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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: CML_SDO.h Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000001.html">inc</a></div><h1>CML_SDO.h</h1><a href="CML__SDO_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment">This header file defines the classes used to communicate</span><a name="l00015"></a>00015 <span class="comment">to CANopen nodes using Service Data Objects (SDOs).</span><a name="l00016"></a>00016 <span class="comment"></span><a name="l00017"></a>00017 <span class="comment">*/</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <span class="preprocessor">#ifndef _DEF_INC_CO_SDO</span><a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_CO_SDO</span><a name="l00021"></a>00021 <span class="preprocessor"></span><a name="l00022"></a>00022 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="CML__CanOpen_8h.html">CML_CanOpen.h</a>"</span><a name="l00024"></a>00024 <a name="l00025"></a>00025 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00026"></a>00026 <a name="l00027"></a>00027 <span class="comment">/**************************************************</span><a name="l00028"></a>00028 <span class="comment">* SDO abort codes</span><a name="l00029"></a>00029 <span class="comment">**************************************************/</span><a name="l00030"></a><a class="code" href="CML__SDO_8h.html#a0">00030</a> #define <a class="code" href="CML__SDO_8h.html#a0">SDO_ABORT_TOGGLEBIT</a> 0x05030000<a name="l00031"></a><a class="code" href="CML__SDO_8h.html#a1">00031</a> <span class="preprocessor">#define SDO_ABORT_TIMEOUT 0x05040000</span><a name="l00032"></a><a class="code" href="CML__SDO_8h.html#a2">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BAD_SCS 0x05040001</span><a name="l00033"></a><a class="code" href="CML__SDO_8h.html#a3">00033</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BLOCK_SIZE 0x05040002 </span><a name="l00034"></a><a class="code" href="CML__SDO_8h.html#a4">00034</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BLOCK_SEQ 0x05040003 </span><a name="l00035"></a><a class="code" href="CML__SDO_8h.html#a5">00035</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BLOCK_CRC 0x05040004 </span><a name="l00036"></a><a class="code" href="CML__SDO_8h.html#a6">00036</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_MEMORY 0x05040005 </span><a name="l00037"></a><a class="code" href="CML__SDO_8h.html#a7">00037</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_ACCESS 0x06010000</span><a name="l00038"></a><a class="code" href="CML__SDO_8h.html#a8">00038</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_WRITEONLY 0x06010001</span><a name="l00039"></a><a class="code" href="CML__SDO_8h.html#a9">00039</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_READONLY 0x06010002</span><a name="l00040"></a><a class="code" href="CML__SDO_8h.html#a10">00040</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BAD_OBJECT 0x06020000</span><a name="l00041"></a><a class="code" href="CML__SDO_8h.html#a11">00041</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_PDO_MAP 0x06040041</span><a name="l00042"></a><a class="code" href="CML__SDO_8h.html#a12">00042</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_PDO_LENGTH 0x06040042</span><a name="l00043"></a><a class="code" href="CML__SDO_8h.html#a13">00043</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BAD_PARAM 0x06040043</span><a name="l00044"></a><a class="code" href="CML__SDO_8h.html#a14">00044</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_INCOMPATIBLE 0x06040047</span><a name="l00045"></a><a class="code" href="CML__SDO_8h.html#a15">00045</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_HARDWARE 0x06060000</span><a name="l00046"></a><a class="code" href="CML__SDO_8h.html#a16">00046</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_BAD_LENGTH 0x06070010</span><a name="l00047"></a><a class="code" href="CML__SDO_8h.html#a17">00047</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_TOO_LONG 0x06070012</span><a name="l00048"></a><a class="code" href="CML__SDO_8h.html#a18">00048</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_TOO_SHORT 0x06070013</span><a name="l00049"></a><a class="code" href="CML__SDO_8h.html#a19">00049</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_SUBINDEX 0x06090011</span><a name="l00050"></a><a class="code" href="CML__SDO_8h.html#a20">00050</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_PARAM_RANGE 