canfestival: include/data.h@7802a7d5584f (annotated)

0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1	/*
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	2	This file is part of CanFestival, a library implementing CanOpen Stack.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	3
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	5
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	6	See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	7
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	8	This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	9	modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	10	License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	11	version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	12
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	13	This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	16	Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	17
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	18	You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	19	License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	21	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	22
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	23	#ifndef __data_h__
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	24	#define __data_h__
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	25
251 cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	26	#ifdef __cplusplus
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	27	extern "C" {
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	28	#endif
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	29
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	30	/* declaration of CO_Data type let us include all necessary headers
95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	31	struct struct_CO_Data can then be defined later
95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	32	*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	33	typedef struct struct_CO_Data CO_Data;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	34
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 91 diff changeset	35	#include "applicfg.h"
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	36	#include "def.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	37	#include "can.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	38	#include "objdictdef.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	39	#include "objacces.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	40	#include "sdo.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	41	#include "pdo.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	42	#include "states.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	43	#include "lifegrd.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	44	#include "sync.h"
383 7d8afedb8769 Fixed missing includes causing warnings etisserant parents: 381 diff changeset	45	#include "nmtSlave.h"
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	46	#include "nmtMaster.h"
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	47	#include "emcy.h"
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	48	#ifdef CO_ENABLE_LSS
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	49	#include "lss.h"
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	50	#endif
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	51
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	52	/* This structurs contains all necessary information for a CanOpen node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	53	struct struct_CO_Data {
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	54	/* Object dictionary */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	55	UNS8 *bDeviceNodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	56	const indextable *objdict;
235 f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO etisserant parents: 204 diff changeset	57	s_PDO_status *PDO_status;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	58	quick_index *firstIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	59	quick_index *lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	60	UNS16 *ObjdictSize;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	61	const UNS8 *iam_a_slave;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	62	valueRangeTest_t valueRangeTest;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	63
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	64	/* SDO */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	65	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	66	/* s_sdo_parameter sdo_parameters; /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	67
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	68	/* State machine */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	69	e_nodeState nodeState;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	70	s_state_communication CurrentCommunicationState;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	71	initialisation_t initialisation;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	72	preOperational_t preOperational;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	73	operational_t operational;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	74	stopped_t stopped;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	75
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	76	/* NMT-heartbeat */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	77	UNS8 *ConsumerHeartbeatCount;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	78	UNS32 *ConsumerHeartbeatEntries;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	79	TIMER_HANDLE *ConsumerHeartBeatTimers;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	80	UNS16 *ProducerHeartBeatTime;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	81	TIMER_HANDLE ProducerHeartBeatTimer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	82	heartbeatError_t heartbeatError;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	83	e_nodeState NMTable[NMT_MAX_NODE_ID];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	84
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	85	/* SYNC */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	86	TIMER_HANDLE syncTimer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	87	UNS32 *COB_ID_Sync;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	88	UNS32 *Sync_Cycle_Period;
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	89	/UNS32 Sync_window_length;;*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	90	post_sync_t post_sync;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	91	post_TPDO_t post_TPDO;
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	92	post_SlaveBootup_t post_SlaveBootup;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	93
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	94	/* General */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	95	UNS8 toggle;
149 fe50ada8020b Changes in the API: etisserant parents: 145 diff changeset	96	CAN_HANDLE canHandle;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	97	scanIndexOD_t scanIndexOD;
161 c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 149 diff changeset	98	storeODSubIndex_t storeODSubIndex;
178 01d81faa3350 Add concise DCF support greg parents: 172 diff changeset	99
