CanFestival: /home/epimerde/documents/tc11/CanFestival-3/include/def.h Source File

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 
-00024 #ifndef __def_h__
-00025 #define __def_h__
-00026 
-00027 #include "config.h"
-00028 
-00031 #define OD_SUCCESSFUL                0x00000000
-00032 #define OD_READ_NOT_ALLOWED          0x06010001
-00033 #define OD_WRITE_NOT_ALLOWED         0x06010002
-00034 #define OD_NO_SUCH_OBJECT            0x06020000
-00035 #define OD_NOT_MAPPABLE              0x06040041
-00036 #define OD_LENGTH_DATA_INVALID       0x06070010
-00037 #define OD_NO_SUCH_SUBINDEX          0x06090011
-00038 #define OD_VALUE_TOO_LOW             0x06090031 /* Value range test result */
-00039 #define OD_VALUE_TOO_HIGH            0x06090032 /* Value range test result */
-00040 /* Others SDO abort codes 
-00041  */
-00042 #define SDOABT_TOGGLE_NOT_ALTERNED   0x05030000
-00043 #define SDOABT_TIMED_OUT             0x05040000
-00044 #define SDOABT_OUT_OF_MEMORY         0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */
-00045 #define SDOABT_GENERAL_ERROR         0x08000000 /* Error size of SDO message */
-00046 #define SDOABT_LOCAL_CTRL_ERROR      0x08000021 
-00047 
-00048 /******************** CONSTANTS ****************/
-00049 
-00053 /* Should not be modified */
-00054 #define REQUEST 1
-00055 #define NOT_A_REQUEST 0
-00056 
-00057 /* Misc constants */
-00058 /* -------------- */
-00059 /* Should not be modified */
-00060 #define Rx 0
-00061 #define Tx 1
-00062 #define TRUE  1
-00063 #define FALSE 0
-00064 
-00065 /* TODO: remove this limitation. do bit granularity mapping */
-00066 #define PDO_MAX_LEN 8    
-00067                                
-00070 #define SDO_RESET                0x0      /* Transmission not started. Init state. */
-00071 #define SDO_FINISHED             0x1      /* data are available */                          
-00072 #define SDO_ABORTED_RCV          0x80     /* Received an abort message. Data not available */
-00073 #define SDO_ABORTED_INTERNAL     0x85     /* Aborted but not because of an abort message. */
-00074 #define SDO_DOWNLOAD_IN_PROGRESS 0x2 
-00075 #define SDO_UPLOAD_IN_PROGRESS   0x3   
-00076 
-00077 /* Status of the node during the SDO transfert : */
-00078 #define SDO_SERVER  0x1
-00079 #define SDO_CLIENT  0x2
-00080 #define SDO_UNKNOWN 0x3             
-00081 
-00082 /*  Function Codes 
-00083    ---------------
-00084   defined in the canopen DS301 
-00085 */
-00086 #define NMT        0x0
-00087 #define SYNC       0x1
-00088 #define TIME_STAMP 0x2
-00089 #define PDO1tx     0x3
-00090 #define PDO1rx     0x4
-00091 #define PDO2tx     0x5
-00092 #define PDO2rx     0x6
-00093 #define PDO3tx     0x7
-00094 #define PDO3rx     0x8
-00095 #define PDO4tx     0x9
-00096 #define PDO4rx     0xA
-00097 #define SDOtx      0xB
-00098 #define SDOrx      0xC
-00099 #define NODE_GUARD 0xE
-00100 
-00101 /* NMT Command Specifier, sent by master to change a slave state */
-00102 /* ------------------------------------------------------------- */
-00103 /* Should not be modified */
-00104 #define NMT_Start_Node              0x01
-00105 #define NMT_Stop_Node               0x02
-00106 #define NMT_Enter_PreOperational    0x80
-00107 #define NMT_Reset_Node              0x81
-00108 #define NMT_Reset_Comunication      0x82
-00109 
-00110 /* constantes used in the different state machines */
-00111 /* ----------------------------------------------- */
-00112 /* Must not be modified */
-00113 #define state1  0x01
-00114 #define state2  0x02
-00115 #define state3  0x03
-00116 #define state4  0x04
-00117 #define state5  0x05
-00118 #define state6  0x06
-00119 #define state7  0x07
-00120 #define state8  0x08
-00121 #define state9  0x09
-00122 #define state10 0x0A
-00123 #define state11 0x0B
-00124 
-00125 #endif /* __def_h__ */
-00126 
-