Sam Grove / Mbed 2 deprecated canopen_masternode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/def.h@7:537bae5a6fc6, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:48:14 2012 +0000
Revision:
7:537bae5a6fc6
Parent:
0:9dd7c6129683 
Pushing the project into the new repo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1 /*
sam_grove 0:9dd7c6129683 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:9dd7c6129683 3
sam_grove 0:9dd7c6129683 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 5
sam_grove 0:9dd7c6129683 6 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 7
sam_grove 0:9dd7c6129683 8 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 10 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 12
sam_grove 0:9dd7c6129683 13 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 16 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 17
sam_grove 0:9dd7c6129683 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 19 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:9dd7c6129683 21 */
sam_grove 0:9dd7c6129683 22
sam_grove 0:9dd7c6129683 23
sam_grove 0:9dd7c6129683 24 #ifndef __def_h__
sam_grove 0:9dd7c6129683 25 #define __def_h__
sam_grove 0:9dd7c6129683 26
sam_grove 0:9dd7c6129683 27 #include "config.h"
sam_grove 0:9dd7c6129683 28
sam_grove 0:9dd7c6129683 29 /** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48)
sam_grove 0:9dd7c6129683 30 */
sam_grove 0:9dd7c6129683 31 #define OD_SUCCESSFUL 0x00000000
sam_grove 0:9dd7c6129683 32 #define OD_READ_NOT_ALLOWED 0x06010001
sam_grove 0:9dd7c6129683 33 #define OD_WRITE_NOT_ALLOWED 0x06010002
sam_grove 0:9dd7c6129683 34 #define OD_NO_SUCH_OBJECT 0x06020000
sam_grove 0:9dd7c6129683 35 #define OD_NOT_MAPPABLE 0x06040041
sam_grove 0:9dd7c6129683 36 #define OD_LENGTH_DATA_INVALID 0x06070010
sam_grove 0:9dd7c6129683 37 #define OD_NO_SUCH_SUBINDEX 0x06090011
sam_grove 0:9dd7c6129683 38 #define OD_VALUE_RANGE_EXCEEDED 0x06090030 /* Value range test result */
sam_grove 0:9dd7c6129683 39 #define OD_VALUE_TOO_LOW 0x06090031 /* Value range test result */
sam_grove 0:9dd7c6129683 40 #define OD_VALUE_TOO_HIGH 0x06090032 /* Value range test result */
sam_grove 0:9dd7c6129683 41 /* Others SDO abort codes
sam_grove 0:9dd7c6129683 42 */
sam_grove 0:9dd7c6129683 43 #define SDOABT_TOGGLE_NOT_ALTERNED 0x05030000
sam_grove 0:9dd7c6129683 44 #define SDOABT_TIMED_OUT 0x05040000
sam_grove 0:9dd7c6129683 45 #define SDOABT_OUT_OF_MEMORY 0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */
sam_grove 0:9dd7c6129683 46 #define SDOABT_GENERAL_ERROR 0x08000000 /* Error size of SDO message */
sam_grove 0:9dd7c6129683 47 #define SDOABT_LOCAL_CTRL_ERROR 0x08000021
sam_grove 0:9dd7c6129683 48
sam_grove 0:9dd7c6129683 49 /******************** CONSTANTS ****************/
sam_grove 0:9dd7c6129683 50
sam_grove 0:9dd7c6129683 51 /** Constantes which permit to define if a PDO frame
sam_grove 0:9dd7c6129683 52 is a request one or a data one
sam_grove 0:9dd7c6129683 53 */
sam_grove 0:9dd7c6129683 54 /* Should not be modified */
sam_grove 0:9dd7c6129683 55 #define REQUEST 1
sam_grove 0:9dd7c6129683 56 #define NOT_A_REQUEST 0
sam_grove 0:9dd7c6129683 57
sam_grove 0:9dd7c6129683 58 /* Misc constants */
sam_grove 0:9dd7c6129683 59 /* -------------- */
sam_grove 0:9dd7c6129683 60 /* Should not be modified */
sam_grove 0:9dd7c6129683 61 #define Rx 0
sam_grove 0:9dd7c6129683 62 #define Tx 1
sam_grove 0:9dd7c6129683 63 #ifndef TRUE
sam_grove 0:9dd7c6129683 64 #define TRUE 1
sam_grove 0:9dd7c6129683 65 #endif
sam_grove 0:9dd7c6129683 66 #ifndef FALSE
sam_grove 0:9dd7c6129683 67 #define FALSE 0
sam_grove 0:9dd7c6129683 68 #endif
sam_grove 0:9dd7c6129683 69
sam_grove 0:9dd7c6129683 70 /** Status of the SDO transmission
sam_grove 0:9dd7c6129683 71 */
sam_grove 0:9dd7c6129683 72 #define SDO_RESET 0x0 /* Transmission not started. Init state. */
sam_grove 0:9dd7c6129683 73 #define SDO_FINISHED 0x1 /* data are available */
sam_grove 0:9dd7c6129683 74 #define SDO_ABORTED_RCV 0x80 /* Received an abort message. Data not available */
sam_grove 0:9dd7c6129683 75 #define SDO_ABORTED_INTERNAL 0x85 /* Aborted but not because of an abort message. */
