co_dictionary.h

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#include <stdint.h>
#include <stdlib.h>
 
#ifndef OD_OBJECT_H
#define OD_OBJECT_H
 
/*
 * Definitions of bit fields for object access
 */
 
#define ACCESS_PO_RD 0x0001
#define ACCESS_SO_RD 0x0002
#define ACCESS_OP_RD 0x0004
#define ACCESS_ALL_RD (ACCESS_PO_RD | ACCESS_SO_RD | ACCESS_OP_RD)
 
#define ACCESS_PO_WR 0x0008
#define ACCESS_SO_WR 0x0010
#define ACCESS_OP_WR 0x0020
#define ACCESS_ALL_WR (ACCESS_PO_WR | ACCESS_SO_WR | ACCESS_OP_WR)
 
#define ACCESS_PO_RDWR (ACCESS_PO_RD | ACCESS_PO_WR)
#define ACCESS_SO_RDWR (ACCESS_SO_RD | ACCESS_SO_WR)
#define ACCESS_OP_RDWR (ACCESS_OP_RD | ACCESS_OP_WR)
#define ACCESS_ALL_RDWR (ACCESS_PO_RDWR | ACCESS_SO_RDWR | ACCESS_OP_RDWR)
 
#define ACCESS_RXPDO_MAP 0x0040
#define ACCESS_TXPDO_MAP 0x0080
#define ACCESS_RXTXPDO_MAP 0x00C0
 
#define ACCESS_BACKUP 0x0100
#define ACCESS_STARTUP 0x0200
 
#define ACCESS_ALL_LIST_FLAGS \
  (ACCESS_RXPDO_MAP | ACCESS_TXPDO_MAP | ACCESS_BACKUP | ACCESS_STARTUP)
 
#define ACCESS_SET_FLAGS(b, s, p, a) (b | s | p | a)
 
/*
 * Value info
 */
 
#define VALUEINFO_UNIT_TYPE 0x08
#define VALUEINFO_DEFAULT_VALUE 0x10
#define VALUEINFO_MIN_VALUE 0x20
#define VALUEINFO_MAX_VALUE 0x40
 
/*
 * list of dictionary lists identifiers
 */
 
#define LIST_ALL_LIST_LENGTH 0x00
#define LIST_ALL_OBJECTS 0x01
#define LIST_RXPDO_MAPABLE 0x02
#define LIST_TXPDO_MAPABLE 0x03
#define LIST_DEVICE_REPLACEMENT 0x04
#define LIST_STARTUP_PARAMETER 0x05
 
/*
 * possible object types of dictionary objects
 *
 * FIXME according to ETG1000.6 v1.0.3 only VAR, RECORD and ARRAY are expected
 * in SDO Info reply.
 */
 
#define OBJECT_TYPE_DOMAIN 0x0
#define OBJECT_TYPE_DEFTYPE 0x5
#define OBJECT_TYPE_DEFSTRUCT 0x6
#define OBJECT_TYPE_VAR 0x7
#define OBJECT_TYPE_ARRAY 0x8
#define OBJECT_TYPE_RECORD 0x9
 
/*
 * Index of Basic Data Types
 */
 
#define DEFTYPE_BOOLEAN 0x0001
#define DEFTYPE_INTEGER8 0x0002
#define DEFTYPE_INTEGER16 0x0003
#define DEFTYPE_INTEGER32 0x0004
#define DEFTYPE_UNSIGNED8 0x0005
#define DEFTYPE_UNSIGNED16 0x0006
#define DEFTYPE_UNSIGNED32 0x0007
#define DEFTYPE_REAL32 0x0008
#define DEFTYPE_VISIBLE_STRING 0x0009
#define DEFTYPE_OCTET_STRING 0x000A
#define DEFTYPE_UNICODE_STRING 0x000B
#define DEFTYPE_TIME_OF_DAY 0x000C
#define DEFTYPE_TIME_DIFFERENCE 0x000D
 
#define DEFTYPE_DOMAIN 0x000F
 
#define DEFSTRUCT_PDO_PARAMETER 0x0020
#define DEFSTRUCT_PDO_MAPPING 0x0021
#define DEFSTRUCT_IDENTITY 0x0023
#define DEFSTRUCT_VENDOR_MOTOR 0x0040
 
