799 lines
29 KiB
C
799 lines
29 KiB
C
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/**
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* Configuration macros for CANopenNode.
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*
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* @file CO_config.h
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* @ingroup CO_STACK_CONFIG
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* @author Janez Paternoster
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* @copyright 2020 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software distributed under the License is
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* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and limitations under the License.
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*/
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#ifndef CO_CONFIG_FLAGS_H
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#define CO_CONFIG_FLAGS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_STACK_CONFIG Stack configuration
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* Stack configuration and enabling macros.
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*
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* @ingroup CO_driver
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*
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* Default values for stack configuration macros are set in corresponding
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* header files. The same default values are also provided in this file, but
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* only for documentation generator. Default values can be overridden by
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* CO_driver_target.h file. If specified so, they can further be overridden by
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* CO_driver_custom.h file.
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*
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* Stack configuration macro is specified as bits, where each bit
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* enables/disables some part of the configurable CANopenNode object. Flags are
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* used for enabling or checking specific bit. Multiple flags can be ORed
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* together.
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*
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* Some functionalities of CANopenNode objects, enabled by configuration macros,
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* requires some objects from Object Dictionary to exist. Object Dictionary
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* configuration must match @ref CO_STACK_CONFIG.
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* @{
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*/
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/**
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* @defgroup CO_STACK_CONFIG_COMMON Common definitions
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* Constants for common definitions.
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* @{
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*/
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/**
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* Enable custom callback after CAN receive
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*
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* Flag enables optional callback functions, which are part of some CANopenNode
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* objects. Callbacks can optionally be registered by application, which
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* configures threads in operating system. Callbacks are called after something
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* has been preprocessed by higher priority thread and must be further
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* processed by lower priority thread. For example when CAN message is received
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* and preprocessed, callback should wake up mainline processing function.
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* See also @ref CO_process() function.
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*
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* If callback functions are used, they must be initialized separately, after
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* the object initialization.
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*
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* This flag is common to multiple configuration macros.
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*/
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#define CO_CONFIG_FLAG_CALLBACK_PRE 0x1000
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/**
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* Enable calculation of timerNext_us variable.
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*
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* Calculation of the timerNext_us variable is useful for smooth operation on
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* operating system. See also @ref CO_process() function.
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*
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* This flag is common to multiple configuration macros.
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*/
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#define CO_CONFIG_FLAG_TIMERNEXT 0x2000
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/**
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* Enable dynamic behaviour of Object Dictionary variables
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*
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* Some CANopen objects uses Object Dictionary variables as arguments to
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* initialization functions, which are processed in communication reset section.
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* If this flag is set, then writing to OD variable will reconfigure
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* corresponding CANopen object also during CANopen normal operation.
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*
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* This flag is common to multiple configuration macros.
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*/
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#define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000
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/** This flag may be set globally for mainline objects to
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* @ref CO_CONFIG_FLAG_CALLBACK_PRE */
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0)
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#endif
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/** This flag may be set globally for Real-Time objects (SYNC, PDO) to
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* @ref CO_CONFIG_FLAG_CALLBACK_PRE */
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0)
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#endif
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/** This flag may be set globally to @ref CO_CONFIG_FLAG_TIMERNEXT */
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0)
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#endif
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/** This flag may be set globally to (0) */
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC
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#endif
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/** @} */ /* CO_STACK_CONFIG_COMMON */
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/**
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* @defgroup CO_STACK_CONFIG_NMT_HB NMT master/slave and HB producer/consumer
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* Specified in standard CiA 301
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* @{
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*/
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/**
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* Configuration of @ref CO_NMT_Heartbeat.
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*
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* Possible flags, can be ORed:
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* - CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT
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* state changes. Callback is configured by
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* CO_NMT_initCallbackChanged().
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* - CO_CONFIG_NMT_MASTER - Enable simple NMT master
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* received NMT CAN message.
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* Callback is configured by CO_NMT_initCallbackPre().
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_NMT_process().
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
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#endif
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#define CO_CONFIG_NMT_CALLBACK_CHANGE 0x01
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#define CO_CONFIG_NMT_MASTER 0x02
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/**
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* Configuration of @ref CO_HBconsumer
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*
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* Possible flags, can be ORed:
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* - CO_CONFIG_HB_CONS_ENABLE - Enable heartbeat consumer.