01d81faa3350 Add concise DCF support greg parents: 172 diff changeset	100	/* DCF concise */
322 78615d6a8ddd One more compilation warning fixed. etisserant parents: 320 diff changeset	101	const indextable* dcf_odentry;
204 44ce74232ccb Some fixes for visual studio C compiler compatiblity. etisserant parents: 178 diff changeset	102	UNS8* dcf_cursor;
320 f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF. etisserant parents: 314 diff changeset	103	UNS32 dcf_entries_count;
349 1e6dd4ef46b9 fixed the DCF-LSS conflict groke6 parents: 343 diff changeset	104	UNS8 dcf_request;
178 01d81faa3350 Add concise DCF support greg parents: 172 diff changeset	105
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	106	/* EMCY */
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	107	e_errorState error_state;
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	108	UNS8 error_history_size;
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	109	UNS8* error_number;
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	110	UNS32* error_first_element;
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	111	UNS8* error_register;
314 68e83c3ffbb5 Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301. etisserant parents: 284 diff changeset	112	UNS32* error_cobid;
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	113	s_errors error_data[EMCY_MAX_ERRORS];
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	114	post_emcy_t post_emcy;
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	115
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	116	#ifdef CO_ENABLE_LSS
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	117	/* LSS */
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	118	lss_transfer_t lss_transfer;
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	119	lss_StoreConfiguration_t lss_StoreConfiguration;
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	120	#endif
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	121	};
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	122
91 ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	123	#define NMTable_Initializer Unknown_state,
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	124
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	125	#define s_transfer_Initializer {\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	126	0, /* nodeId */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	127	0, /* wohami */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	128	SDO_RESET, /* state */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	129	0, /* toggle */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	130	0, /* abortCode */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	131	0, /* index */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	132	0, /* subIndex */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	133	0, /* count */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	134	0, /* offset */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	135	{0}, /* data (static use, so that all the table is initialize at 0)*/\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	136	0, /* dataType */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	137	-1, /* timer */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	138	NULL /* Callback */\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	139	},
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	140
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	141	#define ERROR_DATA_INITIALIZER \
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	142	{\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	143	0, /* errCode */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	144	0, /* errRegMask */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	145	0 /* active */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	146	},
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	147
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	148	#ifdef CO_ENABLE_LSS
381 854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	149
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	150	#ifdef CO_ENABLE_LSS_FS
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	151	#define lss_fs_Initializer \
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	152	,0, /* IDNumber */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	153	128, /* BitChecked */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	154	0, /* LSSSub */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	155	0, /* LSSNext */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	156	0, /* LSSPos */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	157	LSS_FS_RESET, /* FastScan_SM */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	158	-1 /* timerFS */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	159	#else
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	160	#define lss_fs_Initializer
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	161	#endif
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	162
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	163	#define lss_Initializer {\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	164	LSS_RESET, /* state */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	165	0, /* command */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	166	LSS_WAITING_MODE, /* mode */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	167	0, /* dat1 */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	168	0, /* dat2 */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	169	0, /* NodeID */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	170	0, /* addr_sel_match */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	171	0, /* addr_ident_match */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	172	"none", /* BaudRate */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	173	0, /* SwitchDelay */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	174	SDELAY_OFF, /* SwitchDelayState */\
381 854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	175	NULL, /* canHandle_t */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	176	-1, /* TimerMSG */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	177	-1, /* TimerSDELAY */\
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	178	NULL, /* Callback */\
381 854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	179	0 /* LSSanswer */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	180	lss_fs_Initializer /FastScan service initialization /\
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	181	},\
384 83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 383 diff changeset	182	NULL /* _lss_StoreConfiguration*/
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	183	#else
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	184	#define lss_Initializer
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	185	#endif
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	186
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	187
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	188	/* A macro to initialize the data in client app.*/
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	189	/* CO_Data structure */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	190	#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	191	/* Object dictionary*/\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	192	& NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	193	NODE_PREFIX ## _objdict, /* objdict */\
