Paul Paterson / ppCANOpen

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Dependents:   ppCANOpen_Example DISCO-F746NG_rtos_test

include/canopen_protocol.h@2:c724ff3a4e4d, 2015-12-30 (annotated)

Committer:
ptpaterson
Date:
Wed Dec 30 13:33:41 2015 +0000
Revision:
2:c724ff3a4e4d
Child:
3:12b3c25bdeba
Implement simple Object Dictionary and derived class.

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 2:c724ff3a4e4d 29 #ifndef CANOPEN_PROTOCOL_H
ptpaterson 2:c724ff3a4e4d 30 #define CANOPEN_PROTOCOL_H
ptpaterson 2:c724ff3a4e4d 31
ptpaterson 2:c724ff3a4e4d 32
ptpaterson 2:c724ff3a4e4d 33 #ifdef __cplusplus
ptpaterson 2:c724ff3a4e4d 34 extern "C" {
ptpaterson 2:c724ff3a4e4d 35 #endif
ptpaterson 2:c724ff3a4e4d 36
ptpaterson 2:c724ff3a4e4d 37 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 38 * MESSAGES
ptpaterson 2:c724ff3a4e4d 39 *=========================================================================
ptpaterson 2:c724ff3a4e4d 40 */
ptpaterson 2:c724ff3a4e4d 41
ptpaterson 2:c724ff3a4e4d 42 /** CANOpen Message Format */
ptpaterson 2:c724ff3a4e4d 43 typedef enum {
ptpaterson 2:c724ff3a4e4d 44 CANOPEN_FORMAT_STANDARD = 0,
ptpaterson 2:c724ff3a4e4d 45 CANOPEN_FORMAT_EXTENDED,
ptpaterson 2:c724ff3a4e4d 46 CANOPEN_FORMAT_ANY
ptpaterson 2:c724ff3a4e4d 47 } CanOpenFormat;
ptpaterson 2:c724ff3a4e4d 48
ptpaterson 2:c724ff3a4e4d 49 /** CANOpen Message Data Type */
ptpaterson 2:c724ff3a4e4d 50 typedef enum {
ptpaterson 2:c724ff3a4e4d 51 CANOPEN_TYPE_DATA = 0,
ptpaterson 2:c724ff3a4e4d 52 CANOPEN_TYPE_REMOTE
ptpaterson 2:c724ff3a4e4d 53 } CanOpenType;
ptpaterson 2:c724ff3a4e4d 54
ptpaterson 2:c724ff3a4e4d 55 /** CANOpen Message */
ptpaterson 2:c724ff3a4e4d 56 typedef struct {
ptpaterson 2:c724ff3a4e4d 57 unsigned int id;
ptpaterson 2:c724ff3a4e4d 58 char data[8];
ptpaterson 2:c724ff3a4e4d 59 CanOpenFormat format;
ptpaterson 2:c724ff3a4e4d 60 CanOpenType type;
ptpaterson 2:c724ff3a4e4d 61 unsigned char dataCount;
ptpaterson 2:c724ff3a4e4d 62 } CanOpenMessage;
ptpaterson 2:c724ff3a4e4d 63
ptpaterson 2:c724ff3a4e4d 64 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 65 * SDO MESSAGE PARAMETERS
ptpaterson 2:c724ff3a4e4d 66 *=========================================================================
ptpaterson 2:c724ff3a4e4d 67 */
ptpaterson 2:c724ff3a4e4d 68
ptpaterson 2:c724ff3a4e4d 69 /** SDO initiate protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 70 typedef enum {
ptpaterson 2:c724ff3a4e4d 71 SDO_CCS_DOWNLOAD_SEGMENT_REQUEST = 0x00,
ptpaterson 2:c724ff3a4e4d 72 SDO_CCS_INITIATE_DOWNLOAD_REQUEST = 0x01,
ptpaterson 2:c724ff3a4e4d 73 SDO_CCS_INITIATE_UPLOAD_REQUEST = 0x02,
ptpaterson 2:c724ff3a4e4d 74 } SdoClientCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 75
ptpaterson 2:c724ff3a4e4d 76 /** SDO segment protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 77 typedef enum {
ptpaterson 2:c724ff3a4e4d 78 SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE = 0x01,
ptpaterson 2:c724ff3a4e4d 79 SDO_SCS_INITIATE_UPLOAD_RESPONSE = 0x02,
