Diff: include/canopen_protocol.h

Revision:

4:2034b04c86d2

Parent:

3:12b3c25bdeba

Child:

5:22a337cdc0e3

diff -r 12b3c25bdeba -r 2034b04c86d2 include/canopen_protocol.h
--- a/include/canopen_protocol.h	Mon Jan 04 06:10:49 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,161 +0,0 @@
-/**
- ******************************************************************************
- * @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 */