搭建PVB架构，实现前端的基础布局、菜单、表格、图示等功能

libs/pvb/include/rllib/rlcanopenstructs.h

@@ -0,0 +1,120 @@
+/***************************************************************************
+                          rlcanopen.cpp  -  description
+                             -------------------
+    begin     : Tue March 03 2004
+    copyright : (C) 2004 by Marc Br<42>tigam, Christian Wilmes, R. Lehrig
+    email     : lehrig@t-online.de
+ ***************************************************************************/
+
+/***************************************************************************
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as        *
+ *   published by the Free Software Foundation                             *
+ *                                                                         *
+ ***************************************************************************/
+
+//!definition of CanOpen structs for CanOpen Deamon
+
+#ifndef CanOpenStructsH
+#define CanOpenStructsH
+
+
+#define DIRECTION_RECEIVE 0
+#define DIRECTION_TRANSMIT 1
+
+
+
+#define RECEIVE_PDO_MAPPING_STARTADRESS 0x1600
+#define RECEIVE_PDO_MAPPING_MAXADRESS 0x17FF
+#define TRANSMIT_PDO_MAPPING_STARTADRESS 0x1A00
+#define TRANSMIT_PDO_MAPPING_MAXADRESS 0x1BFF
+#define MAX_NODES 127
+#define MAX_SDO_BUFFERSIZE 246
+
+
+
+//! Hilscher device-communication constants
+#define CAN_TASK                    3
+#define USER_AT_HOST               16
+#define CMDCODE_GET_CONFIGURATION  15
+#define CMDCODE_SDO_UPDOWNLOAD     74
+#define CMDCODE_Node_Diag          66
+#define CMD_NMT_Module_Protocol    96
+        
+//! NMT Command specifier
+#define CMD_NMT_START_REMOTE_NODE      1
+#define CMD_NMT_STOP_REMOTE_NODE       2
+#define CMD_NMT_ENTER_PREOPERATIONAL 128
+#define CMD_NMT_RESET_NODE           129
+#define CMD_NMT_RESET_COMMUNICATION  130
+
+#define TASK_TFC_READ 1
+#define TASK_TFC_WRITE 2
+#define RESPONSE_CODE_GET_CONFIGURATION 15
+
+#define DATA_DIRECTION_MASK 0x30 
+#define DIRECTION_INPUT 0x10
+#define DIRECTION_OUTPUT 0x20
+
+//! ERRCODES
+#define ERRCODE_NOERROR 0
+#define ERRCODE_INVALID_NODEID -2
+#define ERRCODE_INVALID_PDOID  -3
+#define ERRCODE_PDOSND_FAIL  -4
+#define ERRCODE_INVALID_MAPID  -5
+#define ERRCODE_INVALID_RLTYPE -6
+#define ERRCODE_PDORCV_FAIL  -7
+
+//! DEVRESET
+#define COLDSTART           2
+#define WARMSTART           3
+#define BOOTSTART           4
+
+//! mapping object which is part of the mappinglist of a PDO
+struct rlCanMapping
+{
+  //! the mapping ID determines the mapping object within the PDO (1 to n)
+  unsigned short mappingId; 
+  
+  //! its current type (int32, float, char, ...)
+  int etype;                
+
+  //! its current canoptentype (int24, int40, int48, ...)
+  int canopentype;                
+  
+  //! its position in within the 8Byte
+  unsigned short position;  
+  
+  //! length of mappend object in bits
+  unsigned short length;    
+} ; 
+
+
+
+//! PDO object which is part of one of the two pdo lists in the node class
+struct rlCanPDO
+{
+   //! 1 = receive PDO / 2 = send PDO  [indicate by PDO No]          
+   short bPDODirection; 
+   
+   //! size of a PDO / max 8 Bytes 
+   unsigned char bPDOSize;     
+   
+   //! if only one bit is set in a PDO, this value shows its position 
+   unsigned char bDataPosition;
+   
+   //! fixes the PDO position in the card memory 
+   unsigned short usPDOAddress;
+   
+   //! this list contains all mapping information of a PDO  
+   QPtrVector<rlCanMapping> mappingList; 
+   
+   //! the adress of object directory of the node where the mapping is placed
+   int mappingOvAdress;           
+}; 
+
+
+
+#endif                          
+