Paul Paterson / ppCANOpen

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Dependents:   ppCANOpen_Example DISCO-F746NG_rtos_test

include/canopen_protocol.h@3:12b3c25bdeba, 2016-01-04 (annotated)

Committer:
ptpaterson
Date:
Mon Jan 04 06:10:49 2016 +0000
Revision:
3:12b3c25bdeba
Parent:
2:c724ff3a4e4d 
Echo communication verified

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ptpaterson 2:c724ff3a4e4d 1 /**
ptpaterson 2:c724ff3a4e4d 2 ******************************************************************************
ptpaterson 2:c724ff3a4e4d 3 * @file
ptpaterson 2:c724ff3a4e4d 4 * @author Paul Paterson
ptpaterson 2:c724ff3a4e4d 5 * @version
ptpaterson 2:c724ff3a4e4d 6 * @date 2015-12-17
ptpaterson 2:c724ff3a4e4d 7 * @brief CANOpen implementation library
ptpaterson 2:c724ff3a4e4d 8 ******************************************************************************
ptpaterson 2:c724ff3a4e4d 9 * @attention
ptpaterson 2:c724ff3a4e4d 10 *
ptpaterson 2:c724ff3a4e4d 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
ptpaterson 2:c724ff3a4e4d 12 *
ptpaterson 2:c724ff3a4e4d 13 * All rights reserved.
ptpaterson 2:c724ff3a4e4d 14
ptpaterson 2:c724ff3a4e4d 15 This program is free software: you can redistribute it and/or modify
ptpaterson 2:c724ff3a4e4d 16 it under the terms of the GNU General Public License as published by
ptpaterson 2:c724ff3a4e4d 17 the Free Software Foundation, either version 3 of the License, or
ptpaterson 2:c724ff3a4e4d 18 (at your option) any later version.
ptpaterson 2:c724ff3a4e4d 19
ptpaterson 2:c724ff3a4e4d 20 This program is distributed in the hope that it will be useful,
ptpaterson 2:c724ff3a4e4d 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
ptpaterson 2:c724ff3a4e4d 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ptpaterson 2:c724ff3a4e4d 23 GNU General Public License for more details.
ptpaterson 2:c724ff3a4e4d 24
ptpaterson 2:c724ff3a4e4d 25 You should have received a copy of the GNU General Public License
ptpaterson 2:c724ff3a4e4d 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
ptpaterson 2:c724ff3a4e4d 27 */
ptpaterson 2:c724ff3a4e4d 28
ptpaterson 3:12b3c25bdeba 29 #ifndef PPCAN_CANOPEN_PROTOCOL_H
ptpaterson 3:12b3c25bdeba 30 #define PPCAN_CANOPEN_PROTOCOL_H
ptpaterson 2:c724ff3a4e4d 31
ptpaterson 3:12b3c25bdeba 32 #include "CanOpenHandle.h"
ptpaterson 2:c724ff3a4e4d 33
ptpaterson 2:c724ff3a4e4d 34 #ifdef __cplusplus
ptpaterson 2:c724ff3a4e4d 35 extern "C" {
ptpaterson 2:c724ff3a4e4d 36 #endif
ptpaterson 2:c724ff3a4e4d 37
ptpaterson 2:c724ff3a4e4d 38 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 39 * MESSAGES
ptpaterson 2:c724ff3a4e4d 40 *=========================================================================
ptpaterson 2:c724ff3a4e4d 41 */
ptpaterson 2:c724ff3a4e4d 42
ptpaterson 2:c724ff3a4e4d 43 /** CANOpen Message Format */
ptpaterson 2:c724ff3a4e4d 44 typedef enum {
ptpaterson 2:c724ff3a4e4d 45 CANOPEN_FORMAT_STANDARD = 0,
ptpaterson 2:c724ff3a4e4d 46 CANOPEN_FORMAT_EXTENDED,
ptpaterson 2:c724ff3a4e4d 47 CANOPEN_FORMAT_ANY
ptpaterson 2:c724ff3a4e4d 48 } CanOpenFormat;
ptpaterson 2:c724ff3a4e4d 49
ptpaterson 2:c724ff3a4e4d 50 /** CANOpen Message Data Type */
ptpaterson 2:c724ff3a4e4d 51 typedef enum {
