Diff: include/canopen_protocol.h

Revision:

3:12b3c25bdeba

Parent:

2:c724ff3a4e4d

--- a/include/canopen_protocol.h	Wed Dec 30 13:33:41 2015 +0000
+++ b/include/canopen_protocol.h	Mon Jan 04 06:10:49 2016 +0000
@@ -26,9 +26,10 @@
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef CANOPEN_PROTOCOL_H
-#define CANOPEN_PROTOCOL_H
+#ifndef PPCAN_CANOPEN_PROTOCOL_H
+#define PPCAN_CANOPEN_PROTOCOL_H
 
+#include "CanOpenHandle.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -52,6 +53,25 @@
         CANOPEN_TYPE_REMOTE
     } CanOpenType;
 
+    /** CANOpen Function Codes */
+    typedef enum {
+        CANOPEN_FUNCTION_CODE_NMT        = 0x00,
+        CANOPEN_FUNCTION_CODE_SYNC       = 0x01,
+        CANOPEN_FUNCTION_CODE_TIME       = 0x02,
+        CANOPEN_FUNCTION_CODE_PDO1T      = 0x03,
+        CANOPEN_FUNCTION_CODE_PD01R      = 0x04,
+        CANOPEN_FUNCTION_CODE_PD02T      = 0x05,
+        CANOPEN_FUNCTION_CODE_PD02R      = 0x06,
+        CANOPEN_FUNCTION_CODE_PD03T      = 0x07,
+        CANOPEN_FUNCTION_CODE_PD03R      = 0x08,
+        CANOPEN_FUNCTION_CODE_PD04T      = 0x09,
+        CANOPEN_FUNCTION_CODE_PD04R      = 0x0A,
+        CANOPEN_FUNCTION_CODE_SD0T       = 0x0B,
+        CANOPEN_FUNCTION_CODE_SD0R       = 0x0C,
+        CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
+        CANOPEN_FUNCTION_CODE_LSS        = 0x0F
+    } CanOpenFunctionCodes;
+
     /** CANOpen Message */
     typedef struct {
         unsigned int    id;
@@ -61,6 +81,16 @@
         unsigned char   dataCount;
     } CanOpenMessage;
 
+    
+
+    /* Message Constants */
+    #define MESSAGE_NODEID_BITS     0b00001111111
+    #define MESSAGE_COMMAND_BITS    0b11110000000
+
+    /* Message Macros -----------------------------------------------------------*/ 
+    #define MESSAGE_GET_NODEID(cobId)   (cobId & MESSAGE_NODEID_BITS)
+    #define MESSAGE_GET_COMMAND(cobId)  ((cobId & MESSAGE_COMMAND_BITS) >> 7)
+
     /*=========================================================================
      * SDO MESSAGE PARAMETERS
      *=========================================================================
@@ -128,4 +158,4 @@
 };
 #endif
 
-#endif /* CANOPEN_PROTOCOL */
+#endif /* PPCAN_CANOPEN_PROTOCOL */