| 1 | #ifndef NODEDRV_H
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| 2 | #define NODEDRV_H
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| 3 |
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| 4 | #include "log.h"
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| 5 | #include "gendef.h"
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| 6 |
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| 7 | class Network;
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| 8 |
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| 9 | class NodeDrv : public Log
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| 10 | {
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| 11 | private:
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| 12 | Network *fNetwork;
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| 13 | BYTE_t fId;
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| 14 |
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| 15 | public:
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| 16 | NodeDrv(BYTE_t nodeid, ostream &out=cout);
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| 17 |
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| 18 | BYTE_t GetId() { return fId; }
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| 19 | Network *GetNetwork() { return fNetwork; }
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| 20 |
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| 21 | virtual void InitDevice(Network *net);
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| 22 | virtual void StopDevice() = 0;
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| 23 |
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| 24 | virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, struct timeval *tv);
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| 25 | virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx);
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| 26 | virtual void HandleSDOError(LWORD_t data);
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| 27 |
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| 28 | virtual void HandlePDO1(BYTE_t *data, struct timeval *tv) {};
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| 29 | virtual void HandlePDO2(BYTE_t *data, struct timeval *tv) {};
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| 30 | virtual void HandlePDO3(BYTE_t *data, struct timeval *tv) {};
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| 31 | virtual void HandlePDO4(BYTE_t *data, struct timeval *tv) {};
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| 32 |
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| 33 | void SendPDO1(BYTE_t data[8]);
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| 34 | void SendPDO2(BYTE_t data[8]);
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| 35 | void SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
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| 36 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
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| 37 | void SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
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| 38 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
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| 39 |
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| 40 | void SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val);
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| 41 | void SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val);
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| 42 | void SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val);
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| 43 |
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| 44 | void SendSDO(WORD_t idx, BYTE_t val);
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| 45 | void SendSDO(WORD_t idx, WORD_t val);
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| 46 | void SendSDO(WORD_t idx, LWORD_t val=0);
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| 47 |
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| 48 | void SendNMT(BYTE_t cmd);
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| 49 |
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| 50 | void RequestSDO(WORD_t idx, BYTE_t subidx=0);
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| 51 |
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| 52 | void WaitForNextPdo1();
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| 53 | void WaitForNextPdo2();
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| 54 | void WaitForNextPdo3();
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| 55 | void WaitForNextPdo4();
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| 56 |
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| 57 | void WaitForSdos();
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| 58 | void WaitForSdo(WORD_t idx, BYTE_t subidx=0);
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| 59 |
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| 60 | void EnableCanMsg(BYTE_t fcode);
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| 61 | };
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| 62 |
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| 63 | #endif
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