mirror of
https://github.com/eddyem/pusirobot.git
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93 lines
2.9 KiB
C
93 lines
2.9 KiB
C
/*
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* This file is part of the stepper project.
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* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef CANOPEN_H__
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#define CANOPEN_H__
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#include "canbus.h"
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#include "pusirobot.h"
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// timeout for answer from the SDO, seconds
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#define SDO_ANS_TIMEOUT (0.2)
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// N tries to write CAN message
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#define NTRIES (3)
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// COB-ID base:
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#define NMT_COBID 0
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#define EMERG_COBID 0x80
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#define TIMESTAMP_COBID 0x100
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#define TPDO1_COBID 0x180
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#define RPDO1_COBID 0x200
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#define TPDO2_COBID 0x280
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#define RPDO2_COBID 0x300
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#define TPDO3_COBID 0x380
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#define RPDO3_COBID 0x400
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#define TPDO4_COBID 0x480
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#define RPDO4_COBID 0x500
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#define TSDO_COBID 0x580
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#define RSDO_COBID 0x600
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#define HEARTB_COBID 0x700
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// mask to select COB-ID base from ID
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#define COBID_MASK 0x780
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// mask to select node ID from ID
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#define NODEID_MASK 0x7F
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// SDO client command specifier field
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typedef enum{
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CCS_SEG_DOWNLOAD = 0,
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CCS_INIT_DOWNLOAD,
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CCS_INIT_UPLOAD,
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CCS_SEG_UPLOAD,
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CCS_ABORT_TRANSFER,
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CCS_BLOCK_UPLOAD,
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CCS_BLOCK_DOWNLOAD
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} SDO_CCS_fields;
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// make number from CSS field
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#define SDO_CCS(f) (f<<5)
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// make CCS from number
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#define GET_CCS(f) (f>>5)
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// make number from data amount
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#define SDO_N(n) ((4-n)<<2)
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// make data amount from number
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#define SDO_datalen(n) (4-((n&0xC)>>2))
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// SDO e & s fields:
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#define SDO_E (1<<1)
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#define SDO_S (1<<0)
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typedef struct{
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uint8_t NID; // node ID in CANopen
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uint16_t index; // SDO index
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uint8_t subindex; // SDO subindex
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uint8_t data[4]; // 1..4 bytes of data (data[0] is lowest)
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uint8_t datalen; // length of data
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uint8_t ccs; // Client command specifier
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} SDO;
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const char *abortcode_text(uint32_t abortcode);
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SDO *parseSDO(CANmesg *mesg);
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SDO *readSDOvalue(uint16_t idx, uint8_t subidx, uint8_t NID);
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int64_t SDO_read(const SDO_dic_entry *e, uint8_t NID);
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int SDO_writeArr(const SDO_dic_entry *e, uint8_t NID, const uint8_t *data);
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int SDO_write(const SDO_dic_entry *e, uint8_t NID, int64_t data);
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//int SDO_readByte(uint16_t idx, uint8_t subidx, uint8_t *data, uint8_t NID);
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#endif // CANOPEN_H__
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