File content as of revision 3:12b3c25bdeba:

/**
 ******************************************************************************
 * @file
 * @author  Paul Paterson
 * @version
 * @date    2015-12-17
 * @brief   CANOpen implementation library
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
 *
 * All rights reserved.

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program 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 General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PPCAN_CANOPEN_PROTOCOL_H
#define PPCAN_CANOPEN_PROTOCOL_H

#include "CanOpenHandle.h"

#ifdef __cplusplus
extern "C" {
#endif

    /*=========================================================================
     * MESSAGES
     *=========================================================================
     */

    /** CANOpen Message Format */
    typedef enum {
        CANOPEN_FORMAT_STANDARD = 0,
        CANOPEN_FORMAT_EXTENDED,
        CANOPEN_FORMAT_ANY
    } CanOpenFormat;

    /** CANOpen Message Data Type */
    typedef enum {
        CANOPEN_TYPE_DATA = 0,
        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;
        char   data[8];
        CanOpenFormat   format;
        CanOpenType     type;
        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
     *=========================================================================
     */
    
    /** SDO initiate protocol command specifiers */
    typedef enum {
         SDO_CCS_DOWNLOAD_SEGMENT_REQUEST   = 0x00, 
         SDO_CCS_INITIATE_DOWNLOAD_REQUEST  = 0x01,
         SDO_CCS_INITIATE_UPLOAD_REQUEST    = 0x02,
    } SdoClientCommandSpecifier;
    
    /** SDO segment protocol command specifiers */
    typedef enum {
         SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE  = 0x01,
         SDO_SCS_INITIATE_UPLOAD_RESPONSE   = 0x02,
         SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
    } SdoServerCommandSpecifier;
    
    /* SDO constants --------------------------------------------------------*/
    #define SDO_SIZE_INDICATOR_BIT  0b00000001
    #define SDO_TRANSFER_TYPE_BIT   0b00000010
    #define SDO_DATA_COUNT_BITS     0b00001100
    #define SDO_TOGGLE_BIT          0b00010000
    #define SDO_CS_BITS             0b11100000
    
    /* SDO macros -----------------------------------------------------------*/ 
    #define SDO_GET_CS(data0)           ((data0 & SDO_CS_BITS) >> 5)
    #define SDO_GET_DATA_COUNT(data0)   ((data0 & SDO_DATA_COUNT_BITS) >> 2)
    
    
    /*=========================================================================
     * NMT MESSAGE PARAMETERS
     *=========================================================================
     */

    /** Node network management state */
    typedef enum NmtState {
        NMT_STATE_INITIALIZED     = 0x00,
        NMT_STATE_DISCONNECTED    = 0x01,
        NMT_STATE_CONNECTING      = 0x02,
        NMT_STATE_PREPARING       = 0x02,
        NMT_STATE_STOPPED         = 0x04,
        NMT_STATE_OPERATIONAL     = 0x05,
        NMT_STATE_PREOPERATIONAL  = 0x7F,
        NMT_STATE_UNKNOWN         = 0x0F
    } NmtState;
    
    /** NMT node control protocol command specifiers */
    typedef enum {
         NMT_CS_START       = 0x01,
         NMT_CS_STOP        = 0x02,
         NMT_CS_ENTER_PREOP = 0x80,
         NMT_CS_RESET_NODE  = 0x81,
         NMT_CS_RESET_COM   = 0x82
    } NmtCommandSpecifier;
    
    /* NMT Constants --------------------------------------------------------*/
    #define NMT_STATE_TOGGLE_BIT      0x80
    
    /* NMT Macros -----------------------------------------------------------*/
    #define NMT_SET_STATE(curState, newState) (curState) = (((curState) & NMT_STATE_TOGGLE_BIT) | ((newState) & (~NMT_STATE_TOGGLE_BIT))))
    
#ifdef __cplusplus
};
#endif

#endif /* PPCAN_CANOPEN_PROTOCOL */