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121 lines
3.5 KiB
C
121 lines
3.5 KiB
C
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/***************************************************************************
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rlcanopen.cpp - description
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-------------------
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begin : Tue March 03 2004
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copyright : (C) 2004 by Marc Br<EFBFBD>tigam, Christian Wilmes, R. Lehrig
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email : lehrig@t-online.de
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***************************************************************************/
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/***************************************************************************
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* *
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* This library is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as *
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* published by the Free Software Foundation *
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* *
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***************************************************************************/
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//!definition of CanOpen structs for CanOpen Deamon
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#ifndef CanOpenStructsH
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#define CanOpenStructsH
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#define DIRECTION_RECEIVE 0
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#define DIRECTION_TRANSMIT 1
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#define RECEIVE_PDO_MAPPING_STARTADRESS 0x1600
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#define RECEIVE_PDO_MAPPING_MAXADRESS 0x17FF
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#define TRANSMIT_PDO_MAPPING_STARTADRESS 0x1A00
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#define TRANSMIT_PDO_MAPPING_MAXADRESS 0x1BFF
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#define MAX_NODES 127
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#define MAX_SDO_BUFFERSIZE 246
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//! Hilscher device-communication constants
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#define CAN_TASK 3
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#define USER_AT_HOST 16
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#define CMDCODE_GET_CONFIGURATION 15
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#define CMDCODE_SDO_UPDOWNLOAD 74
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#define CMDCODE_Node_Diag 66
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#define CMD_NMT_Module_Protocol 96
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//! NMT Command specifier
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#define CMD_NMT_START_REMOTE_NODE 1
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#define CMD_NMT_STOP_REMOTE_NODE 2
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#define CMD_NMT_ENTER_PREOPERATIONAL 128
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#define CMD_NMT_RESET_NODE 129
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#define CMD_NMT_RESET_COMMUNICATION 130
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#define TASK_TFC_READ 1
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#define TASK_TFC_WRITE 2
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#define RESPONSE_CODE_GET_CONFIGURATION 15
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#define DATA_DIRECTION_MASK 0x30
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#define DIRECTION_INPUT 0x10
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#define DIRECTION_OUTPUT 0x20
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//! ERRCODES
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#define ERRCODE_NOERROR 0
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#define ERRCODE_INVALID_NODEID -2
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#define ERRCODE_INVALID_PDOID -3
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#define ERRCODE_PDOSND_FAIL -4
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#define ERRCODE_INVALID_MAPID -5
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#define ERRCODE_INVALID_RLTYPE -6
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#define ERRCODE_PDORCV_FAIL -7
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//! DEVRESET
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#define COLDSTART 2
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#define WARMSTART 3
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#define BOOTSTART 4
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//! mapping object which is part of the mappinglist of a PDO
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struct rlCanMapping
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{
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//! the mapping ID determines the mapping object within the PDO (1 to n)
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unsigned short mappingId;
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//! its current type (int32, float, char, ...)
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int etype;
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//! its current canoptentype (int24, int40, int48, ...)
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int canopentype;
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//! its position in within the 8Byte
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unsigned short position;
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//! length of mappend object in bits
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unsigned short length;
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} ;
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//! PDO object which is part of one of the two pdo lists in the node class
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struct rlCanPDO
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{
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//! 1 = receive PDO / 2 = send PDO [indicate by PDO No]
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short bPDODirection;
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//! size of a PDO / max 8 Bytes
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unsigned char bPDOSize;
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//! if only one bit is set in a PDO, this value shows its position
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unsigned char bDataPosition;
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//! fixes the PDO position in the card memory
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unsigned short usPDOAddress;
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//! this list contains all mapping information of a PDO
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QPtrVector<rlCanMapping> mappingList;
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//! the adress of object directory of the node where the mapping is placed
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int mappingOvAdress;
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};
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#endif
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