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Can_open_masternode
Diff: framework/include/def.h
- Revision:
- 0:9dd7c6129683
diff -r 000000000000 -r 9dd7c6129683 framework/include/def.h --- /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__ */ +