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* - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom common callback after NMT
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* state of the monitored node changes. Callback is configured by
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* CO_HBconsumer_initCallbackNmtChanged().
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* - CO_CONFIG_HB_CONS_CALLBACK_MULTI - Enable multiple custom callbacks, which
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* can be configured individually for each monitored node. Callbacks are
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* configured by CO_HBconsumer_initCallbackNmtChanged(),
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* CO_HBconsumer_initCallbackHeartbeatStarted(),
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* CO_HBconsumer_initCallbackTimeout() and
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* CO_HBconsumer_initCallbackRemoteReset() functions.
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* - CO_CONFIG_HB_CONS_QUERY_FUNCT - Enable functions for query HB state or
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* NMT state of the specific monitored node.
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* received heartbeat CAN message.
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* Callback is configured by CO_HBconsumer_initCallbackPre().
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_HBconsumer_process().
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* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of monitored
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* nodes (Writing to object 0x1016 re-configures the monitored nodes).
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*
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* @warning CO_CONFIG_HB_CONS_CALLBACK_CHANGE and
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* CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_HB_CONS \
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(CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
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| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
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#endif
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#define CO_CONFIG_HB_CONS_ENABLE 0x01
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#define CO_CONFIG_HB_CONS_CALLBACK_CHANGE 0x02
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#define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x04
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#define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x08
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/** @} */ /* CO_STACK_CONFIG_NMT_HB */
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/**
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* @defgroup CO_STACK_CONFIG_NODE_GUARDING CANopen Node Guarding slave and master objects.
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* Specified in standard CiA 301
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* @{
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*/
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/**
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* Configuration of @ref CO_Node_Guarding
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*
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* Possible flags, can be ORed:
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* - CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE - Enable Node guarding slave.
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* - CO_CONFIG_NODE_GUARDING_MASTER_ENABLE - Enable Node guarding master.
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_nodeGuardingSlave_process().
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_NODE_GUARDING (0)
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#endif
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#define CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE 0x01
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#define CO_CONFIG_NODE_GUARDING_MASTER_ENABLE 0x02
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/**
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* Maximum number of nodes monitored by master
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_NODE_GUARDING_MASTER_COUNT 0x7F
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#endif
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/** @} */ /* CO_STACK_CONFIG_NODE_GUARDING */
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/**
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* @defgroup CO_STACK_CONFIG_EMERGENCY Emergency producer/consumer
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* Specified in standard CiA 301
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* @{
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*/
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/**
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* Configuration of @ref CO_Emergency
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*
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* Possible flags, can be ORed:
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* - CO_CONFIG_EM_PRODUCER - Enable emergency producer.
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* - CO_CONFIG_EM_PROD_CONFIGURABLE - Emergency producer COB-ID is configurable,
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* OD object 0x1014. If not configurable, then 0x1014 is read-only, COB_ID
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* is set to CO_CAN_ID_EMERGENCY + nodeId and write is not verified.
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* - CO_CONFIG_EM_PROD_INHIBIT - Enable inhibit timer on emergency producer,
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* OD object 0x1015.
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* - CO_CONFIG_EM_HISTORY - Enable error history, OD object 0x1003,
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* "Pre-defined error field"
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* - CO_CONFIG_EM_CONSUMER - Enable simple emergency consumer with callback.
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* - CO_CONFIG_EM_STATUS_BITS - Access @ref CO_EM_errorStatusBits_t from OD.
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* emergency condition by CO_errorReport() or CO_errorReset() call.
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* Callback is configured by CO_EM_initCallbackPre().
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_EM_process().
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_EM \
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(CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE \
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| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
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#endif
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#define CO_CONFIG_EM_PRODUCER 0x01
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#define CO_CONFIG_EM_PROD_CONFIGURABLE 0x02
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#define CO_CONFIG_EM_PROD_INHIBIT 0x04
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#define CO_CONFIG_EM_HISTORY 0x08
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#define CO_CONFIG_EM_STATUS_BITS 0x10
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#define CO_CONFIG_EM_CONSUMER 0x20
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/**
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* Maximum number of @ref CO_EM_errorStatusBits_t
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*
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* Stack uses 6*8 = 48 @ref CO_EM_errorStatusBits_t, others are free to use by
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* manufacturer. Allowable value range is from 48 to 256 bits in steps of 8.
