--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/data.h	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,164 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+
+#ifndef __data_h__
+#define __data_h__
+
+// declaration of CO_Data type let us include all necessary headers
+// struct struct_CO_Data can then be defined later
+typedef struct struct_CO_Data CO_Data;
+
+#include <applicfg.h>
+#include "def.h"
+#include "can.h"
+#include "objdictdef.h"
+#include "objacces.h"
+#include "sdo.h"
+#include "pdo.h"
+#include "states.h"
+#include "lifegrd.h"
+#include "sync.h"
+#include "nmtMaster.h"
+
+// This structurs contains all necessary information for a CanOpen node
+struct struct_CO_Data {
+	// Object dictionary
+	UNS8 *bDeviceNodeId;
+	const indextable *objdict;
+	UNS8 *count_sync;
+	quick_index *firstIndex;
+	quick_index *lastIndex;
+	UNS16 *ObjdictSize;
+	const UNS8 *iam_a_slave;
+	valueRangeTest_t valueRangeTest;
+	
+	// SDO
+	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
+	SDOtimeoutError_t SDOtimeoutError;
+	//s_sdo_parameter *sdo_parameters;
+
+	// State machine
+	e_nodeState nodeState;
+	s_state_communication CurrentCommunicationState;
+	initialisation_t initialisation;
+	preOperational_t preOperational;
+	operational_t operational;
+	stopped_t stopped;
+
+	// NMT-heartbeat
+	UNS8 *ConsumerHeartbeatCount;
+	UNS32 *ConsumerHeartbeatEntries;
+	TIMER_HANDLE *ConsumerHeartBeatTimers;
+	UNS16 *ProducerHeartBeatTime;
+	TIMER_HANDLE ProducerHeartBeatTimer;
+	heartbeatError_t heartbeatError;
+	e_nodeState NMTable[NMT_MAX_NODE_ID]; 
+
+	// SYNC
+	TIMER_HANDLE syncTimer;
+	UNS32 *COB_ID_Sync;
+	UNS32 *Sync_Cycle_Period;
+	/*UNS32 *Sync_window_length*/;
+	post_sync_t post_sync;
+	post_TPDO_t post_TPDO;
+	
+	// PDO
+	s_process_var process_var;
+	
+	// General
+	UNS8 toggle;
+	canSend_t canSend;	
+	scanIndexOD_t scanIndexOD;
+};
+
+// A macro to initialize the data in client app.
+#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
+	/* Object dictionary*/\
+	bDeviceNodeId:& NODE_PREFIX ## _bDeviceNodeId,\
+	objdict: NODE_PREFIX ## _objdict,\
+	count_sync: NODE_PREFIX ## _count_sync,\
+	firstIndex: & NODE_PREFIX ## _firstIndex,\
+	lastIndex: & NODE_PREFIX ## _lastIndex,\
+	ObjdictSize: & NODE_PREFIX ## _ObjdictSize,\
+	iam_a_slave: & NODE_PREFIX ## _iam_a_slave,\
+	valueRangeTest: NODE_PREFIX ## _valueRangeTest,\
+	\
+	/* SDO */\
+	transfers:{{\
+		nodeId: 0,\
+		index: 0,\
+		subIndex: 0,\
+		state: SDO_RESET,\
+		toggle: 0,\
+		count: 0,\
+		offset: 0,\
+		data: {0,},\
+		dataType: 0,\
+		timer: -1},},\
+	SDOtimeoutError: &NODE_PREFIX ## _SDOtimeoutError,\
+	\
+	/* State machine */\
+	nodeState:Unknown_state,\
+	CurrentCommunicationState:{\
+		csBoot_Up: 0,\
+		csSDO: 0,\
+		csEmergency: 0,\
+		csSYNC: 0,\
+		csHeartbeat: 0,\
+		csPDO: 0},\
+	initialisation: &NODE_PREFIX ## _initialisation,\
+	preOperational: &NODE_PREFIX ## _preOperational,\
+	operational: &NODE_PREFIX ## _operational,\
+	stopped: &NODE_PREFIX ## _stopped,\
+	\
+	/* NMT-heartbeat */\
+	ConsumerHeartbeatCount: & NODE_PREFIX ## _highestSubIndex_obj1016,\
+	ConsumerHeartbeatEntries: NODE_PREFIX ## _obj1016,\
+	ConsumerHeartBeatTimers: NODE_PREFIX ## _heartBeatTimers,\
+	ProducerHeartBeatTime: & NODE_PREFIX ## _obj1017,\
+	ProducerHeartBeatTimer: TIMER_NONE,\
+	heartbeatError: NODE_PREFIX ## _heartbeatError,\
+	NMTable:{Unknown_state,},\
+	\
+	/* SYNC */\
+	syncTimer: TIMER_NONE,\
+	COB_ID_Sync: & NODE_PREFIX ## _obj1005,\
+	Sync_Cycle_Period: & NODE_PREFIX ## _obj1006,\
+	/*Sync_window_length: & NODE_PREFIX ## _obj1007,*/\
+	post_sync: NODE_PREFIX ## _post_sync,\
+	post_TPDO: NODE_PREFIX ## _post_TPDO,\
+	\
+	/* PDO */\
+	process_var: {\
+		count: 0,\
+		data: {0,}},\
+	\
+	/* General */\
+	toggle: 0,\
+	canSend: NODE_PREFIX ## _canSend,\
+	scanIndexOD: NODE_PREFIX ## _scanIndexOD\
+}
+
+#endif // __data_h__
+
+