New plugin concept

src/ecmcSocketCANDefs.h

@@ -0,0 +1,80 @@
+/*************************************************************************\
+* Copyright (c) 2019 European Spallation Source ERIC
+* ecmc is distributed subject to a Software License Agreement found
+* in file LICENSE that is included with this distribution. 
+*
+*  ecmcSocketCANDefs.h
+*
+*  Created on: March 02, 2021
+*      Author: anderssandstrom
+*
+\*************************************************************************/
+
+#ifndef ECMC_SOCKETCAN_DEFS_H_
+#define ECMC_SOCKETCAN_DEFS_H_
+
+// Options
+#define ECMC_PLUGIN_DBG_PRINT_OPTION_CMD   "DBG_PRINT="
+#define ECMC_PLUGIN_IF_OPTION_CMD          "IF="
+#define ECMC_PLUGIN_CONNECT_OPTION_CMD     "CONNECT="
+
+#define ECMC_CANOPEN_NMT_BASE              0x700
+#define ECMC_CANOPEN_NMT_BOOT              0x0
+#define ECMC_CANOPEN_NMT_STOP              0x4
+#define ECMC_CANOPEN_NMT_OP                0x5
+#define ECMC_CANOPEN_NMT_PREOP             0x7F
+
+#define ECMC_SDO_REPLY_TIMOUT_MS           1000
+
+#define ECMC_PLUGIN_ASYN_PREFIX            "plugin.can"
+
+enum ecmc_can_direction {
+    DIR_WRITE = 1,
+    DIR_READ  = 2 };
+
+enum ecmc_read_states {
+    READ_IDLE,
+    READ_REQ_TRANSFER,
+    READ_WAIT_FOR_CONF,
+    READ_WAIT_FOR_DATA
+};
+
+enum ecmc_write_states {
+    WRITE_IDLE,
+    WRITE_REQ_TRANSFER,
+    WRITE_WAIT_FOR_CONF,
+    WRITE_DATA,
+};
+
+enum ecmc_nmt_state_act {
+    NMT_NOT_VALID = 0,
+    NMT_BOOT_UP   = 1,
+    NMT_STOPPED   = 2,
+    NMT_OP        = 3,
+    NMT_PREOP     = 4
+};
+
+struct ODIndexBytes {
+    char byte0:8;
+    char byte1:8;
+};
+
+struct ODLegthBytes {
+    char byte0:8;
+    char byte1:8;
+    char byte2:8;
+    char byte3:8;
+};
+
+struct writeCmdByte {
+    char c:1;
+    char nnn:3;
+    char t:1;
+    char notused:3;
+};
+
+/** Just one error code in "c" part of plugin 
+(error handled with exceptions i c++ part) */
+#define ECMC_PLUGIN_SOCKETCAN_ERROR_CODE 1
+
+#endif  /* ECMC_SOCKETCAN_DEFS_H_ */