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 +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; +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
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