Diff: framework/include/def.h

Revision:

0:9dd7c6129683

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/include/def.h	Mon May 30 07:36:47 2011 +0000
@@ -0,0 +1,151 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+
+#ifndef __def_h__
+#define __def_h__
+
+#include "config.h"
+
+/** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48)
+ */
+#define OD_SUCCESSFUL 	             0x00000000
+#define OD_READ_NOT_ALLOWED          0x06010001
+#define OD_WRITE_NOT_ALLOWED         0x06010002
+#define OD_NO_SUCH_OBJECT            0x06020000
+#define OD_NOT_MAPPABLE              0x06040041
+#define OD_LENGTH_DATA_INVALID       0x06070010
+#define OD_NO_SUCH_SUBINDEX 	     0x06090011
+#define OD_VALUE_RANGE_EXCEEDED      0x06090030 /* Value range test result */
+#define OD_VALUE_TOO_LOW             0x06090031 /* Value range test result */
+#define OD_VALUE_TOO_HIGH            0x06090032 /* Value range test result */
+/* Others SDO abort codes 
+ */
+#define SDOABT_TOGGLE_NOT_ALTERNED   0x05030000
+#define SDOABT_TIMED_OUT             0x05040000
+#define SDOABT_OUT_OF_MEMORY         0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */
+#define SDOABT_GENERAL_ERROR         0x08000000 /* Error size of SDO message */
+#define SDOABT_LOCAL_CTRL_ERROR      0x08000021 
+
+/******************** CONSTANTS ****************/
+
+/** Constantes which permit to define if a PDO frame
+   is a request one or a data one
+*/
+/* Should not be modified */
+#define REQUEST 1
+#define NOT_A_REQUEST 0
+
+/* Misc constants */
+/* -------------- */
+/* Should not be modified */
+#define Rx 0
+#define Tx 1
+#ifndef TRUE
+#define TRUE  1
+#endif
+#ifndef FALSE
+#define FALSE 0
+#endif
+    
+/** Status of the SDO transmission
+ */
+#define SDO_RESET                0x0      /* Transmission not started. Init state. */
+#define SDO_FINISHED             0x1      /* data are available */                          
+#define	SDO_ABORTED_RCV          0x80     /* Received an abort message. Data not available */
+#define	SDO_ABORTED_INTERNAL     0x85     /* Aborted but not because of an abort message. */
+#define	SDO_DOWNLOAD_IN_PROGRESS 0x2 
+#define	SDO_UPLOAD_IN_PROGRESS   0x3   
+
+/* Status of the node during the SDO transfert : */
+#define SDO_SERVER  0x1
+#define SDO_CLIENT  0x2
+#define SDO_UNKNOWN 0x3             
+
+/* SDOrx ccs: client command specifier */
+#define DOWNLOAD_SEGMENT_REQUEST     0
+#define INITIATE_DOWNLOAD_REQUEST    1
+#define INITIATE_UPLOAD_REQUEST      2
+#define UPLOAD_SEGMENT_REQUEST       3
+#define ABORT_TRANSFER_REQUEST       4
+
+/* SDOtx scs: server command specifier */
+#define UPLOAD_SEGMENT_RESPONSE      0
+#define DOWNLOAD_SEGMENT_RESPONSE    1
+#define INITIATE_DOWNLOAD_RESPONSE   3
+#define INITIATE_UPLOAD_RESPONSE     2
+#define ABORT_TRANSFER_REQUEST       4
+
+
+/*  Function Codes 
+   ---------------
+  defined in the canopen DS301 
+*/
+#define NMT	   0x0
+#define SYNC       0x1
+#define TIME_STAMP 0x2
+#define PDO1tx     0x3
+#define PDO1rx     0x4
+#define PDO2tx     0x5
+#define PDO2rx     0x6
+#define PDO3tx     0x7
+#define PDO3rx     0x8
+#define PDO4tx     0x9
+#define PDO4rx     0xA
+#define SDOtx      0xB
+#define SDOrx      0xC
+#define NODE_GUARD 0xE
+#define LSS 	   0xF
+
+/* NMT Command Specifier, sent by master to change a slave state */
+/* ------------------------------------------------------------- */
+/* Should not be modified */
+#define NMT_Start_Node              0x01
+#define NMT_Stop_Node               0x02
+#define NMT_Enter_PreOperational    0x80
+#define NMT_Reset_Node              0x81
+#define NMT_Reset_Comunication      0x82
+
+/** Status of the LSS transmission
+ */
+#define LSS_RESET                0x0      /* Transmission not started. Init state. */
+#define LSS_FINISHED             0x1      /* data are available */                          
+#define	LSS_ABORTED_INTERNAL     0x2     /* Aborted but not because of an abort message. */
+#define	LSS_TRANS_IN_PROGRESS 	 0x3    
+
+/* constantes used in the different state machines */
+/* ----------------------------------------------- */
+/* Must not be modified */
+#define state1  0x01
+#define state2  0x02
+#define state3  0x03
+#define state4  0x04
+#define state5  0x05
+#define state6  0x06
+#define state7  0x07
+#define state8  0x08
+#define state9  0x09
+#define state10 0x0A
+#define state11 0x0B
+
+#endif /* __def_h__ */
+