235 f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO etisserant parents: 204 diff changeset	194	NODE_PREFIX ## _PDO_status, /* PDO_status */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	195	& NODE_PREFIX ## _firstIndex, /* firstIndex */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	196	& NODE_PREFIX ## _lastIndex, /* lastIndex */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	197	& NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	198	& NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	199	NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	200	\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	201	/* SDO, structure s_transfer */\
91 ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	202	{\
ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	203	REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	204	},\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	205	\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	206	/* State machine*/\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	207	Unknown_state, /* nodeState */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	208	/* structure s_state_communication */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	209	{\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	210	0, /* csBoot_Up */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	211	0, /* csSDO */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	212	0, /* csEmergency */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	213	0, /* csSYNC */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	214	0, /* csHeartbeat */\
381 854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	215	0, /* csPDO */\
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised. groke6 parents: 361 diff changeset	216	0 /* csLSS */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	217	},\
167 b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	218	_initialisation, /* initialisation */\
b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	219	_preOperational, /* preOperational */\
b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	220	_operational, /* operational */\
b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	221	_stopped, /* stopped */\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	222	\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	223	/* NMT-heartbeat */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	224	& NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	225	NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	226	NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	227	& NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	228	TIMER_NONE, /* ProducerHeartBeatTimer */\
167 b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	229	_heartbeatError, /* heartbeatError */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	230	\
91 ed2612282988 - Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer. etisserant parents: 78 diff changeset	231	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	232	/* is well initialized at "Unknown_state". Is it ok ? (FD)*/\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	233	\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	234	/* SYNC */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	235	TIMER_NONE, /* syncTimer */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	236	& NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	237	& NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\
ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	238	/& NODE_PREFIX ## _obj1007, / /* Sync_window_length */\
167 b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	239	_post_sync, /* post_sync */\
b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	240	_post_TPDO, /* post_TPDO */\
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	241	_post_SlaveBootup, /* post_SlaveBootup */\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	242	\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	243	/* General */\
78 ac05410cc1b8 compilers compatibility frdupin parents: 71 diff changeset	244	0, /* toggle */\
167 b2f8b91d89b5 Removed compilation warnings with some GCC. etisserant parents: 161 diff changeset	245	NULL, /* canSend */\
161 c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 149 diff changeset	246	NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\
178 01d81faa3350 Add concise DCF support greg parents: 172 diff changeset	247	_storeODSubIndex, /* storeODSubIndex */\
320 f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF. etisserant parents: 314 diff changeset	248	/* DCF concise */\
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF. etisserant parents: 314 diff changeset	249	NULL, /dcf_odentry/\
178 01d81faa3350 Add concise DCF support greg parents: 172 diff changeset	250	NULL, /dcf_cursor/\
320 f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF. etisserant parents: 314 diff changeset	251	1, /dcf_entries_count/\
349 1e6dd4ef46b9 fixed the DCF-LSS conflict groke6 parents: 343 diff changeset	252	0, /* dcf_request*/\
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	253	\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	254	/* EMCY */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	255	Error_free, /* error_state */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	256	sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	257	& NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	258	& NODE_PREFIX ## _obj1003[0], /* error_first_element */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	259	& NODE_PREFIX ## _obj1001, /* error_register */\
314 68e83c3ffbb5 Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301. etisserant parents: 284 diff changeset	260	& NODE_PREFIX ## _obj1014, /* error_cobid */\
284 24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	261	/* error_data: structure s_errors */\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	262	{\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	263	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
24bf3d692993 Implemented EMCY objects. luis parents: 251 diff changeset	264	},\
343 118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	265	_post_emcy, /* post_emcy */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	266	/* LSS */\
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa. etisserant parents: 322 diff changeset	267	lss_Initializer\
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	268	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	269
251 cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	270	#ifdef __cplusplus
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	271	};
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	272	#endif
cab66ef3e68e Some fixes for C++ etisserant parents: 235 diff changeset	273
71 95cd3376cc9f compilator compatitibility frdupin parents: 32 diff changeset	274	#endif /* __data_h__ */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	276

author	etisserant
	Tue, 12 Feb 2008 09:44:55 +0100
changeset 391	7802a7d5584f
parent 384	83793fc7ce48
child 405	487b37176423
permissions	-rw-r--r--