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* Default is 80.
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10 * 8)
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#endif
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/**
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* Condition for calculating CANopen Error register, "generic" error bit.
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*
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* Condition must observe suitable @ref CO_EM_errorStatusBits_t and use
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* corresponding member of errorStatusBits array from CO_EM_t to calculate the
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* condition. See also @ref CO_errorRegister_t.
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*
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* @warning Size of @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT must be large
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* enough. (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) must be larger than index of
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* array member in em->errorStatusBits[index].
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*
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* em->errorStatusBits[5] should be included in the condition, because they are
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* used by the stack.
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_ERR_CONDITION_GENERIC (em->errorStatusBits[5] != 0)
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#endif
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/**
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* Condition for calculating CANopen Error register, "current" error bit.
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
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* Macro is not defined by default, so no error is verified.
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_ERR_CONDITION_CURRENT
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#endif
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/**
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* Condition for calculating CANopen Error register, "voltage" error bit.
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
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* Macro is not defined by default, so no error is verified.
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||
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_ERR_CONDITION_VOLTAGE
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#endif
|
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||
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/**
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* Condition for calculating CANopen Error register, "temperature" error bit.
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
|
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* Macro is not defined by default, so no error is verified.
|
||
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*/
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||
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#ifdef CO_DOXYGEN
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||
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#define CO_CONFIG_ERR_CONDITION_TEMPERATURE
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#endif
|
||
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||
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/**
|
||
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* Condition for calculating CANopen Error register, "communication" error bit.
|
||
|
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
|
||
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*
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||
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* em->errorStatusBits[2] and em->errorStatusBits[3] must be included in the
|
||
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* condition, because they are used by the stack.
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||
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*/
|
||
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#ifdef CO_DOXYGEN
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||
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#define CO_CONFIG_ERR_CONDITION_COMMUNICATION (em->errorStatusBits[2] || em->errorStatusBits[3])
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#endif
|
||
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|
||
|
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/**
|
||
|
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* Condition for calculating CANopen Error register, "device profile" error bit.
|
||
|
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
|
||
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* Macro is not defined by default, so no error is verified.
|
||
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*/
|
||
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#ifdef CO_DOXYGEN
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||
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#define CO_CONFIG_ERR_CONDITION_DEV_PROFILE
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#endif
|
||
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|
||
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/**
|
||
|
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* Condition for calculating CANopen Error register, "manufacturer" error bit.
|
||
|
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* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
|
||
|
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*
|
||
|
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* em->errorStatusBits[8] and em->errorStatusBits[8] are pre-defined, but can
|
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* be changed.
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||
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*/
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||
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#ifdef CO_DOXYGEN
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||
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#define CO_CONFIG_ERR_CONDITION_MANUFACTURER (em->errorStatusBits[8] || em->errorStatusBits[9])
|
||
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#endif
|
||
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/** @} */ /* CO_STACK_CONFIG_EMERGENCY */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_SDO SDO server/client
|
||
|
|
* Specified in standard CiA 301
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_SDOserver
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_SDO_SRV_SEGMENTED - Enable SDO server segmented transfer.
|
||
|
|
* - CO_CONFIG_SDO_SRV_BLOCK - Enable SDO server block transfer. If set, then
|
||
|
|
* CO_CONFIG_SDO_SRV_SEGMENTED must also be set.
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received SDO CAN message.
|
||
|
|
* Callback is configured by CO_SDOserver_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_SDOserver_process().
|
||
|
|
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of additional SDO
|
||
|
|
* servers (Writing to object 0x1201+ re-configures the additional server).
