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<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/include/data.h Source File</title>
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<li><a href="annotated.html"><span>Data Structures</span></a></li>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/include/data.h</h1><a href="data_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022
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<a name="l00023"></a>00023
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<a name="l00024"></a>00024 <span class="preprocessor">#ifndef __data_h__</span>
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<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#define __data_h__</span>
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<a name="l00026"></a>00026 <span class="preprocessor"></span>
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<a name="l00027"></a>00027 <span class="comment">/* declaration of CO_Data type let us include all necessary headers</span>
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<a name="l00028"></a>00028 <span class="comment"> struct struct_CO_Data can then be defined later</span>
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<a name="l00029"></a>00029 <span class="comment"> */</span>
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<a name="l00030"></a><a class="code" href="data_8h.html#b5cf1318d7813273cd91a7af56f62142">00030</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structstruct__CO__Data.html">struct_CO_Data</a> <a class="code" href="data_8h.html#b5cf1318d7813273cd91a7af56f62142">CO_Data</a>;
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<a name="l00031"></a>00031
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<a name="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>"</span>
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<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="def_8h.html">def.h</a>"</span>
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<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can_8h.html">can.h</a>"</span>
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<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="objdictdef_8h.html">objdictdef.h</a>"</span>
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<a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="objacces_8h.html">objacces.h</a>"</span>
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<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="sdo_8h.html">sdo.h</a>"</span>
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<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="pdo_8h.html">pdo.h</a>"</span>
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<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="states_8h.html">states.h</a>"</span>
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<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="lifegrd_8h.html">lifegrd.h</a>"</span>
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<a name="l00041"></a>00041 <span class="preprocessor">#include "<a class="code" href="sync_8h.html">sync.h</a>"</span>
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<a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span>
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<a name="l00043"></a>00043
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<a name="l00044"></a>00044 <span class="comment">/* This structurs contains all necessary information for a CanOpen node */</span>
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<a name="l00045"></a><a class="code" href="structstruct__CO__Data.html">00045</a> <span class="keyword">struct </span><a class="code" href="structstruct__CO__Data.html">struct_CO_Data</a> {
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<a name="l00046"></a>00046 <span class="comment">/* Object dictionary */</span>
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<a name="l00047"></a><a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">00047</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a>;
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<a name="l00048"></a><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">00048</a> <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> *<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>;
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68 |
<a name="l00049"></a><a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">00049</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">count_sync</a>;
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<a name="l00050"></a><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">00050</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>;
