/*--------------------------------------------------------------------
       TYPES.H
  --------------------------------------------------------------------
       Copyright (C) 1998-2000 Vector Informatik GmbH, Stuttgart

       Function: Main header for CANopen slave
  --------------------------------------------------------------------*/

#ifndef _TYPES_H_
#define _TYPES_H_



/*--------------------------------------------------------------------*/
/*  basic definitions (do not change)                                 */
/*--------------------------------------------------------------------*/
#ifndef TRUE
# define TRUE       1 /*!< It's true in boolean operations. */
#endif

#ifndef FALSE
# define FALSE      0 /*!< It's false in boolean operations. */
#endif

#define ON          1 /*!< Use it to set flags. */
#define OFF         0 /*!< Use it to reset flags. */

#define OK          1 /*!< Return value for success in binary functions. */
#define FAULT       0 /*!< Return value for failure in binary functions. */

#define NO_ERR      0 /*!< Return value for success. */
#define BUSY_ERR    1 /*!< Return value if resource temporary not available. */
#define WAIT_ERR    2 /*!< Return value for service delayed. */
#define RANGE_ERR   3 /*!< Return value for out or range. */
#define VALUE_TOO_HIGH_ERR 100 /*!< Return value for parameter to high. */
#define ID_BUSY     200 /*!< Return value for allready used identifier. */

#define _BIG_ENDIAN    1
#define _LITTLE_ENDIAN (!_BIG_ENDIAN) /*!< little endian is set automatically */

/*--------------------------------------------------------------------*/
/*  macros                                                            */
/*--------------------------------------------------------------------*/
/*! return maximum of A and B */
#define MAX(A, B)   ((A) > (B) ? (A) : (B))
/*! return first data byte of a message */
#define MESSAGE_DB0(index) (tCanMsgBuffer[(index)].tMsg.bDb[0])
/*! return pointer to a massage */
#define MESSAGE_PTR(index) (&tCanMsgBuffer[(index)].tMsg)
/*! return a data byte of a message */
#define MESSAGE_DB(index, i) (tCanMsgBuffer[(index)].tMsg.bDb[(i)])
/*! substitute memory copy */
#define MemCpy(a, b, c)    memcpy(a, b, c)



/*--------------------------------------------------------------------*/
/*  type definitions                                                  */
/*--------------------------------------------------------------------*/
typedef unsigned char BOOLEAN;                  /*!<  1 bit  basic type */
typedef unsigned char BYTE;                     /*!<  8 bits basic type */
typedef unsigned short WORD;                    /*!< 16 bits basic type */
typedef unsigned long DWORD;                    /*!< 32 bits basic type */

typedef unsigned char	UBYTE;
typedef unsigned int	UWORD;
typedef unsigned long	ULONG;
typedef signed char		SBYTE;
//typedef signed int		SWORD;  //重復定義 SWORD
typedef signed long		SLONG;

typedef union
{
	UWORD	wData;
	struct
	{
		UBYTE	bLsb;
		UBYTE	bMsb;
	}Bytes;
}CWORD;//Converted word structure
		
typedef union
{
	ULONG	lData;
	struct
	{
		UBYTE	b0;	/*!< low word / least significant byte  */
		UBYTE	b1; /*!< low word / most significant byte   */
		UBYTE	b2;	/*!< high word / least significant byte */
		UBYTE	b3;	/*!< high word / most significant byte  */
	}Bytes;
}CLONG;//Converted long word structure

/*! 64 bits basic type */
typedef struct {
  unsigned long hw; /*!< most significant double  */
  unsigned long lw; /*!< least significant double */
}
QWORD;
/*!
  two bytes structure
*/

typedef struct {
#if _BIG_ENDIAN == 0
  BYTE lb; /*!< least significant byte */
  BYTE mb; /*!< most significant byte  */
#else
  BYTE mb; /*!< most significant byte  */
  BYTE lb; /*!< least significant byte */
#endif /* _BIG_ENDIAN */
}
DBYTE;
/*!
  two byte structure for machine independent word conversion
*/

typedef union {
  WORD  wc; /*!< word             */
  DBYTE bc; /*!< two single bytes */
}
WBYTE;
/*!
  four bytes structure
*/

typedef struct {
#if _BIG_ENDIAN == 0
  BYTE b0; /*!< low word / least significant byte  */
  BYTE b1; /*!< low word / most significant byte   */
  BYTE b2; /*!< high word / least significant byte */
  BYTE b3; /*!< high word / most significant byte  */
#else
  BYTE b3; /*!< high word / most significant byte  */
  BYTE b2; /*!< high word / least significant byte */
  BYTE b1; /*!< low word / most significant byte   */
  BYTE b0; /*!< low word / least significant byte  */
#endif /* _BIG_ENDIAN == 1 */
}
FOURBYTE;


/*!
  four byte structure for machine independent long conversion
*/
typedef union {
  DWORD dw;     /*!< long value          */
  FOURBYTE fb;  /*!< splitted long value */
}
QBYTE;

/*--------------------------------------------------------------------*/
/*  documentation                                                     */
/*--------------------------------------------------------------------*/

/*!
  \file
  \brief THis header includes all relevant typdefs an defines for global use
*/
#endif /*_TYPES_H*/