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/**
* Configuration macros for CANopenNode.
*
* @file CO_config.h
* @ingroup CO_STACK_CONFIG
* @author Janez Paternoster
* @copyright 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <[url]https://github.com/CANopenNode/CANopenNode>.[/url]
* For more information on CANopen see <[url]http://www.can-cia.org/>.[/url]
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* [url]http://www.apache.org/licenses/LICENSE-2.0[/url]
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CO_CONFIG_FLAGS_H
#define CO_CONFIG_FLAGS_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup CO_STACK_CONFIG Stack configuration
* Stack configuration and enabling macros.
*
* @ingroup CO_driver
*
* Default values for stack configuration macros are set in corresponding
* header files. The same default values are also provided in this file, but
* only for documentation generator. Default values can be overridden by
* CO_driver_target.h file. If specified so, they can further be overridden by
* CO_driver_custom.h file.
*
* Stack configuration macro is specified as bits, where each bit
* enables/disables some part of the configurable CANopenNode object. Flags are
* used for enabling or checking specific bit. Multiple flags can be ORed
* together.
*
* Some functionalities of CANopenNode objects, enabled by configuration macros,
* requires some objects from Object Dictionary to exist. Object Dictionary
* configuration must match @ref CO_STACK_CONFIG.
* @{
*/
/**
* @defgroup CO_STACK_CONFIG_COMMON Common definitions
* Constants for common definitions.
* @{
*/
/**
* Enable custom callback after CAN receive
*
* Flag enables optional callback functions, which are part of some CANopenNode
* objects. Callbacks can optionally be registered by application, which
* configures threads in operating system. Callbacks are called after something
* has been preprocessed by higher priority thread and must be further
* processed by lower priority thread. For example when CAN message is received
* and preprocessed, callback should wake up mainline processing function.
* See also @ref CO_process() function.
*
* If callback functions are used, they must be initialized separately, after
* the object initialization.
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_CALLBACK_PRE 0x1000
/**
* Enable calculation of timerNext_us variable.
*
* Calculation of the timerNext_us variable is useful for smooth operation on
* operating system. See also @ref CO_process() function.
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_TIMERNEXT 0x2000
/**
* Enable dynamic behaviour of Object Dictionary variables
*
* Some CANopen objects uses Object Dictionary variables as arguments to
* initialization functions, which are processed in communication reset section.
* If this flag is set, then writing to OD variable will reconfigure
* corresponding CANopen object also during CANopen normal operation.
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000
/** This flag may be set globally for mainline objects to
* @ref CO_CONFIG_FLAG_CALLBACK_PRE */
#ifdef CO_DOXYGEN
#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0)
#endif
/** This flag may be set globally for Real-Time objects (SYNC, PDO) to
* @ref CO_CONFIG_FLAG_CALLBACK_PRE */
#ifdef CO_DOXYGEN
#define CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0)
#endif
/** This flag may be set globally to @ref CO_CONFIG_FLAG_TIMERNEXT */
#ifdef CO_DOXYGEN
#define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0)
#endif
/** This flag may be set globally to (0) */
#ifdef CO_DOXYGEN
#define CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC
#endif
/** @} */ /* CO_STACK_CONFIG_COMMON */
/**
* @defgroup CO_STACK_CONFIG_NMT_HB NMT master/slave and HB producer/consumer
* Specified in standard CiA 301
* @{
*/
/**
* Configuration of @ref CO_NMT_Heartbeat.
*
* Possible flags, can be ORed:
* - CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT
* state changes. Callback is configured by
* CO_NMT_initCallbackChanged().
* - CO_CONFIG_NMT_MASTER - Enable simple NMT master
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received NMT CAN message.
* Callback is configured by CO_NMT_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_NMT_process().
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#define CO_CONFIG_NMT_CALLBACK_CHANGE 0x01
#define CO_CONFIG_NMT_MASTER 0x02
/**
* Configuration of @ref CO_HBconsumer
*
* Possible flags, can be ORed:
* - CO_CONFIG_HB_CONS_ENABLE - Enable heartbeat consumer.
* - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom common callback after NMT
* state of the monitored node changes. Callback is configured by
* CO_HBconsumer_initCallbackNmtChanged().
* - CO_CONFIG_HB_CONS_CALLBACK_MULTI - Enable multiple custom callbacks, which
* can be configured individually for each monitored node. Callbacks are
* configured by CO_HBconsumer_initCallbackNmtChanged(),
* CO_HBconsumer_initCallbackHeartbeatStarted(),
* CO_HBconsumer_initCallbackTimeout() and
* CO_HBconsumer_initCallbackRemoteReset() functions.
* - CO_CONFIG_HB_CONS_QUERY_FUNCT - Enable functions for query HB state or
* NMT state of the specific monitored node.