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<a name="l00051"></a><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">00051</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>;
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<a name="l00052"></a><a class="code" href="structstruct__CO__Data.html#6c3f14328d7662f0adc1da9964327a2e">00052</a> <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#6c3f14328d7662f0adc1da9964327a2e">ObjdictSize</a>;
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<a name="l00053"></a><a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">00053</a> <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">iam_a_slave</a>;
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73 |
<a name="l00054"></a><a class="code" href="structstruct__CO__Data.html#a8e71f9e9e67d0a594bad7dbbe99a35a">00054</a> <a class="code" href="objacces_8h.html#270e94e9acf61da8b2f36b3ebdbf2fdd">valueRangeTest_t</a> <a class="code" href="structstruct__CO__Data.html#a8e71f9e9e67d0a594bad7dbbe99a35a">valueRangeTest</a>;
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<a name="l00055"></a>00055
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<a name="l00056"></a>00056 <span class="comment">/* SDO */</span>
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76 |
<a name="l00057"></a><a class="code" href="structstruct__CO__Data.html#a7fda2c6f5815323c3d79efb4641c465">00057</a> <a class="code" href="structstruct__s__transfer.html">s_transfer</a> <a class="code" href="structstruct__CO__Data.html#a7fda2c6f5815323c3d79efb4641c465">transfers</a>[<a class="code" href="config_8h.html#b410d06e4fefdbea0d0093a489f54786">SDO_MAX_SIMULTANEOUS_TRANSFERTS</a>];
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77 |
<a name="l00058"></a>00058 <span class="comment">/* s_sdo_parameter *sdo_parameters; */</span>
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<a name="l00059"></a>00059
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79 |
<a name="l00060"></a>00060 <span class="comment">/* State machine */</span>
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80 |
<a name="l00061"></a><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">00061</a> <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a>;
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81 |
<a name="l00062"></a><a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">00062</a> <a class="code" href="structs__state__communication.html">s_state_communication</a> <a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>;
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82 |
<a name="l00063"></a><a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">00063</a> <a class="code" href="states_8h.html#d0cd6d1eb89085da7cb9f32ce386e8bc">initialisation_t</a> <a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a>;
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83 |
<a name="l00064"></a><a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">00064</a> <a class="code" href="states_8h.html#f4a6da4fe018afbe20eaf716c248e02a">preOperational_t</a> <a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a>;
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84 |
<a name="l00065"></a><a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">00065</a> <a class="code" href="states_8h.html#8aed99e590473f26db47a9c2dc5b73fc">operational_t</a> <a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a>;
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85 |
<a name="l00066"></a><a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">00066</a> <a class="code" href="states_8h.html#c99397ce6341b6b5128104aee4c27ec5">stopped_t</a> <a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a>;
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86 |
<a name="l00067"></a>00067
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87 |
<a name="l00068"></a>00068 <span class="comment">/* NMT-heartbeat */</span>
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88 |
<a name="l00069"></a><a class="code" href="structstruct__CO__Data.html#51a0927cdf730eca5661d2d1a26b9e43">00069</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#51a0927cdf730eca5661d2d1a26b9e43">ConsumerHeartbeatCount</a>;
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89 |
<a name="l00070"></a><a class="code" href="structstruct__CO__Data.html#928052654c25135aab556909845fa8ea">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#928052654c25135aab556909845fa8ea">ConsumerHeartbeatEntries</a>;
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90 |
<a name="l00071"></a><a class="code" href="structstruct__CO__Data.html#e0b1fd1bec517c2bc12c5a4fd72adca6">00071</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> *<a class="code" href="structstruct__CO__Data.html#e0b1fd1bec517c2bc12c5a4fd72adca6">ConsumerHeartBeatTimers</a>;
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91 |