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SDO_SRV \
|
||
|
|
(CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
|
||
|
|
| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_SDO_SRV_SEGMENTED 0x02
|
||
|
|
#define CO_CONFIG_SDO_SRV_BLOCK 0x04
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Size of the internal data buffer for the SDO server.
|
||
|
|
*
|
||
|
|
* If size is less than size of some variables in Object Dictionary, then data
|
||
|
|
* will be transferred to internal buffer in several segments. Minimum size is
|
||
|
|
* 8 or 899 (127*7) for block transfer.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_SDOclient
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_SDO_CLI_ENABLE - Enable SDO client.
|
||
|
|
* - CO_CONFIG_SDO_CLI_SEGMENTED - Enable SDO client segmented transfer.
|
||
|
|
* - CO_CONFIG_SDO_CLI_BLOCK - Enable SDO client block transfer. If set, then
|
||
|
|
* CO_CONFIG_SDO_CLI_SEGMENTED, CO_CONFIG_FIFO_ALT_READ and
|
||
|
|
* CO_CONFIG_FIFO_CRC16_CCITT must also be set.
|
||
|
|
* - CO_CONFIG_SDO_CLI_LOCAL - Enable local transfer, if Node-ID of the SDO
|
||
|
|
* server is the same as node-ID of the SDO client. (SDO client is the same
|
||
|
|
* device as SDO server.) Transfer data directly without communication on CAN.
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received SDO CAN message.
|
||
|
|
* Callback is configured by CO_SDOclient_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_SDOclientDownloadInitiate(), CO_SDOclientDownload(),
|
||
|
|
* CO_SDOclientUploadInitiate(), CO_SDOclientUpload().
|
||
|
|
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SDO clients
|
||
|
|
* (Writing to object 0x1280+ re-configures the client).
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SDO_CLI (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_SDO_CLI_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_SDO_CLI_SEGMENTED 0x02
|
||
|
|
#define CO_CONFIG_SDO_CLI_BLOCK 0x04
|
||
|
|
#define CO_CONFIG_SDO_CLI_LOCAL 0x08
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Size of the internal data buffer for the SDO client.
|
||
|
|
*
|
||
|
|
* Circular buffer is used for SDO communication. It can be read or written
|
||
|
|
* between successive SDO calls. So size of the buffer can be lower than size of
|
||
|
|
* the actual size of data transferred. If only segmented transfer is used, then
|
||
|
|
* buffer size can be as low as 7 bytes, if data are read/written each cycle. If
|
||
|
|
* block transfer is used, buffer size should be set to at least 1000 bytes, so
|
||
|
|
* maximum blksize can be used (blksize is calculated from free buffer space).
|
||
|
|
* Default value for block transfer is 1000, otherwise 32.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32
|
||
|
|
#endif
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_SDO */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_TIME Time producer/consumer
|
||
|
|
* Specified in standard CiA 301
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_TIME
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_TIME_ENABLE - Enable TIME object and TIME consumer.
|
||
|
|
* - CO_CONFIG_TIME_PRODUCER - Enable TIME producer.
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received TIME CAN message.
|
||
|
|
* Callback is configured by CO_TIME_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration - writing to
|
||
|
|
* object 0x1012 enables / disables time producer or consumer.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_TIME_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_TIME_PRODUCER 0x02
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_TIME */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_SYNC_PDO SYNC and PDO producer/consumer
|
||
|
|
* Specified in standard CiA 301
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_SYNC
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_SYNC_ENABLE - Enable SYNC object and SYNC consumer.
|
||
|
|
* - CO_CONFIG_SYNC_PRODUCER - Enable SYNC producer.
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received SYNC CAN message.
|
||
|
|
* Callback is configured by CO_SYNC_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_SYNC_process().
|
||
|
|
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SYNC.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SYNC \
|
||
|
|
(CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
|
||
|
|
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_SYNC_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_SYNC_PRODUCER 0x02
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_PDO
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_RPDO_ENABLE - Enable receive PDO objects.
|
||
|
|
* - CO_CONFIG_TPDO_ENABLE - Enable transmit PDO objects.
|
||
|
|
* - CO_CONFIG_RPDO_TIMERS_ENABLE - Enable RPDO timers: RPDO timeout monitoring
|
||
|
|
* with event timer.
|
||
|
|
* - CO_CONFIG_TPDO_TIMERS_ENABLE - Enable TPDO timers: TPDO inhibit and event
|
||
|
|
* timers.
|
||
|
|
* - CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC in PDO objects.