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received heartbeat CAN message.
* Callback is configured by CO_HBconsumer_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_HBconsumer_process().
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of monitored
* nodes (Writing to object 0x1016 re-configures the monitored nodes).
*
* @warning CO_CONFIG_HB_CONS_CALLBACK_CHANGE and
* CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_HB_CONS_ENABLE 0x01
#define CO_CONFIG_HB_CONS_CALLBACK_CHANGE 0x02
#define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x04
#define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x08
/** @} */ /* CO_STACK_CONFIG_NMT_HB */
/**
* @defgroup CO_STACK_CONFIG_EMERGENCY Emergency producer/consumer
* Specified in standard CiA 301
* @{
*/
/**
* Configuration of @ref CO_Emergency
*
* Possible flags, can be ORed:
* - CO_CONFIG_EM_PRODUCER - Enable emergency producer.
* - CO_CONFIG_EM_PROD_CONFIGURABLE - Emergency producer COB-ID is configurable,
* OD object 0x1014. If not configurable, then 0x1014 is read-only, COB_ID
* is set to CO_CAN_ID_EMERGENCY + nodeId and write is not verified.
* - CO_CONFIG_EM_PROD_INHIBIT - Enable inhibit timer on emergency producer,
* OD object 0x1015.
* - CO_CONFIG_EM_HISTORY - Enable error history, OD object 0x1003,
* "Pre-defined error field"
* - CO_CONFIG_EM_CONSUMER - Enable simple emergency consumer with callback.
* - CO_CONFIG_EM_STATUS_BITS - Access @ref CO_EM_errorStatusBits_t from OD.
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* emergency condition by CO_errorReport() or CO_errorReset() call.
* Callback is configured by CO_EM_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_EM_process().
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#define CO_CONFIG_EM_PRODUCER 0x01
#define CO_CONFIG_EM_PROD_CONFIGURABLE 0x02
#define CO_CONFIG_EM_PROD_INHIBIT 0x04
#define CO_CONFIG_EM_HISTORY 0x08
#define CO_CONFIG_EM_STATUS_BITS 0x10
#define CO_CONFIG_EM_CONSUMER 0x20
/**
* Maximum number of @ref CO_EM_errorStatusBits_t
*
* Stack uses 6*8 = 48 @ref CO_EM_errorStatusBits_t, others are free to use by
* manufacturer. Allowable value range is from 48 to 256 bits in steps of 8.
* Default is 80.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10*8)
#endif
/**
* Condition for calculating CANopen Error register, "generic" error bit.
*
* Condition must observe suitable @ref CO_EM_errorStatusBits_t and use
* corresponding member of errorStatusBits array from CO_EM_t to calculate the
* condition. See also @ref CO_errorRegister_t.
*
* @warning Size of @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT must be large
* enough. (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) must be larger than index of
* array member in em->errorStatusBits[index].
*
* em->errorStatusBits[5] should be included in the condition, because they are
* used by the stack.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_GENERIC (em->errorStatusBits[5] != 0)
#endif
/**
* Condition for calculating CANopen Error register, "current" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
* Macro is not defined by default, so no error is verified.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_CURRENT
#endif
/**
* Condition for calculating CANopen Error register, "voltage" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
* Macro is not defined by default, so no error is verified.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_VOLTAGE
#endif
/**
* Condition for calculating CANopen Error register, "temperature" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
* Macro is not defined by default, so no error is verified.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_TEMPERATURE
#endif
/**
* Condition for calculating CANopen Error register, "communication" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
*
* em->errorStatusBits[2] and em->errorStatusBits[3] must be included in the
* condition, because they are used by the stack.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_COMMUNICATION (em->errorStatusBits[2] || em->errorStatusBits[3])
#endif
/**
* Condition for calculating CANopen Error register, "device profile" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
* Macro is not defined by default, so no error is verified.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_DEV_PROFILE
#endif
/**
* Condition for calculating CANopen Error register, "manufacturer" error bit.
* See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
*
* em->errorStatusBits[8] and em->errorStatusBits[8] are pre-defined, but can
* be changed.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_ERR_CONDITION_MANUFACTURER (em->errorStatusBits[8] || em->errorStatusBits[9])
#endif
/** @} */ /* 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_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
/** @} */ /* 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_RSRDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks when received RSRDO CAN message modifies OD entries.
* - CO_CONFIG_TRSRDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks before TSRDO CAN message is sent.
* - #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
#define CO_CONFIG_RSRDO_CALLS_EXTENSION 0x04
#define CO_CONFIG_TSRDO_CALLS_EXTENSION 0x08
/**
* 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 */
发表于 2023-9-7 09:08:05
发表于 2023-9-8 15:29:35
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