00001 /* 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 00003 @@ -45,99 +45,91 @@ 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 +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 +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 +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 +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 -00070 -00075 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */ -00076 #define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */ -00077 #define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */ -00078 #define TRANS_RTR_SYNC 252 /* Transmission on request */ -00079 #define TRANS_RTR 253 /* Transmission on request */ -00080 #define TRANS_EVENT 255 /* Transmission on event */ -00081 -00085 #define RW 0x00 -00086 #define WO 0x01 -00087 #define RO 0x02 -00088 -00089 #define TO_BE_SAVE 0x04 -00090 -00091 /************************ STRUCTURES ****************************/ -00095 typedef struct td_subindex -00096 { -00097 UNS8 bAccessType; -00098 UNS8 bDataType; /* Defines of what datatype the entry is */ -00099 UNS8 size; /* The size (in Byte) of the variable */ -00100 void* pObject; /* This is the pointer of the Variable */ -00101 } subindex; +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 -00105 typedef struct td_indextable -00106 { -00107 subindex* pSubindex; /* Pointer to the subindex */ -00108 UNS8 bSubCount; /* the count of valid entries for this subindex -00109 * This count here defines how many memory has been -00110 * allocated. this memory does not have to be used. -00111 */ -00112 UNS16 index; -00113 } indextable; -00114 -00115 typedef struct s_quick_index{ -00116 UNS16 SDO_SVR; -00117 UNS16 SDO_CLT; -00118 UNS16 PDO_RCV; -00119 UNS16 PDO_RCV_MAP; -00120 UNS16 PDO_TRS; -00121 UNS16 PDO_TRS_MAP; -00122 }quick_index; -00123 -00124 -00125 /*typedef struct struct_CO_Data CO_Data; */ -00126 typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex); -00127 typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODCallback_t **Callback); -00128 -00129 /************************** MACROS *********************************/ -00130 -00131 /* CANopen usefull helpers */ -00132 #define GET_NODE_ID(m) (m.cob_id.w & 0x7f) -00133 #define GET_FUNCTION_CODE(m) (m.cob_id.w >> 7) -00134 -00135 #endif /* __objdictdef_h__ */ -
1.5.1