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/*

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

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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

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

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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

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

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

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*/

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#ifndef __data_h__

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#define __data_h__

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

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// struct struct_CO_Data can then be defined later

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typedef struct struct_CO_Data CO_Data;

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#include <applicfg.h>

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#include "def.h"

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#include "can.h"

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#include "objdictdef.h"

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#include "objacces.h"

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#include "sdo.h"

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#include "pdo.h"

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#include "states.h"

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#include "lifegrd.h"

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#include "sync.h"

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#include "nmtMaster.h"

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

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struct struct_CO_Data {

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	// Object dictionary

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	UNS8 *bDeviceNodeId;

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	const indextable *objdict;

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	UNS8 *count_sync;

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	quick_index *firstIndex;

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	quick_index *lastIndex;

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	UNS16 *ObjdictSize;

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	const UNS8 *iam_a_slave;

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	valueRangeTest_t valueRangeTest;

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	// SDO

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	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];

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	SDOtimeoutError_t SDOtimeoutError;

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	//s_sdo_parameter *sdo_parameters;

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	// State machine

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	e_nodeState nodeState;

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	s_state_communication CurrentCommunicationState;

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	initialisation_t initialisation;

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	preOperational_t preOperational;

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	operational_t operational;

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	stopped_t stopped;

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	// NMT-heartbeat

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	UNS8 *ConsumerHeartbeatCount;

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	UNS32 *ConsumerHeartbeatEntries;

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	TIMER_HANDLE *ConsumerHeartBeatTimers;

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	UNS16 *ProducerHeartBeatTime;

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	TIMER_HANDLE ProducerHeartBeatTimer;

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	heartbeatError_t heartbeatError;

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	e_nodeState NMTable[NMT_MAX_NODE_ID]; 

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	// SYNC

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	TIMER_HANDLE syncTimer;

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	UNS32 *COB_ID_Sync;

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	UNS32 *Sync_Cycle_Period;

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	/*UNS32 *Sync_window_length*/;

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	post_sync_t post_sync;

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	post_TPDO_t post_TPDO;

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	// PDO

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	s_process_var process_var;

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	// General

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	UNS8 toggle;

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	canSend_t canSend;	

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	scanIndexOD_t scanIndexOD;

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};

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

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#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\

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	/* Object dictionary*/\

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	bDeviceNodeId:& NODE_PREFIX ## _bDeviceNodeId,\

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	objdict: NODE_PREFIX ## _objdict,\

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	count_sync: NODE_PREFIX ## _count_sync,\

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	firstIndex: & NODE_PREFIX ## _firstIndex,\

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	lastIndex: & NODE_PREFIX ## _lastIndex,\

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	ObjdictSize: & NODE_PREFIX ## _ObjdictSize,\

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	iam_a_slave: & NODE_PREFIX ## _iam_a_slave,\

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	valueRangeTest: NODE_PREFIX ## _valueRangeTest,\

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	\

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	/* SDO */\

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	transfers:{{\

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		nodeId: 0,\

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		index: 0,\

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		subIndex: 0,\

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		state: SDO_RESET,\

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		toggle: 0,\

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		count: 0,\

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		offset: 0,\

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		data: {0,},\

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		dataType: 0,\

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		timer: -1},},\

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	SDOtimeoutError: &NODE_PREFIX ## _SDOtimeoutError,\

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	\

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	/* State machine */\

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	nodeState:Unknown_state,\

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	CurrentCommunicationState:{\

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		csBoot_Up: 0,\

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		csSDO: 0,\

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		csEmergency: 0,\

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		csSYNC: 0,\

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		csHeartbeat: 0,\

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		csPDO: 0},\

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	initialisation: &NODE_PREFIX ## _initialisation,\

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	preOperational: &NODE_PREFIX ## _preOperational,\

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	operational: &NODE_PREFIX ## _operational,\

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	stopped: &NODE_PREFIX ## _stopped,\

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	\

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	/* NMT-heartbeat */\

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	ConsumerHeartbeatCount: & NODE_PREFIX ## _highestSubIndex_obj1016,\

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	ConsumerHeartbeatEntries: NODE_PREFIX ## _obj1016,\

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	ConsumerHeartBeatTimers: NODE_PREFIX ## _heartBeatTimers,\

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	ProducerHeartBeatTime: & NODE_PREFIX ## _obj1017,\

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	ProducerHeartBeatTimer: TIMER_NONE,\

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	heartbeatError: NODE_PREFIX ## _heartbeatError,\

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	NMTable:{Unknown_state,},\

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	\

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	/* SYNC */\

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	syncTimer: TIMER_NONE,\

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	COB_ID_Sync: & NODE_PREFIX ## _obj1005,\

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	Sync_Cycle_Period: & NODE_PREFIX ## _obj1006,\

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

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	post_sync: NODE_PREFIX ## _post_sync,\

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	post_TPDO: NODE_PREFIX ## _post_TPDO,\

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	\

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	/* PDO */\

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	process_var: {\

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		count: 0,\

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		data: {0,}},\

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	\

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	/* General */\

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	toggle: 0,\

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	canSend: NODE_PREFIX ## _canSend,\

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	scanIndexOD: NODE_PREFIX ## _scanIndexOD\

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}

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#endif // __data_h__

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