1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#ifndef __data_h__

    24

#define __data_h__

    25

    26

#ifdef __cplusplus

    27

extern "C" {

    28

#endif

    29

    30

/* declaration of CO_Data type let us include all necessary headers

    31

 struct struct_CO_Data can then be defined later

    32

 */

    33

typedef struct struct_CO_Data CO_Data;

    34

    35

#include "applicfg.h"

    36

#include "def.h"

    37

#include "can.h"

    38

#include "objdictdef.h"

    39

#include "objacces.h"

    40

#include "sdo.h"

    41

#include "pdo.h"

    42

#include "states.h"

    43

#include "lifegrd.h"

    44

#include "sync.h"

    45

#include "nmtMaster.h"

    46

#include "emcy.h"

    47

#ifdef CO_ENABLE_LSS

    48

#include "lss.h"

    49

#endif

    50

    51

/* This structurs contains all necessary information for a CanOpen node */

    52

struct struct_CO_Data {

    53

	/* Object dictionary */

    54

	UNS8 *bDeviceNodeId;

    55

	const indextable *objdict;

    56

	s_PDO_status *PDO_status;

    57

	quick_index *firstIndex;

    58

	quick_index *lastIndex;

    59

	UNS16 *ObjdictSize;

    60

	const UNS8 *iam_a_slave;

    61

	valueRangeTest_t valueRangeTest;

    62

    63

	/* SDO */

    64

	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];

    65

	/* s_sdo_parameter *sdo_parameters; */

    66

    67

	/* State machine */

    68

	e_nodeState nodeState;

    69

	s_state_communication CurrentCommunicationState;

    70

	initialisation_t initialisation;

    71

	preOperational_t preOperational;

    72

	operational_t operational;

    73

	stopped_t stopped;

    74

    75

	/* NMT-heartbeat */

    76

	UNS8 *ConsumerHeartbeatCount;

    77

	UNS32 *ConsumerHeartbeatEntries;

    78

	TIMER_HANDLE *ConsumerHeartBeatTimers;

    79

	UNS16 *ProducerHeartBeatTime;

    80

	TIMER_HANDLE ProducerHeartBeatTimer;

    81

	heartbeatError_t heartbeatError;

    82

	e_nodeState NMTable[NMT_MAX_NODE_ID]; 

    83

    84

	/* SYNC */

    85

	TIMER_HANDLE syncTimer;

    86

	UNS32 *COB_ID_Sync;

    87

	UNS32 *Sync_Cycle_Period;

    88

	/*UNS32 *Sync_window_length;;*/

    89

	post_sync_t post_sync;

    90

	post_TPDO_t post_TPDO;

    91

	post_SlaveBootup_t post_SlaveBootup;

    92

    93

	/* General */

    94

	UNS8 toggle;

    95

	CAN_HANDLE canHandle;	

    96

	scanIndexOD_t scanIndexOD;

    97

	storeODSubIndex_t storeODSubIndex; 

    98

    99

	/* DCF concise */

   100

    const indextable* dcf_odentry;

   101

	UNS8* dcf_cursor;

   102

	UNS32 dcf_entries_count;

   103

	UNS8 dcf_request;

   104

   105

	/* EMCY */

   106

	e_errorState error_state;

   107

	UNS8 error_history_size;

   108

	UNS8* error_number;

   109

	UNS32* error_first_element;

   110

	UNS8* error_register;

   111

    UNS32* error_cobid;

   112

	s_errors error_data[EMCY_MAX_ERRORS];

   113

	post_emcy_t post_emcy;

   114

   115

#ifdef CO_ENABLE_LSS

   116

	/* LSS */

   117

	lss_transfer_t lss_transfer;

   118

	lss_StoreConfiguration_t lss_StoreConfiguration;

   119

	lss_ChangeBaudRate_t lss_ChangeBaudRate;

   120

#endif	

   121

};

