2017-06-13 22:35:06 +00:00
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/**
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* ==========================================================================
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* Twizy/SEVCON configuration shell
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* ==========================================================================
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*
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* Twizy/SEVCON CANopen SDO client
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*
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* Based on the OVMS Twizy firmware:
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* https://github.com/openvehicles/Open-Vehicle-Monitoring-System
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*
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* Author: Michael Balzer <dexter@dexters-web.de>
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*
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* License:
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* This is free software under GNU Lesser General Public License (LGPL)
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* https://www.gnu.org/licenses/lgpl.html
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*
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*/
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#ifndef _CANopen_h
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#define _CANopen_h
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// SDO request/response:
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// message structure:
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// 0 = control byte
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// 1+2 = index (little endian)
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// 3 = subindex
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// 4..7 = data (little endian)
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2023-03-05 07:43:30 +00:00
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union __attribute__ ((__packed__)) sdo_buffer {
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2017-06-13 22:35:06 +00:00
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// raw / segment data:
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UINT8 byte[8];
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// request / expedited:
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2023-03-05 07:43:30 +00:00
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struct __attribute__ ((__packed__)) {
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2017-06-13 22:35:06 +00:00
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UINT8 control;
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UINT index;
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UINT8 subindex;
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UINT32 data;
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};
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};
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extern sdo_buffer twizy_sdo;
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// SDO communication codes:
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#define SDO_CommandMask 0b11100000
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#define SDO_ExpeditedUnusedMask 0b00001100
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#define SDO_Expedited 0b00000010
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#define SDO_Abort 0b10000000
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#define SDO_Abort_SegMismatch 0x05030000
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#define SDO_Abort_Timeout 0x05040000
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#define SDO_Abort_OutOfMemory 0x05040005
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#define SDO_InitUploadRequest 0b01000000
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#define SDO_InitUploadResponse 0b01000000
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#define SDO_UploadSegmentRequest 0b01100000
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#define SDO_UploadSegmentResponse 0b00000000
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#define SDO_InitDownloadRequest 0b00100000
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#define SDO_InitDownloadResponse 0b01100000
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#define SDO_SegmentToggle 0b00010000
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#define SDO_SegmentUnusedMask 0b00001110
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#define SDO_SegmentEnd 0b00000001
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#define CAN_GeneralError 0x08000000
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// I/O level CAN error codes / classes:
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#define ERR_NoCANWrite 0x0001
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#define ERR_Timeout 0x000a
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#define ERR_ComponentOffline 0x000b
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#define ERR_ReadSDO 0x0002
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#define ERR_ReadSDO_Timeout 0x0003
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#define ERR_ReadSDO_SegXfer 0x0004
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#define ERR_ReadSDO_SegMismatch 0x0005
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#define ERR_WriteSDO 0x0008
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#define ERR_WriteSDO_Timeout 0x0009
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// App level CAN error codes / classes:
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#define ERR_LoginFailed 0x0010
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#define ERR_CfgModeFailed 0x0020
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#define ERR_Range 0x0030
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#define ERR_UnknownHardware 0x0040
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#endif // _CANopen_h
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