<a name="l00072"></a><a class="code" href="structstruct__CO__Data.html#61d5500b982867b523baf6668a2c377d">00072</a> <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#61d5500b982867b523baf6668a2c377d">ProducerHeartBeatTime</a>;
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92 |
<a name="l00073"></a><a class="code" href="structstruct__CO__Data.html#914dd3ff14e15217fe67c0804200a200">00073</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#914dd3ff14e15217fe67c0804200a200">ProducerHeartBeatTimer</a>;
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93 |
<a name="l00074"></a><a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">00074</a> <a class="code" href="lifegrd_8h.html#eca3959d33fceb33487363a0493d3b7d">heartbeatError_t</a> <a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a>;
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94 |
<a name="l00075"></a><a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">00075</a> <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[<a class="code" href="config_8h.html#89f774dfdb67cc1f78c7e7d457a16fdc">NMT_MAX_NODE_ID</a>];
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95 |
<a name="l00076"></a>00076
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96 |
<a name="l00077"></a>00077 <span class="comment">/* SYNC */</span>
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97 |
<a name="l00078"></a><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">00078</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a>;
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98 |
<a name="l00079"></a><a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">00079</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">COB_ID_Sync</a>;
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99 |
<a name="l00080"></a><a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">00080</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">Sync_Cycle_Period</a>;
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100 |
<a name="l00081"></a>00081 <span class="comment">/*UNS32 *Sync_window_length;;*/</span>
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101 |
<a name="l00082"></a><a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">00082</a> <a class="code" href="sync_8h.html#8a0b5b8c19b375ef1c985caa120f3274">post_sync_t</a> <a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a>;
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102 |
<a name="l00083"></a><a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">00083</a> <a class="code" href="sync_8h.html#b9bc4632750ad12f918aa22a1eb7756b">post_TPDO_t</a> <a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a>;
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103 |
<a name="l00084"></a>00084
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104 |
<a name="l00085"></a>00085 <span class="comment">/* PDO */</span>
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105 |
<a name="l00086"></a><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">00086</a> <a class="code" href="structstruct__s__process__var.html">s_process_var</a> <a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>;
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106 |
<a name="l00087"></a>00087
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107 |
<a name="l00088"></a>00088 <span class="comment">/* General */</span>
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108 |
<a name="l00089"></a><a class="code" href="structstruct__CO__Data.html#01f012ef56b614a9519530433b01054f">00089</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__CO__Data.html#01f012ef56b614a9519530433b01054f">toggle</a>;
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109 |
<a name="l00090"></a><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">00090</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>;
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110 |
<a name="l00091"></a><a class="code" href="structstruct__CO__Data.html#1863bd74fef91ec89b4c1ff0bee2dfbf">00091</a> <a class="code" href="objdictdef_8h.html#a844575e4d9c9870137121bf0fb241fb">scanIndexOD_t</a> <a class="code" href="structstruct__CO__Data.html#1863bd74fef91ec89b4c1ff0bee2dfbf">scanIndexOD</a>;
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111 |
<a name="l00092"></a><a class="code" href="structstruct__CO__Data.html#d6cd6ffa658b1ed35d887b6bacb990cf">00092</a> <a class="code" href="objacces_8h.html#7b55b55a3f5ed8e4b2991cb85c7be7ce">storeODSubIndex_t</a> <a class="code" href="structstruct__CO__Data.html#d6cd6ffa658b1ed35d887b6bacb990cf">storeODSubIndex</a>;
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112 |
<a name="l00093"></a>00093
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|
|
113 |
<a name="l00094"></a>00094 <span class="comment">/* DCF concise */</span>
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|