|
||
|
|
* - CO_CONFIG_PDO_OD_IO_ACCESS - For OD variables mapped to PDO use read/write
|
||
|
|
* function access with @ref OD_IO_t. This option enables much more
|
||
|
|
* flexibility for application program, but consumes some additional memory
|
||
|
|
* and processor resources. If this option is not enabled, then data from OD
|
||
|
|
* variables are fetched directly from memory allocated by Object dictionary.
|
||
|
|
* - CO_CONFIG_PDO_BITWISE_MAPPING - Use bitwise mapping instead of byte-wise
|
||
|
|
* By default, the OD_IO structure contains the number of bytes mapped to
|
||
|
|
* the PDO in the OD_IO.dataOffset field. If the bitwise mapping is enabled,
|
||
|
|
* this field stores the number of bits mapped to the PDO. Bitwise PDO mapping
|
||
|
|
* is not possible without CO_CONFIG_PDO_OD_IO_ACCESS
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received RPDO CAN message.
|
||
|
|
* Callback is configured by CO_RPDO_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_TPDO_process().
|
||
|
|
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of PDO.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_PDO \
|
||
|
|
(CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE \
|
||
|
|
| CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
|
||
|
|
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_RPDO_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_TPDO_ENABLE 0x02
|
||
|
|
#define CO_CONFIG_RPDO_TIMERS_ENABLE 0x04
|
||
|
|
#define CO_CONFIG_TPDO_TIMERS_ENABLE 0x08
|
||
|
|
#define CO_CONFIG_PDO_SYNC_ENABLE 0x10
|
||
|
|
#define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
|
||
|
|
#define CO_CONFIG_PDO_BITWISE_MAPPING 0x40
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_SYNC_PDO */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_STORAGE Data storage
|
||
|
|
* Data storage with CANopen OD objects 1010 and 1011, CiA 301
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_storage
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_STORAGE_ENABLE - Enable data storage
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_STORAGE (CO_CONFIG_STORAGE_ENABLE)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_STORAGE_ENABLE 0x01
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_STORAGE */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_LEDS CANopen LED diodes
|
||
|
|
* Specified in standard CiA 303-3
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_LEDs
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_LEDS_ENABLE - Enable calculation of the CANopen LED indicators.
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_NMT_process().
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_LEDS_ENABLE 0x01
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_LEDS */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_SRDO Safety Related Data Objects (SRDO)
|
||
|
|
* Specified in standard EN 50325-5 (CiA 304)
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_GFC
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_GFC_ENABLE - Enable the GFC object
|
||
|
|
* - CO_CONFIG_GFC_CONSUMER - Enable the GFC consumer
|
||
|
|
* - CO_CONFIG_GFC_PRODUCER - Enable the GFC producer
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_GFC (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_GFC_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_GFC_CONSUMER 0x02
|
||
|
|
#define CO_CONFIG_GFC_PRODUCER 0x04
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_SRDO
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_SRDO_ENABLE - Enable the SRDO object.
|
||
|
|
* - CO_CONFIG_SRDO_CHECK_TX - Enable checking data before sending.
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received RSRDO CAN message.
|
||
|
|
* Callback is configured by CO_SRDO_initCallbackPre().
|
||
|
|
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
|
||
|
|
* inside CO_SRDO_process() (Tx SRDO only).
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SRDO (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_SRDO_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_SRDO_CHECK_TX 0x02
|
||
|
|
|
||
|
|
/**
|
||
|
|
* SRDO Tx time delay
|
||
|
|
*
|
||
|
|
* minimum time between the first and second SRDO (Tx) message
|
||
|
|
* in us
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0
|
||
|
|
#endif
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_SRDO */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_LSS LSS master/slave
|
||
|
|
* Specified in standard CiA 305
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_LSS
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_LSS_SLAVE - Enable LSS slave
|
||
|
|
* - CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND - Send LSS fastscan respond
|
||
|
|
* directly from CO_LSSslave_receive() function.
|
||
|
|
* - CO_CONFIG_LSS_MASTER - Enable LSS master
|
||
|
|
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
|
||
|
|
* received CAN message.
|
||
|
|
* Callback is configured by CO_LSSmaster_initCallbackPre().