ptpaterson 2:c724ff3a4e4d 52 CANOPEN_TYPE_DATA = 0,
ptpaterson 2:c724ff3a4e4d 53 CANOPEN_TYPE_REMOTE
ptpaterson 2:c724ff3a4e4d 54 } CanOpenType;
ptpaterson 2:c724ff3a4e4d 55
ptpaterson 3:12b3c25bdeba 56 /** CANOpen Function Codes */
ptpaterson 3:12b3c25bdeba 57 typedef enum {
ptpaterson 3:12b3c25bdeba 58 CANOPEN_FUNCTION_CODE_NMT = 0x00,
ptpaterson 3:12b3c25bdeba 59 CANOPEN_FUNCTION_CODE_SYNC = 0x01,
ptpaterson 3:12b3c25bdeba 60 CANOPEN_FUNCTION_CODE_TIME = 0x02,
ptpaterson 3:12b3c25bdeba 61 CANOPEN_FUNCTION_CODE_PDO1T = 0x03,
ptpaterson 3:12b3c25bdeba 62 CANOPEN_FUNCTION_CODE_PD01R = 0x04,
ptpaterson 3:12b3c25bdeba 63 CANOPEN_FUNCTION_CODE_PD02T = 0x05,
ptpaterson 3:12b3c25bdeba 64 CANOPEN_FUNCTION_CODE_PD02R = 0x06,
ptpaterson 3:12b3c25bdeba 65 CANOPEN_FUNCTION_CODE_PD03T = 0x07,
ptpaterson 3:12b3c25bdeba 66 CANOPEN_FUNCTION_CODE_PD03R = 0x08,
ptpaterson 3:12b3c25bdeba 67 CANOPEN_FUNCTION_CODE_PD04T = 0x09,
ptpaterson 3:12b3c25bdeba 68 CANOPEN_FUNCTION_CODE_PD04R = 0x0A,
ptpaterson 3:12b3c25bdeba 69 CANOPEN_FUNCTION_CODE_SD0T = 0x0B,
ptpaterson 3:12b3c25bdeba 70 CANOPEN_FUNCTION_CODE_SD0R = 0x0C,
ptpaterson 3:12b3c25bdeba 71 CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
ptpaterson 3:12b3c25bdeba 72 CANOPEN_FUNCTION_CODE_LSS = 0x0F
ptpaterson 3:12b3c25bdeba 73 } CanOpenFunctionCodes;
ptpaterson 3:12b3c25bdeba 74
ptpaterson 2:c724ff3a4e4d 75 /** CANOpen Message */
ptpaterson 2:c724ff3a4e4d 76 typedef struct {
ptpaterson 2:c724ff3a4e4d 77 unsigned int id;
ptpaterson 2:c724ff3a4e4d 78 char data[8];
ptpaterson 2:c724ff3a4e4d 79 CanOpenFormat format;
ptpaterson 2:c724ff3a4e4d 80 CanOpenType type;
ptpaterson 2:c724ff3a4e4d 81 unsigned char dataCount;
ptpaterson 2:c724ff3a4e4d 82 } CanOpenMessage;
ptpaterson 2:c724ff3a4e4d 83
ptpaterson 3:12b3c25bdeba 84
ptpaterson 3:12b3c25bdeba 85
ptpaterson 3:12b3c25bdeba 86 /* Message Constants */
ptpaterson 3:12b3c25bdeba 87 #define MESSAGE_NODEID_BITS 0b00001111111
ptpaterson 3:12b3c25bdeba 88 #define MESSAGE_COMMAND_BITS 0b11110000000
ptpaterson 3:12b3c25bdeba 89
ptpaterson 3:12b3c25bdeba 90 /* Message Macros -----------------------------------------------------------*/
ptpaterson 3:12b3c25bdeba 91 #define MESSAGE_GET_NODEID(cobId) (cobId & MESSAGE_NODEID_BITS)
ptpaterson 3:12b3c25bdeba 92 #define MESSAGE_GET_COMMAND(cobId) ((cobId & MESSAGE_COMMAND_BITS) >> 7)
ptpaterson 3:12b3c25bdeba 93
ptpaterson 2:c724ff3a4e4d 94 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 95 * SDO MESSAGE PARAMETERS
ptpaterson 2:c724ff3a4e4d 96 *=========================================================================
ptpaterson 2:c724ff3a4e4d 97 */
ptpaterson 2:c724ff3a4e4d 98
ptpaterson 2:c724ff3a4e4d 99 /** SDO initiate protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 100 typedef enum {
ptpaterson 2:c724ff3a4e4d 101 SDO_CCS_DOWNLOAD_SEGMENT_REQUEST = 0x00,
ptpaterson 2:c724ff3a4e4d 102 SDO_CCS_INITIATE_DOWNLOAD_REQUEST = 0x01,
ptpaterson 2:c724ff3a4e4d 103 SDO_CCS_INITIATE_UPLOAD_REQUEST = 0x02,
ptpaterson 2:c724ff3a4e4d 104 } SdoClientCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 105
ptpaterson 2:c724ff3a4e4d 106 /** SDO segment protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 107 typedef enum {