ptpaterson 2:c724ff3a4e4d 80 SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
ptpaterson 2:c724ff3a4e4d 81 } SdoServerCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 82
ptpaterson 2:c724ff3a4e4d 83 /* SDO constants --------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 84 #define SDO_SIZE_INDICATOR_BIT 0b00000001
ptpaterson 2:c724ff3a4e4d 85 #define SDO_TRANSFER_TYPE_BIT 0b00000010
ptpaterson 2:c724ff3a4e4d 86 #define SDO_DATA_COUNT_BITS 0b00001100
ptpaterson 2:c724ff3a4e4d 87 #define SDO_TOGGLE_BIT 0b00010000
ptpaterson 2:c724ff3a4e4d 88 #define SDO_CS_BITS 0b11100000
ptpaterson 2:c724ff3a4e4d 89
ptpaterson 2:c724ff3a4e4d 90 /* SDO macros -----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 91 #define SDO_GET_CS(data0) ((data0 & SDO_CS_BITS) >> 5)
ptpaterson 2:c724ff3a4e4d 92 #define SDO_GET_DATA_COUNT(data0) ((data0 & SDO_DATA_COUNT_BITS) >> 2)
ptpaterson 2:c724ff3a4e4d 93
ptpaterson 2:c724ff3a4e4d 94
ptpaterson 2:c724ff3a4e4d 95 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 96 * NMT MESSAGE PARAMETERS
ptpaterson 2:c724ff3a4e4d 97 *=========================================================================
ptpaterson 2:c724ff3a4e4d 98 */
ptpaterson 2:c724ff3a4e4d 99
ptpaterson 2:c724ff3a4e4d 100 /** Node network management state */
ptpaterson 2:c724ff3a4e4d 101 typedef enum NmtState {
ptpaterson 2:c724ff3a4e4d 102 NMT_STATE_INITIALIZED = 0x00,
ptpaterson 2:c724ff3a4e4d 103 NMT_STATE_DISCONNECTED = 0x01,
ptpaterson 2:c724ff3a4e4d 104 NMT_STATE_CONNECTING = 0x02,
ptpaterson 2:c724ff3a4e4d 105 NMT_STATE_PREPARING = 0x02,
ptpaterson 2:c724ff3a4e4d 106 NMT_STATE_STOPPED = 0x04,
ptpaterson 2:c724ff3a4e4d 107 NMT_STATE_OPERATIONAL = 0x05,
ptpaterson 2:c724ff3a4e4d 108 NMT_STATE_PREOPERATIONAL = 0x7F,
ptpaterson 2:c724ff3a4e4d 109 NMT_STATE_UNKNOWN = 0x0F
ptpaterson 2:c724ff3a4e4d 110 } NmtState;
ptpaterson 2:c724ff3a4e4d 111
ptpaterson 2:c724ff3a4e4d 112 /** NMT node control protocol command specifiers */
ptpaterson 2:c724ff3a4e4d 113 typedef enum {
ptpaterson 2:c724ff3a4e4d 114 NMT_CS_START = 0x01,
ptpaterson 2:c724ff3a4e4d 115 NMT_CS_STOP = 0x02,
ptpaterson 2:c724ff3a4e4d 116 NMT_CS_ENTER_PREOP = 0x80,
ptpaterson 2:c724ff3a4e4d 117 NMT_CS_RESET_NODE = 0x81,
ptpaterson 2:c724ff3a4e4d 118 NMT_CS_RESET_COM = 0x82
ptpaterson 2:c724ff3a4e4d 119 } NmtCommandSpecifier;
ptpaterson 2:c724ff3a4e4d 120
ptpaterson 2:c724ff3a4e4d 121 /* NMT Constants --------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 122 #define NMT_STATE_TOGGLE_BIT 0x80
ptpaterson 2:c724ff3a4e4d 123
ptpaterson 2:c724ff3a4e4d 124 /* NMT Macros -----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 125 #define NMT_SET_STATE(curState, newState) (curState) = (((curState) & NMT_STATE_TOGGLE_BIT) | ((newState) & (~NMT_STATE_TOGGLE_BIT))))
ptpaterson 2:c724ff3a4e4d 126
ptpaterson 2:c724ff3a4e4d 127 #ifdef __cplusplus
ptpaterson 2:c724ff3a4e4d 128 };
ptpaterson 2:c724ff3a4e4d 129 #endif
ptpaterson 2:c724ff3a4e4d 130
ptpaterson 2:c724ff3a4e4d 131 #endif /* CANOPEN_PROTOCOL */