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_LSS_SLAVE 0x01
|
||
|
|
#define CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND 0x02
|
||
|
|
#define CO_CONFIG_LSS_MASTER 0x10
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_LSS */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_GATEWAY CANopen gateway
|
||
|
|
* Specified in standard CiA 309
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_CANopen_309_3
|
||
|
|
*
|
||
|
|
* Gateway object is covered by standard CiA 309 - CANopen access from other
|
||
|
|
* networks. It enables usage of the NMT master, SDO client and LSS master as a
|
||
|
|
* gateway device.
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_GTW_MULTI_NET - Enable multiple network interfaces in gateway
|
||
|
|
* device. This functionality is currently not implemented.
|
||
|
|
* - CO_CONFIG_GTW_ASCII - Enable gateway device with ASCII mapping (CiA 309-3)
|
||
|
|
* If set, then CO_CONFIG_FIFO_ASCII_COMMANDS must also be set.
|
||
|
|
* - CO_CONFIG_GTW_ASCII_SDO - Enable SDO client. If set, then
|
||
|
|
* CO_CONFIG_FIFO_ASCII_DATATYPES must also be set.
|
||
|
|
* - CO_CONFIG_GTW_ASCII_NMT - Enable NMT master
|
||
|
|
* - CO_CONFIG_GTW_ASCII_LSS - Enable LSS master
|
||
|
|
* - CO_CONFIG_GTW_ASCII_LOG - Enable non-standard message log read
|
||
|
|
* - CO_CONFIG_GTW_ASCII_ERROR_DESC - Print error description as additional
|
||
|
|
* comments in gateway-ascii device for SDO and gateway errors.
|
||
|
|
* - CO_CONFIG_GTW_ASCII_PRINT_HELP - use non-standard command "help" to print
|
||
|
|
* help usage.
|
||
|
|
* - CO_CONFIG_GTW_ASCII_PRINT_LEDS - Display "red" and "green" CANopen status
|
||
|
|
* LED diodes on terminal.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_GTW (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_GTW_MULTI_NET 0x01
|
||
|
|
#define CO_CONFIG_GTW_ASCII 0x02
|
||
|
|
#define CO_CONFIG_GTW_ASCII_SDO 0x04
|
||
|
|
#define CO_CONFIG_GTW_ASCII_NMT 0x08
|
||
|
|
#define CO_CONFIG_GTW_ASCII_LSS 0x10
|
||
|
|
#define CO_CONFIG_GTW_ASCII_LOG 0x20
|
||
|
|
#define CO_CONFIG_GTW_ASCII_ERROR_DESC 0x40
|
||
|
|
#define CO_CONFIG_GTW_ASCII_PRINT_HELP 0x80
|
||
|
|
#define CO_CONFIG_GTW_ASCII_PRINT_LEDS 0x100
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Number of loops of #CO_SDOclientDownload() in case of block download
|
||
|
|
*
|
||
|
|
* If SDO clint has block download in progress and OS has buffer for CAN tx
|
||
|
|
* messages, then #CO_SDOclientDownload() functionion can be called multiple
|
||
|
|
* times within own loop (up to 127). This can speed-up SDO block transfer.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_GTW_BLOCK_DL_LOOP 1
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Size of command buffer in ASCII gateway object.
|
||
|
|
*
|
||
|
|
* If large amount of data is transferred (block transfer), then this should be
|
||
|
|
* increased to 1000 or more. Buffer may be refilled between the block transfer.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_GTWA_COMM_BUF_SIZE 200
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Size of message log buffer in ASCII gateway object.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_GTWA_LOG_BUF_SIZE 2000
|
||
|
|
#endif
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_GATEWAY */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_CRC16 CRC 16 calculation
|
||
|
|
* Helper object for CRC-16 checksum
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_crc16_ccitt calculation
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_CRC16_ENABLE - Enable CRC16 calculation
|
||
|
|
* - CO_CONFIG_CRC16_EXTERNAL - CRC functions are defined externally
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_CRC16 (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_CRC16_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_CRC16_EXTERNAL 0x02
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_CRC16 */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_FIFO FIFO buffer
|
||
|
|
* Helper object for FIFO buffer
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_CANopen_301_fifo
|
||
|
|
*
|
||
|
|
* FIFO buffer is basically a simple first-in first-out circular data buffer. It
|
||
|
|
* is used by the SDO client and by the CANopen gateway. It has additional
|
||
|
|
* advanced functions for data passed to FIFO.
