef __objdictdef_h__ -00024 #define __objdictdef_h__ -00025 -00026 /************************* CONSTANTES **********************************/ -00032 #define boolean 0x01 -00033 #define int8 0x02 -00034 #define int16 0x03 -00035 #define int32 0x04 -00036 #define uint8 0x05 -00037 #define uint16 0x06 -00038 #define uint32 0x07 -00039 #define real32 0x08 -00040 #define visible_string 0x09 -00041 #define octet_string 0x0A -00042 #define unicode_string 0x0B -00043 #define time_of_day 0x0C -00044 #define time_difference 0x0D -00045 -00046 #define domain 0x0F -00047 #define int24 0x10 -00048 #define real64 0x11 -00049 #define int40 0x12 -00050 #define int48 0x13 -00051 #define int56 0x14 -00052 #define int64 0x15 -00053 #define uint24 0x16 -00054 -00055 #define uint40 0x18 -00056 #define uint48 0x19 -00057 #define uint56 0x1A -00058 #define uint64 0x1B -00059 -00060 #define pdo_communication_parameter 0x20 -00061 #define pdo_mapping 0x21 -00062 #define sdo_parameter 0x22 -00063 #define identity 0x23 -00064 -00065 /* CanFestival is using 0x24 to 0xFF to define some types containing a -00066 value range (See how it works in objdict.c) -00067 */ -00068 -00069 -00073 #define RW 0x00 -00074 #define WO 0x01 -00075 #define RO 0x02 -00076 -00077 #define TO_BE_SAVE 0x04 -00078 -00079 /************************ STRUCTURES ****************************/ -00083 typedef struct td_subindex -00084 { -00085 UNS8 bAccessType; -00086 UNS8 bDataType; /* Defines of what datatype the entry is */ -00087 UNS8 size; /* The size (in Byte) of the variable */ -00088 void* pObject; /* This is the pointer of the Variable */ -00089 } subindex; -00090 -00093 typedef struct td_indextable -00094 { -00095 subindex* pSubindex; /* Pointer to the subindex */ -00096 UNS8 bSubCount; /* the count of valid entries for this subindex -00097 * This count here defines how many memory has been -00098 * allocated. this memory does not have to be used. -00099 */ -00100 UNS16 index; -00101 } indextable; -00102 -00103 typedef struct s_quick_index{ -00104 UNS16 SDO_SVR; -00105 UNS16 SDO_CLT; -00106 UNS16 PDO_RCV; -00107 UNS16 PDO_RCV_MAP; -00108 UNS16 PDO_TRS; -00109 UNS16 PDO_TRS_MAP; -00110 }quick_index; -00111 -00112 -00113 /*typedef struct struct_CO_Data CO_Data; */ -00114 typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex); -00115 typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback); -00116 -00117 /************************** MACROS *********************************/ -00118 -00119 /* CANopen usefull helpers */ -00120 #define GET_NODE_ID(m) (m.cob_id.w & 0x7f) -00121 #define GET_FUNCTION_CODE(m) (m.cob_id.w >> 7) -00122 -00123 #endif /* __objdictdef_h__ */ -
1.5.1
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