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 information for 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

    99

	/* General */

   100

	UNS8 toggle;

   101

	CAN_PORT canHandle;	

   102

	scanIndexOD_t scanIndexOD;

   103

	storeODSubIndex_t storeODSubIndex; 

   104

   105

	/* DCF concise */

   106

    const indextable* dcf_odentry;

   107

	UNS8* dcf_cursor;

   108

	UNS32 dcf_entries_count;

   109

	UNS8 dcf_request;

   110

   111

	/* EMCY */

   112

	e_errorState error_state;

   113

	UNS8 error_history_size;

   114

	UNS8* error_number;

   115

	UNS32* error_first_element;

   116

	UNS8* error_register;

   117

    UNS32* error_cobid;

   118

	s_errors error_data[EMCY_MAX_ERRORS];

   119

	post_emcy_t post_emcy;

   120

   121

#ifdef CO_ENABLE_LSS

   122

	/* LSS */

   123

	lss_transfer_t lss_transfer;

   124

	lss_StoreConfiguration_t lss_StoreConfiguration;

   125

#endif	

   126

};

   127

   128

#define NMTable_Initializer Unknown_state,

   129

   130

#define s_transfer_Initializer {\

   131

		0,          /* nodeId */\

   132

		0,          /* wohami */\

   133

		SDO_RESET,  /* state */\

   134

		0,          /* toggle */\

   135

		0,          /* abortCode */\

   136

		0,          /* index */\

   137

		0,          /* subIndex */\

   138

		0,          /* count */\

   139

		0,          /* offset */\

   140

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

   141

		0,          /* dataType */\

   142

		-1,         /* timer */\

   143

		NULL        /* Callback */\

   144

	  },

   145

   146

#define ERROR_DATA_INITIALIZER \

   147

	{\

   148

	0, /* errCode */\

   149

	0, /* errRegMask */\

   150

	0 /* active */\

   151

	},

   152

   153

#ifdef CO_ENABLE_LSS

   154

   155

#ifdef CO_ENABLE_LSS_FS	

   156

#define lss_fs_Initializer \

   157

		,0,						/* IDNumber */\

   158

  		128, 					/* BitChecked */\

   159

  		0,						/* LSSSub */\

   160

  		0, 						/* LSSNext */\

   161

  		0, 						/* LSSPos */\

   162

  		LSS_FS_RESET,			/* FastScan_SM */\

   163

  		-1,						/* timerFS */\

   164

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

   165

#else

   166

#define lss_fs_Initializer

   167

#endif		

   168

   169

#define lss_Initializer {\

   170

		LSS_RESET,  			/* state */\

   171

		0,						/* command */\

   172

		LSS_WAITING_MODE, 		/* mode */\

   173

		0,						/* dat1 */\

   174

		0,						/* dat2 */\

   175

		0,          			/* NodeID */\

   176

		0,          			/* addr_sel_match */\

   177

		0,          			/* addr_ident_match */\

   178

		"none",         		/* BaudRate */\

   179

		0,          			/* SwitchDelay */\

   180

		SDELAY_OFF,   			/* SwitchDelayState */\

   181

		NULL,					/* canHandle_t */\

   182

		-1,						/* TimerMSG */\

   183

		-1,          			/* TimerSDELAY */\

   184

		NULL,        			/* Callback */\

   185

		0						/* LSSanswer */\

   186

		lss_fs_Initializer		/*FastScan service initialization */\

   187

	  },\

   188

	  NULL 	/* _lss_StoreConfiguration*/

   189

#else

   190

#define lss_Initializer

   191

#endif

   192

   193

   194

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

   195

/* CO_Data structure */

   196

#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\

   197

	/* Object dictionary*/\

   198

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

   199

	NODE_PREFIX ## _objdict,             /* objdict  */\

   200

	NODE_PREFIX ## _PDO_status,          /* PDO_status */\

   201

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

   202

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

   203

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

   204

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

   205

	NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\

   206

	\

   207

	/* SDO, structure s_transfer */\

   208

	{\

   209

          REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\

   210

	},\

   211

	\

   212

	/* State machine*/\

   213

	Unknown_state,      /* nodeState */\

   214

	/* structure s_state_communication */\

   215

	{\

   216

		0,          /* csBoot_Up */\

   217

		0,          /* csSDO */\

   218

		0,          /* csEmergency */\

   219

		0,          /* csSYNC */\

   220

		0,          /* csHeartbeat */\

   221

		0,           /* csPDO */\

   222

		0           /* csLSS */\

   223

	},\

   224

	_initialisation,     /* initialisation */\

   225

	_preOperational,     /* preOperational */\

   226

	_operational,        /* operational */\

   227

	_stopped,            /* stopped */\

   228

	NULL,                /* NMT node reset callback */\

   229

	NULL,                /* NMT communications reset callback */\

   230

	\

   231

	/* NMT-heartbeat */\

   232

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

   233

	NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\

   234

	NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\

   235

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

   236

	TIMER_NONE,                                /* ProducerHeartBeatTimer */\

   237

	_heartbeatError,           /* heartbeatError */\

   238

	\

   239

	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\

   240

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

   241

	\

   242

	/* SYNC */\

   243

	TIMER_NONE,                                /* syncTimer */\

   244

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

   245

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

   246

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

   247

	_post_sync,                 /* post_sync */\

   248

	_post_TPDO,                 /* post_TPDO */\

   249

	_post_SlaveBootup,			/* post_SlaveBootup */\

   250

	\

   251

	/* General */\

   252

	0,                                         /* toggle */\

   253

	NULL,                   /* canSend */\

   254

	NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\

   255

	_storeODSubIndex,                /* storeODSubIndex */\

   256

    /* DCF concise */\

   257

    NULL,       /*dcf_odentry*/\

   258

	NULL,		/*dcf_cursor*/\

   259

	1,		/*dcf_entries_count*/\

   260

	0,		/* dcf_request*/\

   261

	\

   262

	/* EMCY */\

   263

	Error_free,                      /* error_state */\

   264

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

   265

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

   266

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

   267

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

   268

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

   269

	/* error_data: structure s_errors */\

   270

	{\

   271

	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\

   272

	},\

   273

	_post_emcy,              /* post_emcy */\

   274

	/* LSS */\

   275

	lss_Initializer\

   276

}

   277

   278

#ifdef __cplusplus

   279

};

   280

#endif

   281

   282

#endif /* __data_h__ */

   283

   284