1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

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

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

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

    12

    13

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

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

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

    19

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

    20

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

    21

*/

    22

    23

#ifndef __data_h__

    24

#define __data_h__

    25

    26

#ifdef __cplusplus

    27

extern "C" {

    28

#endif

    29

    30

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

    31

 struct struct_CO_Data can then be defined later

    32

 */

    33

typedef struct struct_CO_Data CO_Data;

    34

    35

#include "applicfg.h"

    36

#include "def.h"

    37

#include "can.h"

    38

#include "objdictdef.h"

    39

#include "objacces.h"

    40

#include "sdo.h"

    41

#include "pdo.h"

    42

#include "states.h"

    43

#include "lifegrd.h"

    44

#include "sync.h"

    45

#include "nmtSlave.h"

    46

#include "nmtMaster.h"

    47

#include "emcy.h"

    48

#ifdef CO_ENABLE_LSS

    49

#include "lss.h"

    50

#endif

    51

    52

/**

    53

 * @ingroup od

    54

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

    55

 */

    56

struct struct_CO_Data {

    57

	/* Object dictionary */

    58

	UNS8 *bDeviceNodeId;

    59

	const indextable *objdict;

    60

	s_PDO_status *PDO_status;

    61

	const quick_index *firstIndex;

    62

	const quick_index *lastIndex;

    63

	const UNS16 *ObjdictSize;

    64

	const UNS8 *iam_a_slave;

    65

	valueRangeTest_t valueRangeTest;

    66

    67

	/* SDO */

    68

	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];

    69

	/* s_sdo_parameter *sdo_parameters; */

    70

    71

	/* State machine */

    72

	e_nodeState nodeState;

    73

	s_state_communication CurrentCommunicationState;

    74

	initialisation_t initialisation;

    75

	preOperational_t preOperational;

    76

	operational_t operational;

    77

	stopped_t stopped;

    78

     void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);

    79

     void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);

    80

    81

	/* NMT-heartbeat */

    82

	UNS8 *ConsumerHeartbeatCount;

    83

	UNS32 *ConsumerHeartbeatEntries;

    84

	TIMER_HANDLE *ConsumerHeartBeatTimers;

    85

	UNS16 *ProducerHeartBeatTime;

    86

	TIMER_HANDLE ProducerHeartBeatTimer;

    87

	heartbeatError_t heartbeatError;

    88

	e_nodeState NMTable[NMT_MAX_NODE_ID]; 

    89

    90

	/* SYNC */

    91

	TIMER_HANDLE syncTimer;

    92

	UNS32 *COB_ID_Sync;

    93

	UNS32 *Sync_Cycle_Period;

    94

	/*UNS32 *Sync_window_length;;*/

    95

	post_sync_t post_sync;

    96

	post_TPDO_t post_TPDO;

    97

	post_SlaveBootup_t post_SlaveBootup;

    98

    post_SlaveStateChange_t post_SlaveStateChange;

    99

   100

	/* General */

   101

	UNS8 toggle;

   102

	CAN_PORT canHandle;	

   103

	scanIndexOD_t scanIndexOD;

   104

	storeODSubIndex_t storeODSubIndex; 

   105

   106

	/* DCF concise */

   107

    const indextable* dcf_odentry;

   108

	UNS8* dcf_cursor;

   109

	UNS32 dcf_entries_count;

   110

	UNS8 dcf_request;

   111

   112

	/* EMCY */

   113

	e_errorState error_state;

   114

	UNS8 error_history_size;

   115

	UNS8* error_number;

   116

	UNS32* error_first_element;

   117

	UNS8* error_register;

   118

    UNS32* error_cobid;

   119

	s_errors error_data[EMCY_MAX_ERRORS];

   120

	post_emcy_t post_emcy;

   121

   122

#ifdef CO_ENABLE_LSS

   123

	/* LSS */

   124

	lss_transfer_t lss_transfer;

   125

	lss_StoreConfiguration_t lss_StoreConfiguration;

   126

#endif	

   127

};

