/*
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__
#ifdef __cplusplus
extern "C" {
#endif
/* 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 "nmtSlave.h"
#include "nmtMaster.h"
#include "emcy.h"
#ifdef CO_ENABLE_LSS
#include "lss.h"
#endif
/**
* @ingroup od
* @brief This structure contains all necessary informations to define a CANOpen node
*/
struct struct_CO_Data {
/* Object dictionary */
UNS8 *bDeviceNodeId;
const indextable *objdict;
s_PDO_status *PDO_status;
TIMER_HANDLE *RxPDO_EventTimers;
void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32);
const quick_index *firstIndex;
const quick_index *lastIndex;
const UNS16 *ObjdictSize;
const UNS8 *iam_a_slave;
valueRangeTest_t valueRangeTest;
/* SDO */
s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERS];
/* 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;
void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
/* NMT-heartbeat */
UNS8 *ConsumerHeartbeatCount;
UNS32 *ConsumerHeartbeatEntries;
TIMER_HANDLE *ConsumerHeartBeatTimers;
UNS16 *ProducerHeartBeatTime;
TIMER_HANDLE ProducerHeartBeatTimer;
heartbeatError_t heartbeatError;
e_nodeState NMTable[NMT_MAX_NODE_ID];
/* NMT-nodeguarding */
TIMER_HANDLE GuardTimeTimer;
TIMER_HANDLE LifeTimeTimer;
nodeguardError_t nodeguardError;
UNS16 *GuardTime;
UNS8 *LifeTimeFactor;
UNS8 nodeGuardStatus[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;
post_SlaveBootup_t post_SlaveBootup;
post_SlaveStateChange_t post_SlaveStateChange;
/* General */
UNS8 toggle;
CAN_PORT canHandle;
scanIndexOD_t scanIndexOD;
storeODSubIndex_t storeODSubIndex;
/* DCF concise */
const indextable* dcf_odentry;
UNS8* dcf_cursor;
UNS32 dcf_entries_count;
UNS8 dcf_status;
UNS32 dcf_size;
UNS8* dcf_data;
/* EMCY */
e_errorState error_state;
UNS8 error_history_size;
UNS8* error_number;
UNS32* error_first_element;
UNS8* error_register;
UNS32* error_cobid;
s_errors error_data[EMCY_MAX_ERRORS];
post_emcy_t post_emcy;
#ifdef CO_ENABLE_LSS
/* LSS */
lss_transfer_t lss_transfer;
lss_StoreConfiguration_t lss_StoreConfiguration;
#endif
};
#define NMTable_Initializer Unknown_state,
#define nodeGuardStatus_Initializer 0x00,
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
#define s_transfer_Initializer {\
0, /* CliServ{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},Nbr */\
0, /* wohami */\
SDO_RESET, /* state */\
0, /* toggle */\
0, /* abortCode */\
0, /* index */\
0, /* subIndex */\
0, /* count */\
0, /* offset */\
{0}, /* data (static use, so that all the table is initialize at 0)*/\
NULL, /* dynamicData */ \
0, /* dynamicDataSize */ \
0, /* peerCRCsupport */\
0, /* blksize */\
0, /* ackseq */\
0, /* objsize */\
0, /* lastblockoffset */\
0, /* seqno */\
0, /* endfield */\
RXSTEP_INIT,/* rxstep */\
{0}, /* tmpData */\
0, /* dataType */\
-1, /* timer */\
NULL /* Callback */\
},
#else
#define s_transfer_Initializer {\
0, /* nodeId */\
0, /* wohami */\
SDO_RESET, /* state */\
0, /* toggle */\
0, /* abortCode */\
0, /* index */\
0, /* subIndex */\
0, /* count */\
0, /* offset */\
{0}, /* data (static use, so that all the table is initialize at 0)*/\
0, /* peerCRCsupport */\
0, /* blksize */\
0, /* ackseq */\
0, /* objsize */\
0, /* lastblockoffset */\
0, /* seqno */\
0, /* endfield */\
RXSTEP_INIT,/* rxstep */\
{0}, /* tmpData */\
0, /* */\
-1, /* */\
NULL /* */\
},
#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
#define ERROR_DATA_INITIALIZER \
{\
0, /* errCode */\
0, /* errRegMask */\
0 /* active */\
},
#ifdef CO_ENABLE_LSS
#ifdef CO_ENABLE_LSS_FS
#define lss_fs_Initializer \
,0, /* IDNumber */\
128, /* BitChecked */\
0, /* LSSSub */\
0, /* LSSNext */\
0, /* LSSPos */\
LSS_FS_RESET, /* FastScan_SM */\
-1, /* timerFS */\
