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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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#ifdef __cplusplus

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extern "C" {

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#endif

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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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 */

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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 "nmtSlave.h"

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#include "nmtMaster.h"

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#include "emcy.h"

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#ifdef CO_ENABLE_LSS

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#include "lss.h"

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#endif

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/**

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 * @ingroup od

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 * @brief This structure contains all necessary informations to define a CANOpen node 

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 */

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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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	s_PDO_status *PDO_status;

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	TIMER_HANDLE *RxPDO_EventTimers;

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	void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32);

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	const quick_index *firstIndex;

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	const quick_index *lastIndex;

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	const 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_TRANSFERS];

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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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     void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);

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     void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);

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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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	/* NMT-nodeguarding */

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	TIMER_HANDLE GuardTimeTimer;

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	TIMER_HANDLE LifeTimeTimer;

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	nodeguardError_t nodeguardError;

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	UNS16 *GuardTime;

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	UNS8 *LifeTimeFactor;

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	UNS8 nodeGuardStatus[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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	post_SlaveBootup_t post_SlaveBootup;

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    post_SlaveStateChange_t post_SlaveStateChange;

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	/* General */

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	UNS8 toggle;

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	CAN_PORT canHandle;	

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	scanIndexOD_t scanIndexOD;

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	storeODSubIndex_t storeODSubIndex; 

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	/* DCF concise */

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    const indextable* dcf_odentry;

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	UNS8* dcf_cursor;

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	UNS32 dcf_entries_count;

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	UNS8 dcf_status;

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    UNS32 dcf_size;

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    UNS8* dcf_data;

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	/* EMCY */

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	e_errorState error_state;

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	UNS8 error_history_size;

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	UNS8* error_number;

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	UNS32* error_first_element;

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	UNS8* error_register;

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    UNS32* error_cobid;

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	s_errors error_data[EMCY_MAX_ERRORS];

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	post_emcy_t post_emcy;

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#ifdef CO_ENABLE_LSS

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	/* LSS */

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	lss_transfer_t lss_transfer;

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	lss_StoreConfiguration_t lss_StoreConfiguration;

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#endif	

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};

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#define NMTable_Initializer Unknown_state,

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#define nodeGuardStatus_Initializer 0x00,

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#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION

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#define s_transfer_Initializer {\

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		0,          /* CliServ{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},Nbr */\

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		0,          /* wohami */\

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		SDO_RESET,  /* state */\

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		0,          /* toggle */\

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		0,          /* abortCode */\

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		0,          /* index */\

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		0,          /* subIndex */\

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		0,          /* count */\

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		0,          /* offset */\

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

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    NULL,       /* dynamicData */ \

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    0,          /* dynamicDataSize */ \

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		0,          /* peerCRCsupport */\

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		0,          /* blksize */\

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		0,          /* ackseq */\

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		0,          /* objsize */\

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		0,          /* lastblockoffset */\

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		0,          /* seqno */\

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		0,          /* endfield */\

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		RXSTEP_INIT,/* rxstep */\

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		{0},        /* tmpData */\

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		0,          /* dataType */\

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		-1,         /* timer */\

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		NULL        /* Callback */\

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	  },

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#else

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#define s_transfer_Initializer {\

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		0,          /* nodeId */\

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		0,          /* wohami */\

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		SDO_RESET,  /* state */\

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		0,          /* toggle */\

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		0,          /* abortCode */\

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		0,          /* index */\

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		0,          /* subIndex */\

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		0,          /* count */\

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		0,          /* offset */\

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

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		0,          /* peerCRCsupport */\

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		0,          /* blksize */\

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		0,          /* ackseq */\

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		0,          /* objsize */\

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		0,          /* lastblockoffset */\

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		0,          /* seqno */\

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		0,          /* endfield */\

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		RXSTEP_INIT,/* rxstep */\

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		{0},        /* tmpData */\

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		0,          /*  */\

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		-1,         /*  */\

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		NULL        /*  */\

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	  },

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#endif //SDO_DYNAMIC_BUFFER_ALLOCATION

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#define ERROR_DATA_INITIALIZER \

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	{\

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	0, /* errCode */\

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	0, /* errRegMask */\

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	0 /* active */\

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	},

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#ifdef CO_ENABLE_LSS

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#ifdef CO_ENABLE_LSS_FS	

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#define lss_fs_Initializer \

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		,0,						/* IDNumber */\

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  		128, 					/* BitChecked */\