0x06090030</span><a name="l00051"></a><a class="code" href="CML__SDO_8h.html#a21">00051</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_PARAM_HIGH 0x06090031</span><a name="l00052"></a><a class="code" href="CML__SDO_8h.html#a22">00052</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_PARAM_LOW 0x06090032</span><a name="l00053"></a><a class="code" href="CML__SDO_8h.html#a23">00053</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_MIN_MAX 0x06090036</span><a name="l00054"></a><a class="code" href="CML__SDO_8h.html#a24">00054</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_GENERAL_ERR 0x08000000</span><a name="l00055"></a><a class="code" href="CML__SDO_8h.html#a25">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_TRANSFER 0x08000020</span><a name="l00056"></a><a class="code" href="CML__SDO_8h.html#a26">00056</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_TRANSFER_LOCAL 0x08000021</span><a name="l00057"></a><a class="code" href="CML__SDO_8h.html#a27">00057</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_TRANSFER_STATE 0x08000022</span><a name="l00058"></a><a class="code" href="CML__SDO_8h.html#a28">00058</a> <span class="preprocessor"></span><span class="preprocessor">#define SDO_ABORT_OD_GEN_FAIL 0x08000023</span><a name="l00059"></a>00059 <span class="preprocessor"></span><span class="comment"></span><a name="l00060"></a>00060 <span class="comment">/// SDO downloads of this size (byte) or greater are more</span><a name="l00061"></a>00061 <span class="comment">/// efficiently handled using a block download.</span><a name="l00062"></a><a class="code" href="CML__SDO_8h.html#a29">00062</a> <span class="comment"></span><span class="preprocessor">#define SDO_BLK_DNLD_THRESHOLD 15</span><a name="l00063"></a>00063 <span class="preprocessor"></span><span class="comment"></span><a name="l00064"></a>00064 <span class="comment">/// SDO uploads of this size (byte) or greater are more</span><a name="l00065"></a>00065 <span class="comment">/// efficiently handled using a block upload.</span><a name="l00066"></a><a class="code" href="CML__SDO_8h.html#a30">00066</a> <span class="comment"></span><span class="preprocessor">#define SDO_BLK_UPLD_THRESHOLD 15</span><a name="l00067"></a>00067 <span class="preprocessor"></span><a name="l00068"></a>00068 <span class="comment"></span><a name="l00069"></a>00069 <span class="comment">/**</span><a name="l00070"></a>00070 <span class="comment">This class represents SDO errors. There is one static</span><a name="l00071"></a>00071 <span class="comment">member for each SDO abort code.</span><a name="l00072"></a>00072 <span class="comment">*/</span><a name="l00073"></a><a class="code" href="classSDO__Error.html">00073</a> <span class="keyword">class </span><a class="code" href="classSDO__Error.html">SDO_Error</a>: <span class="keyword">public</span> <a class="code" href="classCanOpenError.html">CanOpenError</a><a name="l00074"></a>00074 {<a name="l00075"></a>00075 <span class="keyword">public</span>:<span class="comment"></span><a name="l00076"></a>00076 <span class="comment"> /// No abort code was specified with the SDO Abort message</span><a name="l00077"></a><a class="code" href="classSDO__Error.html#s0">00077</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s0">NoAbortCode</a>;<span class="comment"></span><a name="l00078"></a>00078 <span class="comment"> /// SDO Abort - toggle bit error</span><a name="l00079"></a><a class="code" href="classSDO__Error.html#s1">00079</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s1">Togglebit</a>;<span class="comment"></span><a name="l00080"></a>00080 <span class="comment"> /// SDO Abort - Timeout</span><a name="l00081"></a><a class="code" href="classSDO__Error.html#s2">00081</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s2">Timeout</a>;<span class="comment"></span><a name="l00082"></a>00082 <span class="comment"> /// SDO Abort - Bad SCS code</span><a name="l00083"></a><a class="code" href="classSDO__Error.html#s3">00083</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s3">Bad_scs</a>;<span class="comment"></span><a name="l00084"></a>00084 <span class="comment"> /// SDO Abort - Bad Block size</span><a name="l00085"></a><a class="code" href="classSDO__Error.html#s4">00085</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s4">Block_size</a>;<span class="comment"></span><a name="l00086"></a>00086 <span class="comment"> /// SDO Abort - Block sequence error</span>⌨️ 快捷键说明
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