|
||
|
|
*
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_FIFO_ENABLE - Enable FIFO buffer
|
||
|
|
* - CO_CONFIG_FIFO_ALT_READ - This must be enabled, when SDO client has
|
||
|
|
* CO_CONFIG_SDO_CLI_BLOCK enabled. See @ref CO_fifo_altRead().
|
||
|
|
* - CO_CONFIG_FIFO_CRC16_CCITT - This must be enabled, when SDO client has
|
||
|
|
* CO_CONFIG_SDO_CLI_BLOCK enabled. It enables CRC calculation on data.
|
||
|
|
* - CO_CONFIG_FIFO_ASCII_COMMANDS - This must be enabled, when CANopen gateway
|
||
|
|
* has CO_CONFIG_GTW_ASCII enabled. It adds command handling functions.
|
||
|
|
* - CO_CONFIG_FIFO_ASCII_DATATYPES - This must be enabled, when CANopen gateway
|
||
|
|
* has CO_CONFIG_GTW_ASCII and CO_CONFIG_GTW_ASCII_SDO enabled. It adds
|
||
|
|
* datatype transform functions between binary and ascii, which are necessary
|
||
|
|
* for SDO client.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_FIFO (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_FIFO_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_FIFO_ALT_READ 0x02
|
||
|
|
#define CO_CONFIG_FIFO_CRC16_CCITT 0x04
|
||
|
|
#define CO_CONFIG_FIFO_ASCII_COMMANDS 0x08
|
||
|
|
#define CO_CONFIG_FIFO_ASCII_DATATYPES 0x10
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_FIFO */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_TRACE Trace recorder
|
||
|
|
* Non standard object
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of @ref CO_trace for recording variables over time.
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_TRACE_ENABLE - Enable Trace recorder
|
||
|
|
* - CO_CONFIG_TRACE_OWN_INTTYPES - If set, then macros PRIu32("u" or "lu")
|
||
|
|
* and PRId32("d" or "ld") must be set. (File inttypes.h can not be included).
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_TRACE (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_TRACE_ENABLE 0x01
|
||
|
|
#define CO_CONFIG_TRACE_OWN_INTTYPES 0x02
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_TRACE */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @defgroup CO_STACK_CONFIG_DEBUG Debug messages
|
||
|
|
* Messages from different parts of the stack.
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* Configuration of debug messages from different parts of the stack, which can
|
||
|
|
* be logged according to target specific function.
|
||
|
|
*
|
||
|
|
* Possible flags, can be ORed:
|
||
|
|
* - CO_CONFIG_DEBUG_COMMON - Define default CO_DEBUG_COMMON(msg) macro. This
|
||
|
|
* macro is target specific. This macro is then used as default macro in all
|
||
|
|
* other defined CO_DEBUG_XXX(msg) macros.
|
||
|
|
* - CO_CONFIG_DEBUG_SDO_CLIENT - Define default CO_DEBUG_SDO_CLIENT(msg) macro.
|
||
|
|
* - CO_CONFIG_DEBUG_SDO_SERVER - Define default CO_DEBUG_SDO_SERVER(msg) macro.
|
||
|
|
*/
|
||
|
|
#ifdef CO_DOXYGEN
|
||
|
|
#define CO_CONFIG_DEBUG (0)
|
||
|
|
#endif
|
||
|
|
#define CO_CONFIG_DEBUG_COMMON 0x01
|
||
|
|
#define CO_CONFIG_DEBUG_SDO_CLIENT 0x02
|
||
|
|
#define CO_CONFIG_DEBUG_SDO_SERVER 0x04
|
||
|
|
/** @} */ /* CO_STACK_CONFIG_DEBUG */
|
||
|
|
|
||
|
|
/** @} */ /* CO_STACK_CONFIG */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif /* __cplusplus */
|
||
|
|
|
||
|
|
#endif /* CO_CONFIG_FLAGS_H */
|