#define CODE_GET_INDEX(a) ((a >> 16) & 0xffff)
#define CODE_GET_SUBINDEX(a) ((a >> 8) & 0xff)
#define CODE_GET_FLAGS(a) (a & 0xff)
#define CODE_SET_ENTRY_INDEX(i, s, f) \
  (((i & 0xffff) << 16) | ((s & 0xff) << 8) | (f & 0xff))
 
// set the "is modified" flag of COD_Subitem::index
#define CODE_SET_MODIFIED_FLAG(i) (i | 1)
// unset the "is modified" flag of COD_Subitem::index
#define CODE_CLEAR_MODIFIED_FLAG(i) (i & ~1)
 
#define OD_COMMUNICATION_AREA 0x1000
#define OD_MANUFACTURER_AREA 0x2000
#define OD_PROFILE_AREA 0x6000
 
#ifdef __XC__
#warning co_dictionary is not intended to be accessed directly from XC!
extern "C" {
#endif
 
typedef struct _cod_object COD_Object;
typedef struct _cod_subitem COD_Subitem;
 
#ifdef WINDOWS_BUILD
__pragma(pack(push, 1)) struct _cod_object {
  uint16_t index;
  uint8_t type;         /* object code: VAR, RECORD, ARRAY */
  uint16_t data_type;   /* index of data type, e.g. for VAR it is the basic data
                        type, some complex objects have special types like
                        DEVSTRUCT_IDENTITY */
  uint16_t access;      /* Read/Write access flags */
  uint8_t max_subindex; /* number of the largest subindex */
  const char **name;    /* pointer to element in \c *entry_name ??? */
  COD_Subitem *entry;   /* pointer to entry */
};
__pragma(pack(pop))
 
    __pragma(pack(push, 1)) struct _cod_subitem {
  // | obj_index:16 | sub_index:8 | flags:8 (bit 0: "is modified" flag, bit
  // 1-7: unused
  uint32_t index;
  uint16_t data_type; /* index of data type */
  size_t bitsize;
  uint16_t access; /* object access flags, see also R/W flags and PDO Mapping
                      above */
  uint32_t unit;
  const char **name; /* pointer to element in \see *entry_name */
  uint8_t *value;    /* pointer to start in \see *od_values - type is determined
                     by `data_type` */
};
__pragma(pack(pop))
#else
struct _cod_object {
  uint16_t index;
  uint8_t type;         /* object code: VAR, RECORD, ARRAY */
  uint16_t data_type;   /* index of data type, e.g. for VAR it is the basic data
                        type, some complex objects have special types like
                        DEVSTRUCT_IDENTITY */
  uint16_t access;      /* Read/Write access flags */
  uint8_t max_subindex; /* number of the largest subindex */
  const char **name;    /* pointer to element in \c *entry_name ??? */
  COD_Subitem *entry;   /* pointer to entry */
} __attribute__((packed));
 
struct _cod_subitem {
  // | obj_index:16 | sub_index:8 | flags:8 (bit 0: "is modified" flag, bit
  // 1-7: unused
  uint32_t index;
  uint16_t data_type; /* index of data type */
  size_t bitsize;
  uint16_t access; /* object access flags, see also R/W flags and PDO Mapping
                      above */
  uint32_t unit;
  const char **name; /* pointer to element in \see *entry_name */
  uint8_t *value;    /* pointer to start in \see *od_values - type is determined
                     by `data_type` */
} __attribute__((packed));
#endif
 
    /*
     * Define variable to be accessible from the application
     */
 
    extern COD_Subitem od_subitems[];
extern COD_Object od_objects[];
 
/* sizes */
extern const size_t OD_SUBITEMS_LENGTH;
extern const size_t OD_OBJECTS_LENGTH;
 
/*
 * lib internal functions
 */
 
COD_Subitem *sdo_get_entry(uint16_t object_index, uint8_t subindex);
 
#ifdef __XC__
}
#endif
 
#endif /* OD_OBJECT_H */