author | etisserant |
Fri, 25 Jul 2008 09:34:08 +0200 | |
changeset 503 | 8435a9ee54f8 |
parent 475 | 4b63ea646964 |
child 517 | 003679edc437 |
permissions | -rw-r--r-- |
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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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/* This structurs contains all necessary information for a CanOpen node */ |
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struct struct_CO_Data { |
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/* Object dictionary */ |
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UNS8 *bDeviceNodeId; |
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const indextable *objdict; |
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s_PDO_status *PDO_status; |
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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_TRANSFERTS]; |
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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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/* 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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/* 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_request; |
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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 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, /* dataType */\ |
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-1, /* timer */\ |
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NULL /* Callback */\ |
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}, |
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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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#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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},\ |
384 | 184 |
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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& 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_TRANSFERTS_TIMES(s_transfer_Initializer)\ |
78 | 206 |
},\ |
0 | 207 |
\ |
78 | 208 |
/* State machine*/\ |
209 |
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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},\ |
167 | 220 |
_initialisation, /* initialisation */\ |
221 |
_preOperational, /* preOperational */\ |
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_operational, /* operational */\ |
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_stopped, /* stopped */\ |
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475 | 224 |
NULL, /* NMT node reset callback */\ |
225 |
NULL, /* NMT communications reset callback */\ |
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0 | 226 |
\ |
227 |
/* NMT-heartbeat */\ |
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78 | 228 |
& NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\ |
229 |
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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167 | 233 |
_heartbeatError, /* heartbeatError */\ |
78 | 234 |
\ |
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{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ |
78 | 236 |
/* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ |
0 | 237 |
\ |
238 |
/* SYNC */\ |
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78 | 239 |
TIMER_NONE, /* syncTimer */\ |
240 |
& 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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167 | 243 |
_post_sync, /* post_sync */\ |
244 |
_post_TPDO, /* post_TPDO */\ |
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343 | 245 |
_post_SlaveBootup, /* post_SlaveBootup */\ |
0 | 246 |
\ |
247 |
/* General */\ |
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78 | 248 |
0, /* toggle */\ |
167 | 249 |
NULL, /* canSend */\ |
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NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\ |
178 | 251 |
_storeODSubIndex, /* storeODSubIndex */\ |
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/* DCF concise */\ |
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NULL, /*dcf_odentry*/\ |
178 | 254 |
NULL, /*dcf_cursor*/\ |
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1, /*dcf_entries_count*/\ |
349 | 256 |
0, /* dcf_request*/\ |
284 | 257 |
\ |
258 |
/* EMCY */\ |
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259 |
Error_free, /* error_state */\ |
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260 |
sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\ |
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261 |
& NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\ |
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262 |
& NODE_PREFIX ## _obj1003[0], /* error_first_element */\ |
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263 |
& NODE_PREFIX ## _obj1001, /* error_register */\ |
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& NODE_PREFIX ## _obj1014, /* error_cobid */\ |
284 | 265 |
/* error_data: structure s_errors */\ |
266 |
{\ |
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267 |
REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\ |
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268 |
},\ |
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343 | 269 |
_post_emcy, /* post_emcy */\ |
270 |
/* LSS */\ |
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271 |
lss_Initializer\ |
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0 | 272 |
} |
273 |
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251 | 274 |
#ifdef __cplusplus |
275 |
}; |
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276 |
#endif |
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277 |
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71 | 278 |
#endif /* __data_h__ */ |
0 | 279 |
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280 |