CanOpenMessage.h

00001 /**
00002  ******************************************************************************
00003  * @file
00004  * @author  Paul Paterson
00005  * @version
00006  * @date    2015-12-14
00007  * @brief   CANOpen implementation library
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
00012  *
00013  * All rights reserved.
00014 
00015  This program is free software: you can redistribute it and/or modify
00016  it under the terms of the GNU General Public License as published by
00017  the Free Software Foundation, either version 3 of the License, or
00018  (at your option) any later version.
00019 
00020  This program is distributed in the hope that it will be useful,
00021  but WITHOUT ANY WARRANTY; without even the implied warranty of
00022  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00023  GNU General Public License for more details.
00024 
00025  You should have received a copy of the GNU General Public License
00026  along with this program.  If not, see <http://www.gnu.org/licenses/>.
00027  */
00028 
00029 #ifndef PPCAN_CANOPEN_MESSAGE_H
00030 #define PPCAN_CANOPEN_MESSAGE_H
00031 
00032 #include "stdint.h"
00033 
00034 #ifdef __cplusplus
00035 extern "C" {
00036 #endif
00037 
00038 /*=========================================================================
00039  * CANOpen Message Structure
00040  *=========================================================================
00041  */
00042 
00043 /** CANOpen Message Format */
00044 typedef enum {
00045     CANOPEN_FORMAT_STANDARD = 0,
00046     CANOPEN_FORMAT_EXTENDED,
00047     CANOPEN_FORMAT_ANY
00048 } CanOpenFormat;
00049 
00050 /** CANOpen Message Data Type */
00051 typedef enum {
00052     CANOPEN_TYPE_DATA = 0,
00053     CANOPEN_TYPE_REMOTE
00054 } CanOpenType;
00055 
00056 
00057 /** CANOpen Message */
00058 typedef struct CanOpenMessage {
00059     uint32_t        id;
00060     uint8_t         data[8];
00061     CanOpenFormat   format;
00062     CanOpenType     type;
00063     uint8_t         dataCount;
00064 } CanOpenMessage;
00065 
00066 
00067 /*=========================================================================
00068  * CANOpen Function Codes
00069  *=========================================================================
00070  */
00071  
00072 /** CANOpen Function Codes */
00073 typedef enum {
00074     CANOPEN_FUNCTION_CODE_NMT        = 0x00,
00075     CANOPEN_FUNCTION_CODE_SYNC       = 0x01,
00076     CANOPEN_FUNCTION_CODE_TIME       = 0x02,
00077     CANOPEN_FUNCTION_CODE_PDO1T      = 0x03,
00078     CANOPEN_FUNCTION_CODE_PDO1R      = 0x04,
00079     CANOPEN_FUNCTION_CODE_PDO2T      = 0x05,
00080     CANOPEN_FUNCTION_CODE_PDO2R      = 0x06,
00081     CANOPEN_FUNCTION_CODE_PDO3T      = 0x07,
00082     CANOPEN_FUNCTION_CODE_PDO3R      = 0x08,
00083     CANOPEN_FUNCTION_CODE_PDO4T      = 0x09,
00084     CANOPEN_FUNCTION_CODE_PDO4R      = 0x0A,
00085     CANOPEN_FUNCTION_CODE_SDOT       = 0x0B,
00086     CANOPEN_FUNCTION_CODE_SDOR       = 0x0C,
00087     CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
00088     CANOPEN_FUNCTION_CODE_LSS        = 0x0F
00089 } CanOpenFunctionCodes;
00090 
00091 /* Message Constants */
00092 #define MESSAGE_NODEID_BITS     0b00001111111
00093 #define MESSAGE_COMMAND_BITS    0b11110000000
00094 
00095 /* Message Macros -----------------------------------------------------------*/ 
00096 #define MESSAGE_GET_NODEID(cobId)   (cobId & MESSAGE_NODEID_BITS)
00097 #define MESSAGE_GET_COMMAND(cobId)  ((cobId & MESSAGE_COMMAND_BITS) >> 7)
00098 
00099 /*=========================================================================
00100  * SDO MESSAGE PARAMETERS
00101  *=========================================================================
00102  */
00103 
00104 /** SDO initiate protocol command specifiers */
00105 typedef enum {
00106      SDO_CCS_DOWNLOAD_SEGMENT_REQUEST   = 0x00, 
00107      SDO_CCS_INITIATE_DOWNLOAD_REQUEST  = 0x01,
00108      SDO_CCS_INITIATE_UPLOAD_REQUEST    = 0x02,
00109 } SdoClientCommandSpecifier;
00110 
00111 /** SDO segment protocol command specifiers */
00112 typedef enum {
00113      SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE  = 0x01,
00114      SDO_SCS_INITIATE_UPLOAD_RESPONSE   = 0x02,
00115      SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
00116 } SdoServerCommandSpecifier;
00117 
00118 /* SDO constants --------------------------------------------------------*/
00119 #define SDO_SIZE_INDICATOR_BIT  0b00000001
00120 #define SDO_TRANSFER_TYPE_BIT   0b00000010
00121 #define SDO_DATA_COUNT_BITS     0b00001100
00122 #define SDO_TOGGLE_BIT          0b00010000
00123 #define SDO_CS_BITS             0b11100000
00124 
00125 /* SDO macros -----------------------------------------------------------*/ 
00126 #define SDO_GET_CS(data0)           ((data0 & SDO_CS_BITS) >> 5)
00127 #define SDO_GET_DATA_COUNT(data0)   ((data0 & SDO_DATA_COUNT_BITS) >> 2)
00128 
00129 
00130 /*=========================================================================
00131  * NMT MESSAGE PARAMETERS
00132  *=========================================================================
00133  */
00134 
00135 /** NMT node control protocol command specifiers */
00136 typedef enum {
00137      NMT_CS_START       = 0x01,
00138      NMT_CS_STOP        = 0x02,
00139      NMT_CS_ENTER_PREOP = 0x80,
00140      NMT_CS_RESET_NODE  = 0x81,
00141      NMT_CS_RESET_COM   = 0x82
00142 } NmtCommandSpecifier;
00143 
00144 #ifdef __cplusplus
00145 };
00146 #endif
00147 
00148 #endif /* PPCAN_CANOPEN_MESSAGE_H */