sam_grove 0:9dd7c6129683 76 #define SDO_DOWNLOAD_IN_PROGRESS 0x2
sam_grove 0:9dd7c6129683 77 #define SDO_UPLOAD_IN_PROGRESS 0x3
sam_grove 0:9dd7c6129683 78
sam_grove 0:9dd7c6129683 79 /* Status of the node during the SDO transfert : */
sam_grove 0:9dd7c6129683 80 #define SDO_SERVER 0x1
sam_grove 0:9dd7c6129683 81 #define SDO_CLIENT 0x2
sam_grove 0:9dd7c6129683 82 #define SDO_UNKNOWN 0x3
sam_grove 0:9dd7c6129683 83
sam_grove 0:9dd7c6129683 84 /* SDOrx ccs: client command specifier */
sam_grove 0:9dd7c6129683 85 #define DOWNLOAD_SEGMENT_REQUEST 0
sam_grove 0:9dd7c6129683 86 #define INITIATE_DOWNLOAD_REQUEST 1
sam_grove 0:9dd7c6129683 87 #define INITIATE_UPLOAD_REQUEST 2
sam_grove 0:9dd7c6129683 88 #define UPLOAD_SEGMENT_REQUEST 3
sam_grove 0:9dd7c6129683 89 #define ABORT_TRANSFER_REQUEST 4
sam_grove 0:9dd7c6129683 90
sam_grove 0:9dd7c6129683 91 /* SDOtx scs: server command specifier */
sam_grove 0:9dd7c6129683 92 #define UPLOAD_SEGMENT_RESPONSE 0
sam_grove 0:9dd7c6129683 93 #define DOWNLOAD_SEGMENT_RESPONSE 1
sam_grove 0:9dd7c6129683 94 #define INITIATE_DOWNLOAD_RESPONSE 3
sam_grove 0:9dd7c6129683 95 #define INITIATE_UPLOAD_RESPONSE 2
sam_grove 0:9dd7c6129683 96 #define ABORT_TRANSFER_REQUEST 4
sam_grove 0:9dd7c6129683 97
sam_grove 0:9dd7c6129683 98
sam_grove 0:9dd7c6129683 99 /* Function Codes
sam_grove 0:9dd7c6129683 100 ---------------
sam_grove 0:9dd7c6129683 101 defined in the canopen DS301
sam_grove 0:9dd7c6129683 102 */
sam_grove 0:9dd7c6129683 103 #define NMT 0x0
sam_grove 0:9dd7c6129683 104 #define SYNC 0x1
sam_grove 0:9dd7c6129683 105 #define TIME_STAMP 0x2
sam_grove 0:9dd7c6129683 106 #define PDO1tx 0x3
sam_grove 0:9dd7c6129683 107 #define PDO1rx 0x4
sam_grove 0:9dd7c6129683 108 #define PDO2tx 0x5
sam_grove 0:9dd7c6129683 109 #define PDO2rx 0x6
sam_grove 0:9dd7c6129683 110 #define PDO3tx 0x7
sam_grove 0:9dd7c6129683 111 #define PDO3rx 0x8
sam_grove 0:9dd7c6129683 112 #define PDO4tx 0x9
sam_grove 0:9dd7c6129683 113 #define PDO4rx 0xA
sam_grove 0:9dd7c6129683 114 #define SDOtx 0xB
sam_grove 0:9dd7c6129683 115 #define SDOrx 0xC
sam_grove 0:9dd7c6129683 116 #define NODE_GUARD 0xE
sam_grove 0:9dd7c6129683 117 #define LSS 0xF
sam_grove 0:9dd7c6129683 118
sam_grove 0:9dd7c6129683 119 /* NMT Command Specifier, sent by master to change a slave state */
sam_grove 0:9dd7c6129683 120 /* ------------------------------------------------------------- */
sam_grove 0:9dd7c6129683 121 /* Should not be modified */
sam_grove 0:9dd7c6129683 122 #define NMT_Start_Node 0x01
sam_grove 0:9dd7c6129683 123 #define NMT_Stop_Node 0x02
sam_grove 0:9dd7c6129683 124 #define NMT_Enter_PreOperational 0x80
sam_grove 0:9dd7c6129683 125 #define NMT_Reset_Node 0x81
sam_grove 0:9dd7c6129683 126 #define NMT_Reset_Comunication 0x82
sam_grove 0:9dd7c6129683 127
sam_grove 0:9dd7c6129683 128 /** Status of the LSS transmission
sam_grove 0:9dd7c6129683 129 */
sam_grove 0:9dd7c6129683 130 #define LSS_RESET 0x0 /* Transmission not started. Init state. */
sam_grove 0:9dd7c6129683 131 #define LSS_FINISHED 0x1 /* data are available */
sam_grove 0:9dd7c6129683 132 #define LSS_ABORTED_INTERNAL 0x2 /* Aborted but not because of an abort message. */
sam_grove 0:9dd7c6129683 133 #define LSS_TRANS_IN_PROGRESS 0x3
sam_grove 0:9dd7c6129683 134
sam_grove 0:9dd7c6129683 135 /* constantes used in the different state machines */
sam_grove 0:9dd7c6129683 136 /* ----------------------------------------------- */
sam_grove 0:9dd7c6129683 137 /* Must not be modified */
sam_grove 0:9dd7c6129683 138 #define state1 0x01
sam_grove 0:9dd7c6129683 139 #define state2 0x02
sam_grove 0:9dd7c6129683 140 #define state3 0x03
sam_grove 0:9dd7c6129683 141 #define state4 0x04
sam_grove 0:9dd7c6129683 142 #define state5 0x05
sam_grove 0:9dd7c6129683 143 #define state6 0x06
sam_grove 0:9dd7c6129683 144 #define state7 0x07
sam_grove 0:9dd7c6129683 145 #define state8 0x08
sam_grove 0:9dd7c6129683 146 #define state9 0x09
sam_grove 0:9dd7c6129683 147 #define state10 0x0A
sam_grove 0:9dd7c6129683 148 #define state11 0x0B
sam_grove 0:9dd7c6129683 149
sam_grove 0:9dd7c6129683 150 #endif /* __def_h__ */
sam_grove 0:9dd7c6129683 151