{{0,0,0,0},{0,0,0,0}} /* lss_fs_transfer */
#else
#define lss_fs_Initializer
#endif
#define lss_Initializer {\
LSS_RESET, /* state */\
0, /* command */\
LSS_WAITING_MODE, /* mode */\
0, /* dat1 */\
0, /* dat2 */\
0, /* NodeID */\
0, /* addr_sel_match */\
0, /* addr_ident_match */\
"none", /* BaudRate */\
0, /* SwitchDelay */\
SDELAY_OFF, /* SwitchDelayState */\
NULL, /* canHandle_t */\
-1, /* TimerMSG */\
-1, /* TimerSDELAY */\
NULL, /* Callback */\
0 /* LSSanswer */\
lss_fs_Initializer /*FastScan service initialization */\
},\
NULL /* _lss_StoreConfiguration*/
#else
#define lss_Initializer
#endif
/* A macro to initialize the data in client app.*/
/* CO_Data structure */
#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
/* Object dictionary*/\
& NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\
NODE_PREFIX ## _objdict, /* objdict */\
NODE_PREFIX ## _PDO_status, /* PDO_status */\
NULL, /* RxPDO_EventTimers */\
_RxPDO_EventTimers_Handler, /* RxPDO_EventTimers_Handler */\
& NODE_PREFIX ## _firstIndex, /* firstIndex */\
& NODE_PREFIX ## _lastIndex, /* lastIndex */\
& NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\
& NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\
NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\
\
/* SDO, structure s_transfer */\
{\
REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERS_TIMES(s_transfer_Initializer)\
},\
\
/* State machine*/\
Unknown_state, /* nodeState */\
/* structure s_state_communication */\
{\
0, /* csBoot_Up */\
0, /* csSDO */\
0, /* csEmergency */\
0, /* csSYNC */\
0, /* csHeartbeat */\
0, /* csPDO */\
0 /* csLSS */\
},\
_initialisation, /* initialisation */\
_preOperational, /* preOperational */\
_operational, /* operational */\
_stopped, /* stopped */\
NULL, /* NMT node reset callback */\
NULL, /* NMT communications reset callback */\
\
/* NMT-heartbeat */\
& NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\
NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\
& NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\
TIMER_NONE, /* ProducerHeartBeatTimer */\
_heartbeatError, /* heartbeatError */\
\
{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
/* is well initialized at "Unknown_state". Is it ok ? (FD)*/\
\
/* NMT-nodeguarding */\
TIMER_NONE, /* GuardTimeTimer */\
TIMER_NONE, /* LifeTimeTimer */\
_nodeguardError, /* nodeguardError */\
& NODE_PREFIX ## _obj100C, /* GuardTime */\
& NODE_PREFIX ## _obj100D, /* LifeTimeFactor */\
{REPEAT_NMT_MAX_NODE_ID_TIMES(nodeGuardStatus_Initializer)},\
\
/* SYNC */\
TIMER_NONE, /* syncTimer */\
& NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\
& NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\
/*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\
_post_sync, /* post_sync */\
_post_TPDO, /* post_TPDO */\
_post_SlaveBootup, /* post_SlaveBootup */\
_post_SlaveStateChange, /* post_SlaveStateChange */\
\
/* General */\
0, /* toggle */\
NULL, /* canSend */\
NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\
_storeODSubIndex, /* storeODSubIndex */\
/* DCF concise */\
NULL, /*dcf_odentry*/\
NULL, /*dcf_cursor*/\
1, /*dcf_entries_count*/\
0, /* dcf_status*/\
0, /* dcf_size */\
NULL, /* dcf_data */\
\
/* EMCY */\
Error_free, /* error_state */\
sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\
& NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\
& NODE_PREFIX ## _obj1003[0], /* error_first_element */\
& NODE_PREFIX ## _obj1001, /* error_register */\
& NODE_PREFIX ## _obj1014, /* error_cobid */\
/* error_data: structure s_errors */\
{\
REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
},\
_post_emcy, /* post_emcy */\
/* LSS */\
lss_Initializer\
}
#ifdef __cplusplus
};
#endif
#endif /* __data_h__ */