#define ERROR_SDONOTSUPPORTED 0x1103 /**< \brief SDO service not supported*/
/** @}*/
/**
*\addtogroupSdoHeaderDataSDOHeaderandData
*@{
*/
#define SDOHEADER_SIZEINDICATOR ((UINT8) 0x01) /**< \brief Size Indicator size of data in Data Set Size specified*/
#define SDOHEADER_TRANSFERTYPE ((UINT8) 0x02) /**< \brief Transfer Type<br>1: Expedited<br>0: Normal*/
#define SDOHEADER_DATASETSIZE ((UINT8) 0x0C) /**< \brief Data Set Size (used for Expedited transfer)*/
#define SDOHEADER_COMPLETEACCESS ((UINT8) 0x10) /**< \brief Complete Access indication<br>0: Only specified entry will be transferred<br>1: Whole object (with or without Subindex0) will be transferred)*/
#define ABORT_PARAM_LENGTH_TOO_LONG 0x06070012 /**< \brief Parameter is too long*/
#define ABORT_PARAM_LENGTH_TOO_SHORT 0x06070013 /**< \brief Parameter is too short*/
#define ABORT_SUBINDEX_NOT_EXISTING 0x06090011 /**< \brief Subindex (Entry) not exists*/
#define ABORT_VALUE_EXCEEDED 0x06090030 /**< \brief Value exceeds*/
#define ABORT_VALUE_TOO_GREAT 0x06090031 /**< \brief Value is too great*/
#define ABORT_VALUE_TOO_SMALL 0x06090032 /**< \brief Value is too small*/
#define ABORT_MODULE_ID_LIST_NOT_MATCH 0x06090033 /**< \brief Detected Module Ident List (0xF030) and Configured Module Ident list (0xF050) does not match*/
#define ABORT_MAX_VALUE_IS_LESS_THAN_MIN_VALUE 0x06090036 /**< \brief Value is less than minimum value*/
#define ABORT_GENERAL_ERROR 0x08000000 /**< \brief General error*/
#define ABORT_DATA_CANNOT_BE_READ_OR_STORED 0x08000020 /**< \brief Data can not be read or written*/
#define ABORT_DATA_CANNOT_BE_READ_OR_STORED_BECAUSE_OF_LOCAL_CONTROL 0x08000021 /**< \brief Data can not be accessed because of local control*/
#define ABORT_DATA_CANNOT_BE_READ_OR_STORED_IN_THIS_STATE 0x08000022 /**< \brief Data can not be read or written in the current state*/
#define ABORT_NO_OBJECT_DICTIONARY_IS_PRESENT 0x08000023 /**< \brief Object is not in the object dictionary*/
/**
*\addtogroupSDOAbortIndexSDOAbortCodesIdentifier
*@{
*InternaltheSDOabortcodesarehandledinanarray.
*/
#define ABORTIDX_TOGGLE_BIT_NOT_CHANGED 0x01 /**< \brief Index of "Toggle bit not changed"*/
#define ABORTIDX_SDO_PROTOCOL_TIMEOUT 0x02 /**< \brief Index of "SDO timeout"*/
#define ABORTIDX_COMMAND_SPECIFIER_UNKNOWN 0x03 /**< \brief Index of "Command specifier unknown"*/
#define ABORTIDX_OUT_OF_MEMORY 0x04 /**< \brief Index of "Out of memory"*/
#define ABORTIDX_UNSUPPORTED_ACCESS 0x05 /**< \brief Index of "Unsupported Access"*/
#define ABORTIDX_WRITE_ONLY_ENTRY 0x06 /**< \brief Index of "Write only entry"*/
#define ABORTIDX_READ_ONLY_ENTRY 0x07 /**< \brief Index of "Read only entry"*/
#define ABORTIDX_OBJECT_NOT_EXISTING 0x08 /**< \brief Index of "Object not existing"*/
#define ABORTIDX_OBJECT_CANT_BE_PDOMAPPED 0x09 /**< \brief Index of "Object can not be mapped to PDO"*/
#define ABORTIDX_MAPPED_OBJECTS_EXCEED_PDO 0x0A /**< \brief Index of "Mapped Object exceeds PDO"*/
#define ABORTIDX_PARAM_IS_INCOMPATIBLE 0x0B /**< \brief Index of "Parameter is incompatible"*/
#define ABORTIDX_INTERNAL_DEVICE_INCOMPATIBILITY 0x0C /**< \brief Index of "Device incompatibility"*/
#define ABORTIDX_HARDWARE_ERROR 0x0D /**< \brief Index of "Hardware error"*/
#define ABORTIDX_PARAM_LENGTH_ERROR 0x0E /**< \brief Index of "Parameter length error"*/
#define ABORTIDX_PARAM_LENGTH_TOO_LONG 0x0F /**< \brief Index of "Parameter is too long"*/
#define ABORTIDX_PARAM_LENGTH_TOO_SHORT 0x10 /**< \brief Index of "Parameter is too short"*/
#define ABORTIDX_SUBINDEX_NOT_EXISTING 0x11 /**< \brief Index of "Subindex (Entry) not exists"*/