|
114 |
<a name="l00095"></a><a class="code" href="structstruct__CO__Data.html#de0a65bcf0cb16fd4dafe4d866655aab">00095</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* <a class="code" href="structstruct__CO__Data.html#de0a65bcf0cb16fd4dafe4d866655aab">dcf_cursor</a>;
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115 |
<a name="l00096"></a><a class="code" href="structstruct__CO__Data.html#0a588710c53092b75cfe284ca7d9ccff">00096</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="structstruct__CO__Data.html#0a588710c53092b75cfe284ca7d9ccff">dcf_count_targets</a>;
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116 |
<a name="l00097"></a>00097
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117 |
<a name="l00098"></a>00098 };
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118 |
<a name="l00099"></a>00099
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119 |
<a name="l00100"></a>00100 <span class="preprocessor">#define NMTable_Initializer Unknown_state,</span>
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|
120 |
<a name="l00101"></a>00101 <span class="preprocessor"></span>
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121 |
<a name="l00102"></a>00102 <span class="preprocessor">#define s_transfer_Initializer {\</span>
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|
122 |
<a name="l00103"></a>00103 <span class="preprocessor"> 0, </span><span class="comment">/* nodeId */</span>\
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|
|
123 |
<a name="l00104"></a>00104 0, <span class="comment">/* wohami */</span>\
|
|
|
124 |
<a name="l00105"></a>00105 SDO_RESET, <span class="comment">/* state */</span>\
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|
|
125 |
<a name="l00106"></a>00106 0, <span class="comment">/* toggle */</span>\
|
|
|
126 |
<a name="l00107"></a>00107 0, <span class="comment">/* abortCode */</span>\
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|
|
127 |
<a name="l00108"></a>00108 0, <span class="comment">/* index */</span>\
|
|
|
128 |
<a name="l00109"></a>00109 0, <span class="comment">/* subIndex */</span>\
|
|
|
129 |
<a name="l00110"></a>00110 0, <span class="comment">/* count */</span>\
|
|
|
130 |
<a name="l00111"></a>00111 0, <span class="comment">/* offset */</span>\
|
|
|
131 |
<a name="l00112"></a>00112 {0}, <span class="comment">/* data (static use, so that all the table is initialize at 0)*/</span>\
|
|
|
132 |
<a name="l00113"></a>00113 0, <span class="comment">/* dataType */</span>\
|
|
|
133 |
<a name="l00114"></a>00114 -1, <span class="comment">/* timer */</span>\
|
|
|
134 |
<a name="l00115"></a>00115 NULL <span class="comment">/* Callback */</span>\
|
|
|
135 |
<a name="l00116"></a>00116 },
|
|
|
136 |
<a name="l00117"></a>00117
|
|
|
137 |
<a name="l00118"></a>00118 <span class="comment">/* A macro to initialize the data in client app.*/</span>
|
|
|
138 |
<a name="l00119"></a>00119 <span class="comment">/* CO_Data structure */</span>
|
|
|
139 |
<a name="l00120"></a>00120 <span class="preprocessor">#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\</span>
|
|
|
140 |
<a name="l00121"></a>00121 <span class="preprocessor"> </span><span class="comment">/* Object dictionary*/</span>\
|
|
|
141 |
<a name="l00122"></a>00122 & NODE_PREFIX ## _bDeviceNodeId, <span class="comment">/* bDeviceNodeId */</span>\
|
|
|
142 |
<a name="l00123"></a>00123 NODE_PREFIX ## _objdict, <span class="comment">/* objdict */</span>\
|
|
|
143 |
<a name="l00124"></a>00124 NODE_PREFIX ## _count_sync, <span class="comment">/* count_sync */</span>\
|
|
|
144 |
<a name="l00125"></a>00125 & NODE_PREFIX ## _firstIndex, <span class="comment">/* firstIndex */</span>\
|
|
|
145 |
<a name="l00126"></a>00126 & NODE_PREFIX ## _lastIndex, <span class="comment">/* lastIndex */</span>\
|
|
|
146 |
<a name="l00127"></a>00127 & NODE_PREFIX ## _ObjdictSize, <span class="comment">/* ObjdictSize */</span>\
|
|
|
147 |
<a name="l00128"></a>00128 & NODE_PREFIX ## _iam_a_slave, <span class="comment">/* iam_a_slave */</span>\
|
|
|
148 |
<a name="l00129"></a>00129 NODE_PREFIX ## _valueRangeTest, <span class="comment">/* valueRangeTest */</span>\
|
|
|
149 |
<a name="l00130"></a>00130 \
|
|
|
150 |
<a name="l00131"></a>00131 <span class="comment">/* SDO, structure s_transfer */</span>\
|
|
|
151 |
<a name="l00132"></a>00132 {\
|
|
|
152 |
<a name="l00133"></a>00133 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
|
|
|
153 |
<a name="l00134"></a>00134 },\
|
|
|
154 |
<a name="l00135"></a>00135 \
|
|
|
155 |
<a name="l00136"></a>00136 <span class="comment">/* State machine*/</span>\
|
|
|
156 |
<a name="l00137"></a>00137 Unknown_state, <span class="comment">/* nodeState */</span>\
|
|
|
157 |
<a name="l00138"></a>00138 <span class="comment">/* structure s_state_communication */</span>\