   122

   123

#define NMTable_Initializer Unknown_state,

   124

   125

#define s_transfer_Initializer {\

   126

		0,          /* nodeId */\

   127

		0,          /* wohami */\

   128

		SDO_RESET,  /* state */\

   129

		0,          /* toggle */\

   130

		0,          /* abortCode */\

   131

		0,          /* index */\

   132

		0,          /* subIndex */\

   133

		0,          /* count */\

   134

		0,          /* offset */\

   135

		{0},        /* data (static use, so that all the table is initialize at 0)*/\

   136

		0,          /* dataType */\

   137

		-1,         /* timer */\

   138

		NULL        /* Callback */\

   139

	  },

   140

   141

#define ERROR_DATA_INITIALIZER \

   142

	{\

   143

	0, /* errCode */\

   144

	0, /* errRegMask */\

   145

	0 /* active */\

   146

	},

   147

   148

#ifdef CO_ENABLE_LSS

   149

#define lss_Initializer {\

   150

		LSS_RESET,  			/* state */\

   151

		0,						/* command */\

   152

		LSS_WAITING_MODE, 		/* mode */\

   153

		0,						/* dat1 */\

   154

		0,						/* dat2 */\

   155

		Unknown_state,  		/* currentState */\

   156

		0,          			/* NodeID */\

   157

		0,          			/* addr_sel_match */\

   158

		0,          			/* addr_ident_match */\

   159

		"none",         		/* BaudRate */\

   160

		0,          			/* SwitchDelay */\

   161

		SDELAY_OFF,   			/* SwitchDelayState */\

   162

		{-1,-1},          		/* Timers[2] */\

   163

		NULL,        			/* Callback */\

   164

		0,						/* IDNumber */\

   165

  		128, 					/* BitChecked */\

   166

  		0,						/* LSSSub */\

   167

  		0, 						/* LSSNext */\

   168

  		0, 						/* LSSPos */\

   169

  		LSS_FS_RESET			/* FastScan_SM */\

   170

	  },\

   171

	  NULL, 	/* _lss_StoreConfiguration*/\

   172

	  NULL    /* _lss_ChangeBaudRate */

   173

#else

   174

#define lss_Initializer

   175

#endif

   176

   177

   178

/* A macro to initialize the data in client app.*/

   179

/* CO_Data structure */

   180

#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\

   181

	/* Object dictionary*/\

   182

	& NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\

   183

	NODE_PREFIX ## _objdict,             /* objdict  */\

   184

	NODE_PREFIX ## _PDO_status,          /* PDO_status */\

   185

	& NODE_PREFIX ## _firstIndex,        /* firstIndex */\

   186

	& NODE_PREFIX ## _lastIndex,         /* lastIndex */\

   187

	& NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\

   188

	& NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\

   189

	NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\

   190

	\

   191

	/* SDO, structure s_transfer */\

   192

	{\

   193

          REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\

   194

	},\

   195

	\

   196

	/* State machine*/\

   197

	Unknown_state,      /* nodeState */\

   198

	/* structure s_state_communication */\

   199

	{\

   200

		0,          /* csBoot_Up */\

   201

		0,          /* csSDO */\

   202

		0,          /* csEmergency */\

   203

		0,          /* csSYNC */\

   204

		0,          /* csHeartbeat */\

   205

		0           /* csPDO */\

   206

	},\

   207

	_initialisation,     /* initialisation */\

   208

	_preOperational,     /* preOperational */\

   209

	_operational,        /* operational */\

   210

	_stopped,            /* stopped */\

   211

	\

   212

	/* NMT-heartbeat */\

   213

	& NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\

   214

	NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\

   215

	NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\

   216

	& NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\

   217

	TIMER_NONE,                                /* ProducerHeartBeatTimer */\

   218

	_heartbeatError,           /* heartbeatError */\

   219

	\

   220

	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\

   221

                                                   /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\

   222

	\

   223

	/* SYNC */\

   224

	TIMER_NONE,                                /* syncTimer */\

   225

	& NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\

   226

	& NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\

   227

	/*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\

   228

	_post_sync,                 /* post_sync */\

   229

	_post_TPDO,                 /* post_TPDO */\

   230

	_post_SlaveBootup,			/* post_SlaveBootup */\

   231

	\

   232

	/* General */\

   233

	0,                                         /* toggle */\

   234

	NULL,                   /* canSend */\

   235

	NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\

   236

	_storeODSubIndex,                /* storeODSubIndex */\

   237

    /* DCF concise */\

   238

    NULL,       /*dcf_odentry*/\

   239

	NULL,		/*dcf_cursor*/\

   240

	1,		/*dcf_entries_count*/\

   241

	0,		/* dcf_request*/\

   242

	\

   243

	/* EMCY */\

   244

	Error_free,                      /* error_state */\

   245

	sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\

   246

	& NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\

   247

	& NODE_PREFIX ## _obj1003[0],    /* error_first_element */\

   248

	& NODE_PREFIX ## _obj1001,       /* error_register */\

   249

    & NODE_PREFIX ## _obj1014,       /* error_cobid */\

   250

	/* error_data: structure s_errors */\

   251

	{\

   252

	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\

   253

	},\

   254

	_post_emcy,              /* post_emcy */\

   255

	/* LSS */\

   256

	lss_Initializer\

   257

}

   258

   259

#ifdef __cplusplus

   260

};

   261

#endif

   262

   263

#endif /* __data_h__ */

   264

   265