include/data.h
author greg
Fri, 09 May 2008 09:47:56 +0200
changeset 463 f7455fef585f
parent 405 487b37176423
child 475 4b63ea646964
permissions -rw-r--r--
add rt_task_join for receive task and timerloop task
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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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	quick_index *firstIndex;
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	quick_index *lastIndex;
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	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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	/* 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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	  },\
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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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	& 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)\
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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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	\
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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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	/* 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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	\
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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_request*/\
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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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