CanFestival: 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 
+