   128

   129

#define NMTable_Initializer Unknown_state,

   130

   131

#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION

   132

#define s_transfer_Initializer {\

   133

		0,          /* CliServNbr */\

   134

		0,          /* wohami */\

   135

		SDO_RESET,  /* state */\

   136

		0,          /* toggle */\

   137

		0,          /* abortCode */\

   138

		0,          /* index */\

   139

		0,          /* subIndex */\

   140

		0,          /* count */\

   141

		0,          /* offset */\

   142

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

   143

    NULL,       /* dynamicData */ \

   144

    0,          /* dynamicDataSize */ \

   145

		0,          /* peerCRCsupport */\

   146

		0,          /* blksize */\

   147

		0,          /* ackseq */\

   148

		0,          /* objsize */\

   149

		0,          /* lastblockoffset */\

   150

		0,          /* seqno */\

   151

		0,          /* endfield */\

   152

		RXSTEP_INIT,/* rxstep */\

   153

		{0},        /* tmpData */\

   154

		0,          /* dataType */\

   155

		-1,         /* timer */\

   156

		NULL        /* Callback */\

   157

	  },

   158

#else

   159

#define s_transfer_Initializer {\

   160

		0,          /* nodeId */\

   161

		0,          /* wohami */\

   162

		SDO_RESET,  /* state */\

   163

		0,          /* toggle */\

   164

		0,          /* abortCode */\

   165

		0,          /* index */\

   166

		0,          /* subIndex */\

   167

		0,          /* count */\

   168

		0,          /* offset */\

   169

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

   170

		0,          /* peerCRCsupport */\

   171

		0,          /* blksize */\

   172

		0,          /* ackseq */\

   173

		0,          /* objsize */\

   174

		0,          /* lastblockoffset */\

   175

		0,          /* seqno */\

   176

		0,          /* endfield */\

   177

		RXSTEP_INIT,/* rxstep */\

   178

		{0},        /* tmpData */\

   179

		0,          /*  */\

   180

		-1,         /*  */\

   181

		NULL        /*  */\

   182

	  },

   183

#endif //SDO_DYNAMIC_BUFFER_ALLOCATION

   184

   185

#define ERROR_DATA_INITIALIZER \

   186

	{\

   187

	0, /* errCode */\

   188

	0, /* errRegMask */\

   189

	0 /* active */\

   190

	},

   191

   192

#ifdef CO_ENABLE_LSS

   193

   194

#ifdef CO_ENABLE_LSS_FS	

   195

#define lss_fs_Initializer \

   196

		,0,						/* IDNumber */\

   197

  		128, 					/* BitChecked */\

   198

  		0,						/* LSSSub */\

   199

  		0, 						/* LSSNext */\

   200

  		0, 						/* LSSPos */\

   201

  		LSS_FS_RESET,			/* FastScan_SM */\

   202

  		-1,						/* timerFS */\

   203

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

   204

#else

   205

#define lss_fs_Initializer

   206

#endif		

   207

   208

#define lss_Initializer {\

   209

		LSS_RESET,  			/* state */\

   210

		0,						/* command */\

   211

		LSS_WAITING_MODE, 		/* mode */\

   212

		0,						/* dat1 */\

   213

		0,						/* dat2 */\

   214

		0,          			/* NodeID */\

   215

		0,          			/* addr_sel_match */\

   216

		0,          			/* addr_ident_match */\

   217

		"none",         		/* BaudRate */\

   218

		0,          			/* SwitchDelay */\

   219

		SDELAY_OFF,   			/* SwitchDelayState */\

   220

		NULL,					/* canHandle_t */\

   221

		-1,						/* TimerMSG */\

   222

		-1,          			/* TimerSDELAY */\

   223

		NULL,        			/* Callback */\

   224

		0						/* LSSanswer */\

   225

		lss_fs_Initializer		/*FastScan service initialization */\

   226

	  },\

   227

	  NULL 	/* _lss_StoreConfiguration*/

   228

#else

   229

#define lss_Initializer

   230

#endif

   231

   232

   233

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

   234

/* CO_Data structure */

   235

#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\

   236

	/* Object dictionary*/\

   237

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

   238

	NODE_PREFIX ## _objdict,             /* objdict  */\

   239

	NODE_PREFIX ## _PDO_status,          /* PDO_status */\

   240

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

   241

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

   242

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

   243

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

   244

	NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\

   245

	\

   246

	/* SDO, structure s_transfer */\

   247

	{\

   248

          REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\

   249

	},\

   250

	\

   251

	/* State machine*/\

   252

	Unknown_state,      /* nodeState */\

   253

	/* structure s_state_communication */\

   254

	{\

   255

		0,          /* csBoot_Up */\

   256

		0,          /* csSDO */\

   257

		0,          /* csEmergency */\

   258

		0,          /* csSYNC */\

   259

		0,          /* csHeartbeat */\

   260

		0,           /* csPDO */\

   261

		0           /* csLSS */\

   262

	},\

   263

	_initialisation,     /* initialisation */\

   264

	_preOperational,     /* preOperational */\

   265

	_operational,        /* operational */\

   266

	_stopped,            /* stopped */\

   267

	NULL,                /* NMT node reset callback */\

   268

	NULL,                /* NMT communications reset callback */\

   269

	\

   270

	/* NMT-heartbeat */\

   271

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

   272

	NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\

   273

	NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\

   274

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

   275

	TIMER_NONE,                                /* ProducerHeartBeatTimer */\

   276

	_heartbeatError,           /* heartbeatError */\

   277

	\

   278

	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\

   279

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

   280

	\

   281

	/* SYNC */\

   282

	TIMER_NONE,                                /* syncTimer */\

   283

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

   284

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

   285

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

   286

	_post_sync,                 /* post_sync */\

   287

	_post_TPDO,                 /* post_TPDO */\

   288

	_post_SlaveBootup,			/* post_SlaveBootup */\

   289

  _post_SlaveStateChange,			/* post_SlaveStateChange */\

   290

	\

   291

	/* General */\

   292

	0,                                         /* toggle */\

   293

	NULL,                   /* canSend */\

   294

	NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\

   295

	_storeODSubIndex,                /* storeODSubIndex */\

   296

    /* DCF concise */\

   297

    NULL,       /*dcf_odentry*/\

   298

	NULL,		/*dcf_cursor*/\

   299

	1,		/*dcf_entries_count*/\

   300

	0,		/* dcf_request*/\

   301

	\

   302

	/* EMCY */\

   303

	Error_free,                      /* error_state */\

   304

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

   305

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

   306

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

   307

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

   308

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

   309

	/* error_data: structure s_errors */\

   310

	{\

   311

	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\

   312

	},\

   313

	_post_emcy,              /* post_emcy */\

   314

	/* LSS */\

   315

	lss_Initializer\

   316

}

   317

   318

#ifdef __cplusplus

   319

};

   320

#endif

   321

   322

#endif /* __data_h__ */

   323

   324