#define ABORTIDX_VALUE_EXCEEDED 0x12 /**< \brief Index of "Value exceeds"*/
#define ABORTIDX_VALUE_TOO_GREAT 0x13 /**< \brief Index of "Value is too great"*/
#define ABORTIDX_VALUE_TOO_SMALL 0x14 /**< \brief Index of "Value is too small"*/
#define ABORTIDX_MODULE_ID_LIST_NOT_MATCH 0x15 /**< \brief Index of "Unequal Module Id list"*/
#define ABORTIDX_MAX_VALUE_IS_LESS_THAN_MIN_VALUE 0x16 /**< \brief Index of "Value is less than minimum value"*/
#define ABORTIDX_GENERAL_ERROR 0x17 /**< \brief Index of "General error"*/
#define ABORTIDX_DATA_CANNOT_BE_READ_OR_STORED 0x18 /**< \brief Index of "Data can not be read or written"*/
#define ABORTIDX_DATA_CANNOT_BE_ACCESSED_BECAUSE_OF_LOCAL_CONTROL 0x19 /**< \brief Index of "Data can not be accessed because of local control"*/
#define ABORTIDX_IN_THIS_STATE_DATA_CANNOT_BE_READ_OR_STORED 0x1A /**< \brief Index of "Data can not be read or written in the current state"*/
#define ABORTIDX_NO_OBJECT_DICTIONARY_IS_PRESENT 0x1B /**< \brief Index of "Object is not in the object dictionary"*/
#define ABORTIDX_ENTRY_CANT_BE_WRITTEN_SI0_NOT_0 0x1C /**< \brief Index of "Entry can not be written because Subindex0 is not 0"*/
#define ABORTIDX_COMPLETE_ACCESS_NOT_SUPPORTED 0x1D /**< \brief The object can not be accessed via complete access*/
#define ABORTIDX_WORKING 0xFF /**< \brief Index of application is handling the SDO request*/
/** @}*/
/** @}*/
/**
*\addtogroupSdoServicesSDOServices
*@{
*/
#define SDOINFOSERVICE_OBJDICTIONARYLIST_Q 0x01 /**< \brief SDO Info Get object list request*/
#define SDOINFOSERVICE_OBJDICTIONARYLIST_S 0x02 /**< \brief SDO Info Get object list response*/
#define SDOINFOSERVICE_OBJDESCRIPTION_Q 0x03 /**< \brief SDO Info Get object description request*/
#define SDOINFOSERVICE_OBJDESCRIPTION_S 0x04 /**< \brief SDO Info Get object description response*/
#define SDOINFOSERVICE_ENTRYDESCRIPTION_Q 0x05 /**< \brief SDO Info Get entry description request*/
#define SDOINFOSERVICE_ENTRYDESCRIPTION_S 0x06 /**< \brief SDO Info Get entry description request*/
#define SDOINFOSERVICE_ERROR_Q 0x07 /**< \brief SDO Info Error*/
#define SDOINFOSERVICE_INCOMPLETE 0x80 /**< \brief SDO Info Incomplete flag*/
/** @}*/
/**
*\addtogroupSdoHeaderDataSDOHeaderandData
*@{
*/
/**
*SDOInfoObjectlist
*/
typedefstructMBX_STRUCT_PACKED_START
{
UINT16ListType;/**< \brief List type variable*/
#define INFO_LIST_TYPE_LENGTH 0 /**< \brief Length of all list types*/
#define INFO_LIST_TYPE_ALL 1 /**< \brief All objects*/
#define INFO_LIST_TYPE_RXPDO 2 /**< \brief Only RxPDO mappable objects*/
#define INFO_LIST_TYPE_TXPDO 3 /**< \brief Only TxPDO mappable objects*/
#define INFO_LIST_TYPE_BACKUP 4 /**< \brief Only backup objects*/
#define INFO_LIST_TYPE_SET 5 /**< \brief Only setting objects*/
#define INFO_LIST_TYPE_MAX 5 /**< \brief Max list identifier*/
}MBX_STRUCT_PACKED_END
TSDOINFOLIST;
/**
*Objectdescription
*/
typedefstructMBX_STRUCT_PACKED_START
{
UINT16DataType;/**< \brief Object data type*/
UINT16ObjFlags;/**< \brief Object flags (including object code and max subindex)*/
/*Object Code and MaxSubindex will be set manually in the object dictionary. The value is always created in little endian format*/
#define OBJFLAGS_MAXSUBINDEXMASK 0x00FF /**< \brief Max subindex mask*/
#define OBJFLAGS_MAXSUBINDEXSHIFT 0 /**< \brief Max subindex shift*/
#define INFOHEADER_INCOMPLETE_SHIFT 0 /**< \brief Incomplete shift, the incomplete value "SDOINFOSERVICE_INCOMPLETE" is defined as a UINT8 => no shift required*/
UINT16FragmentsLeft;/**< \brief Number of fragments which will follow*/