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  		0,						/* LSSSub */\

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  		0, 						/* LSSNext */\

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  		0, 						/* LSSPos */\

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  		LSS_FS_RESET,			/* FastScan_SM */\

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  		-1,						/* timerFS */\

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  		{{0,0,0,0},{0,0,0,0}}   /* lss_fs_transfer */

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#else

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#define lss_fs_Initializer

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#endif		

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#define lss_Initializer {\

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		LSS_RESET,  			/* state */\

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		0,						/* command */\

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		LSS_WAITING_MODE, 		/* mode */\

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		0,						/* dat1 */\

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		0,						/* dat2 */\

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		0,          			/* NodeID */\

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		0,          			/* addr_sel_match */\

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		0,          			/* addr_ident_match */\

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		"none",         		/* BaudRate */\

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		0,          			/* SwitchDelay */\

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		SDELAY_OFF,   			/* SwitchDelayState */\

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		NULL,					/* canHandle_t */\

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		-1,						/* TimerMSG */\

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		-1,          			/* TimerSDELAY */\

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		NULL,        			/* Callback */\

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		0						/* LSSanswer */\

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		lss_fs_Initializer		/*FastScan service initialization */\

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	  },\

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	  NULL 	/* _lss_StoreConfiguration*/

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#else

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#define lss_Initializer

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#endif

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

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/* CO_Data structure */

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#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\

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	/* Object dictionary*/\

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

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	NODE_PREFIX ## _objdict,             /* objdict  */\

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	NODE_PREFIX ## _PDO_status,          /* PDO_status */\

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	NULL,                                /* RxPDO_EventTimers */\

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	_RxPDO_EventTimers_Handler,          /* RxPDO_EventTimers_Handler */\

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

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

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

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

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	NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\

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	\

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	/* SDO, structure s_transfer */\

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	{\

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          REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERS_TIMES(s_transfer_Initializer)\

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	},\

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	\

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	/* State machine*/\

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	Unknown_state,      /* nodeState */\

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	/* structure s_state_communication */\

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	{\

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		0,          /* csBoot_Up */\

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		0,          /* csSDO */\

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		0,          /* csEmergency */\

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		0,          /* csSYNC */\

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		0,          /* csHeartbeat */\

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		0,           /* csPDO */\

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		0           /* csLSS */\

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	},\

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	_initialisation,     /* initialisation */\

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	_preOperational,     /* preOperational */\

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	_operational,        /* operational */\

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	_stopped,            /* stopped */\

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	NULL,                /* NMT node reset callback */\

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	NULL,                /* NMT communications reset callback */\

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	\

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	/* NMT-heartbeat */\

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

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	NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\

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	NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\

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

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	TIMER_NONE,                                /* ProducerHeartBeatTimer */\

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	_heartbeatError,           /* heartbeatError */\

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	\

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	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\

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

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	\

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	/* NMT-nodeguarding */\

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	TIMER_NONE,                                /* GuardTimeTimer */\

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	TIMER_NONE,                                /* LifeTimeTimer */\

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	_nodeguardError,           /* nodeguardError */\

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	& NODE_PREFIX ## _obj100C,                 /* GuardTime */\

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	& NODE_PREFIX ## _obj100D,                 /* LifeTimeFactor */\

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	{REPEAT_NMT_MAX_NODE_ID_TIMES(nodeGuardStatus_Initializer)},\

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	\

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	/* SYNC */\

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	TIMER_NONE,                                /* syncTimer */\

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

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

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

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	_post_sync,                 /* post_sync */\

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	_post_TPDO,                 /* post_TPDO */\

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	_post_SlaveBootup,			/* post_SlaveBootup */\

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  _post_SlaveStateChange,			/* post_SlaveStateChange */\

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	\

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	/* General */\

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	0,                                         /* toggle */\

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	NULL,                   /* canSend */\

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	NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\

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	_storeODSubIndex,                /* storeODSubIndex */\

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    /* DCF concise */\

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    NULL,       /*dcf_odentry*/\

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	NULL,		/*dcf_cursor*/\

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	1,		/*dcf_entries_count*/\

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	0,		/* dcf_status*/\

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    0,      /* dcf_size */\

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    NULL,   /* dcf_data */\

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	\

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	/* EMCY */\

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	Error_free,                      /* error_state */\

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

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

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

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

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

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	/* error_data: structure s_errors */\

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	{\

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	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\

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	},\

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	_post_emcy,              /* post_emcy */\

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	/* LSS */\

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	lss_Initializer\

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}

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#ifdef __cplusplus

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};

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#endif

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#endif /* __data_h__ */

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