ptpaterson 2:c724ff3a4e4d 108 SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE = 0x01,
ptpaterson 2:c724ff3a4e4d 109 SDO_SCS_INITIATE_UPLOAD_RESPONSE = 0x02,
ptpaterson 2:c724ff3a4e4d 110 SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
ptpaterson 2:c724ff3a4e4d 111 } SdoServerCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 112
ptpaterson 2:c724ff3a4e4d 113 /* SDO constants --------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 114 #define SDO_SIZE_INDICATOR_BIT 0b00000001
ptpaterson 2:c724ff3a4e4d 115 #define SDO_TRANSFER_TYPE_BIT 0b00000010
ptpaterson 2:c724ff3a4e4d 116 #define SDO_DATA_COUNT_BITS 0b00001100
ptpaterson 2:c724ff3a4e4d 117 #define SDO_TOGGLE_BIT 0b00010000
ptpaterson 2:c724ff3a4e4d 118 #define SDO_CS_BITS 0b11100000
ptpaterson 2:c724ff3a4e4d 119
ptpaterson 2:c724ff3a4e4d 120 /* SDO macros -----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 121 #define SDO_GET_CS(data0) ((data0 & SDO_CS_BITS) >> 5)
ptpaterson 2:c724ff3a4e4d 122 #define SDO_GET_DATA_COUNT(data0) ((data0 & SDO_DATA_COUNT_BITS) >> 2)
ptpaterson 2:c724ff3a4e4d 123
ptpaterson 2:c724ff3a4e4d 124
ptpaterson 2:c724ff3a4e4d 125 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 126 * NMT MESSAGE PARAMETERS
ptpaterson 2:c724ff3a4e4d 127 *=========================================================================
ptpaterson 2:c724ff3a4e4d 128 */
ptpaterson 2:c724ff3a4e4d 129
ptpaterson 2:c724ff3a4e4d 130 /** Node network management state */
ptpaterson 2:c724ff3a4e4d 131 typedef enum NmtState {
ptpaterson 2:c724ff3a4e4d 132 NMT_STATE_INITIALIZED = 0x00,
ptpaterson 2:c724ff3a4e4d 133 NMT_STATE_DISCONNECTED = 0x01,
ptpaterson 2:c724ff3a4e4d 134 NMT_STATE_CONNECTING = 0x02,
ptpaterson 2:c724ff3a4e4d 135 NMT_STATE_PREPARING = 0x02,
ptpaterson 2:c724ff3a4e4d 136 NMT_STATE_STOPPED = 0x04,
ptpaterson 2:c724ff3a4e4d 137 NMT_STATE_OPERATIONAL = 0x05,
ptpaterson 2:c724ff3a4e4d 138 NMT_STATE_PREOPERATIONAL = 0x7F,
ptpaterson 2:c724ff3a4e4d 139 NMT_STATE_UNKNOWN = 0x0F
ptpaterson 2:c724ff3a4e4d 140 } NmtState;
ptpaterson 2:c724ff3a4e4d 141
ptpaterson 2:c724ff3a4e4d 142 /** NMT node control protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 143 typedef enum {
ptpaterson 2:c724ff3a4e4d 144 NMT_CS_START = 0x01,
ptpaterson 2:c724ff3a4e4d 145 NMT_CS_STOP = 0x02,
ptpaterson 2:c724ff3a4e4d 146 NMT_CS_ENTER_PREOP = 0x80,
ptpaterson 2:c724ff3a4e4d 147 NMT_CS_RESET_NODE = 0x81,
ptpaterson 2:c724ff3a4e4d 148 NMT_CS_RESET_COM = 0x82
ptpaterson 2:c724ff3a4e4d 149 } NmtCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 150
ptpaterson 2:c724ff3a4e4d 151 /* NMT Constants --------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 152 #define NMT_STATE_TOGGLE_BIT 0x80
ptpaterson 2:c724ff3a4e4d 153
ptpaterson 2:c724ff3a4e4d 154 /* NMT Macros -----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 155 #define NMT_SET_STATE(curState, newState) (curState) = (((curState) & NMT_STATE_TOGGLE_BIT) | ((newState) & (~NMT_STATE_TOGGLE_BIT))))
ptpaterson 2:c724ff3a4e4d 156
ptpaterson 2:c724ff3a4e4d 157 #ifdef __cplusplus
ptpaterson 2:c724ff3a4e4d 158 };
ptpaterson 2:c724ff3a4e4d 159 #endif
ptpaterson 2:c724ff3a4e4d 160
ptpaterson 3:12b3c25bdeba 161 #endif /* PPCAN_CANOPEN_PROTOCOL */