|
|
|
158 |
<a name="l00139"></a>00139 {\
|
|
|
159 |
<a name="l00140"></a>00140 0, <span class="comment">/* csBoot_Up */</span>\
|
|
|
160 |
<a name="l00141"></a>00141 0, <span class="comment">/* csSDO */</span>\
|
|
|
161 |
<a name="l00142"></a>00142 0, <span class="comment">/* csEmergency */</span>\
|
|
|
162 |
<a name="l00143"></a>00143 0, <span class="comment">/* csSYNC */</span>\
|
|
|
163 |
<a name="l00144"></a>00144 0, <span class="comment">/* csHeartbeat */</span>\
|
|
|
164 |
<a name="l00145"></a>00145 0 <span class="comment">/* csPDO */</span>\
|
|
|
165 |
<a name="l00146"></a>00146 },\
|
|
|
166 |
<a name="l00147"></a>00147 _initialisation, <span class="comment">/* initialisation */</span>\
|
|
|
167 |
<a name="l00148"></a>00148 _preOperational, <span class="comment">/* preOperational */</span>\
|
|
|
168 |
<a name="l00149"></a>00149 _operational, <span class="comment">/* operational */</span>\
|
|
|
169 |
<a name="l00150"></a>00150 _stopped, <span class="comment">/* stopped */</span>\
|
|
|
170 |
<a name="l00151"></a>00151 \
|
|
|
171 |
<a name="l00152"></a>00152 <span class="comment">/* NMT-heartbeat */</span>\
|
|
|
172 |
<a name="l00153"></a>00153 & NODE_PREFIX ## _highestSubIndex_obj1016, <span class="comment">/* ConsumerHeartbeatCount */</span>\
|
|
|
173 |
<a name="l00154"></a>00154 NODE_PREFIX ## _obj1016, <span class="comment">/* ConsumerHeartbeatEntries */</span>\
|
|
|
174 |
<a name="l00155"></a>00155 NODE_PREFIX ## _heartBeatTimers, <span class="comment">/* ConsumerHeartBeatTimers */</span>\
|
|
|
175 |
<a name="l00156"></a>00156 & NODE_PREFIX ## _obj1017, <span class="comment">/* ProducerHeartBeatTime */</span>\
|
|
|
176 |
<a name="l00157"></a>00157 TIMER_NONE, <span class="comment">/* ProducerHeartBeatTimer */</span>\
|
|
|
177 |
<a name="l00158"></a>00158 _heartbeatError, <span class="comment">/* heartbeatError */</span>\
|
|
|
178 |
<a name="l00159"></a>00159 \
|
|
|
179 |
<a name="l00160"></a>00160 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
|
|
|
180 |
<a name="l00161"></a>00161 <span class="comment">/* is well initialized at "Unknown_state". Is it ok ? (FD)*/</span>\
|
|
|
181 |
<a name="l00162"></a>00162 \
|
|
|
182 |
<a name="l00163"></a>00163 <span class="comment">/* SYNC */</span>\
|
|
|
183 |
<a name="l00164"></a>00164 TIMER_NONE, <span class="comment">/* syncTimer */</span>\
|
|
|
184 |
<a name="l00165"></a>00165 & NODE_PREFIX ## _obj1005, <span class="comment">/* COB_ID_Sync */</span>\
|
|
|
185 |
<a name="l00166"></a>00166 & NODE_PREFIX ## _obj1006, <span class="comment">/* Sync_Cycle_Period */</span>\
|
|
|
186 |
<a name="l00167"></a>00167 <span class="comment">/*& NODE_PREFIX ## _obj1007, */</span> <span class="comment">/* Sync_window_length */</span>\
|
|
|
187 |
<a name="l00168"></a>00168 _post_sync, <span class="comment">/* post_sync */</span>\
|
|
|
188 |
<a name="l00169"></a>00169 _post_TPDO, <span class="comment">/* post_TPDO */</span>\
|
|
|
189 |
<a name="l00170"></a>00170 \
|
|
|
190 |
<a name="l00171"></a>00171 <span class="comment">/* PDO, structure s_process_var */</span>\
|
|
|
191 |
<a name="l00172"></a>00172 {\
|
|
|
192 |
<a name="l00173"></a>00173 0, <span class="comment">/* count */</span>\
|
|
|
193 |
<a name="l00174"></a>00174 {0} <span class="comment">/* data (static use, so that all the table is initialize at 0)*/</span>\
|
|
|
194 |
<a name="l00175"></a>00175 },\
|
|
|
195 |
<a name="l00176"></a>00176 \
|
|
|
196 |
<a name="l00177"></a>00177 <span class="comment">/* General */</span>\
|
|
|
197 |
<a name="l00178"></a>00178 0, <span class="comment">/* toggle */</span>\
|
|
|
198 |
<a name="l00179"></a>00179 NULL, <span class="comment">/* canSend */</span>\
|
|
|
199 |
<a name="l00180"></a>00180 NODE_PREFIX ## _scanIndexOD, <span class="comment">/* scanIndexOD */</span>\
|
|
|
200 |
<a name="l00181"></a>00181 _storeODSubIndex, <span class="comment">/* storeODSubIndex */</span>\
|
|
|
201 |
<a name="l00182"></a>00182 NULL, <span class="comment">/*dcf_cursor*/</span>\
|
|
|
202 |
<a name="l00183"></a>00183 1 <span class="comment">/*dcf_count_targets*/</span>\
|
|
|
203 |
<a name="l00184"></a>00184 }
|
|
|
204 |
<a name="l00185"></a>00185
|
|
|
205 |
<a name="l00186"></a>00186 <span class="preprocessor">#endif </span><span class="comment">/* __data_h__ */</span>
|
|
|
206 |
<a name="l00187"></a>00187
|
|
|
207 |
<a name="l00188"></a>00188
|
|
|
208 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by
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209 |
<a href="http://www.doxygen.org/index.html">
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|
210 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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|
211 |
</body>
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212 |
</html>
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