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nico@215:00001 /* nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. nico@215: 00003 nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN nico@215: 00005 nico@215: 00006 See COPYING file for copyrights details. nico@215: 00007 nico@215: 00008 This library is free software; you can redistribute it and/or nico@215: 00009 modify it under the terms of the GNU Lesser General Public nico@215: 00010 License as published by the Free Software Foundation; either nico@215: 00011 version 2.1 of the License, or (at your option) any later version. nico@215: 00012 nico@215: 00013 This library is distributed in the hope that it will be useful, nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU nico@215: 00016 Lesser General Public License for more details. nico@215: 00017 nico@215: 00018 You should have received a copy of the GNU Lesser General Public nico@215: 00019 License along with this library; if not, write to the Free Software nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA nico@215: 00021 */ nico@215: 00022 nico@215: 00023 nico@215: 00024 #ifndef __data_h__ nico@215: 00025 #define __data_h__ nico@215: 00026 nico@215: 00027 /* declaration of CO_Data type let us include all necessary headers nico@215: 00028 struct struct_CO_Data can then be defined later nico@215: 00029 */ etisserant@240: 00030 typedef struct struct_CO_Data CO_Data; nico@215: 00031 nico@215: 00032 #include "applicfg.h" nico@215: 00033 #include "def.h" nico@215: 00034 #include "can.h" nico@215: 00035 #include "objdictdef.h" nico@215: 00036 #include "objacces.h" nico@215: 00037 #include "sdo.h" nico@215: 00038 #include "pdo.h" nico@215: 00039 #include "states.h" nico@215: 00040 #include "lifegrd.h" nico@215: 00041 #include "sync.h" nico@215: 00042 #include "nmtMaster.h" nico@215: 00043 nico@215: 00044 /* This structurs contains all necessary information for a CanOpen node */ nico@215: 00045 struct struct_CO_Data { nico@215: 00046 /* Object dictionary */ etisserant@240: 00047 UNS8 *bDeviceNodeId; etisserant@240: 00048 const indextable *objdict; etisserant@240: 00049 s_PDO_status *PDO_status; etisserant@240: 00050 quick_index *firstIndex; etisserant@240: 00051 quick_index *lastIndex; etisserant@240: 00052 UNS16 *ObjdictSize; etisserant@240: 00053 const UNS8 *iam_a_slave; etisserant@240: 00054 valueRangeTest_t valueRangeTest; nico@215: 00055 nico@215: 00056 /* SDO */ etisserant@240: 00057 s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS]; nico@215: 00058 /* s_sdo_parameter *sdo_parameters; */ nico@215: 00059 nico@215: 00060 /* State machine */ etisserant@240: 00061 e_nodeState nodeState; etisserant@240: 00062 s_state_communication CurrentCommunicationState; etisserant@240: 00063 initialisation_t initialisation; etisserant@240: 00064 preOperational_t preOperational; etisserant@240: 00065 operational_t operational; etisserant@240: 00066 stopped_t stopped; nico@215: 00067 nico@215: 00068 /* NMT-heartbeat */ etisserant@240: 00069 UNS8 *ConsumerHeartbeatCount; etisserant@240: 00070 UNS32 *ConsumerHeartbeatEntries; etisserant@240: 00071 TIMER_HANDLE *ConsumerHeartBeatTimers; etisserant@240: 00072 UNS16 *ProducerHeartBeatTime; etisserant@240: 00073 TIMER_HANDLE ProducerHeartBeatTimer; etisserant@240: 00074 heartbeatError_t heartbeatError; etisserant@240: 00075 e_nodeState NMTable[NMT_MAX_NODE_ID]; nico@215: 00076 nico@215: 00077 /* SYNC */ etisserant@240: 00078 TIMER_HANDLE syncTimer; etisserant@240: 00079 UNS32 *COB_ID_Sync; etisserant@240: 00080 UNS32 *Sync_Cycle_Period; nico@215: 00081 /*UNS32 *Sync_window_length;;*/ etisserant@240: 00082 post_sync_t post_sync; etisserant@240: 00083 post_TPDO_t post_TPDO; nico@215: 00084 etisserant@240: 00085 /* General */ etisserant@240: 00086 UNS8 toggle; etisserant@240: 00087 CAN_HANDLE canHandle; etisserant@240: 00088 scanIndexOD_t scanIndexOD; etisserant@240: 00089 storeODSubIndex_t storeODSubIndex; etisserant@240: 00090 etisserant@240: 00091 /* DCF concise */ etisserant@240: 00092 UNS8* dcf_cursor; etisserant@240: 00093 UNS32 dcf_count_targets; etisserant@240: 00094 etisserant@240: 00095 }; etisserant@240: 00096 etisserant@240: 00097 #define NMTable_Initializer Unknown_state, etisserant@240: 00098 etisserant@240: 00099 #define s_transfer_Initializer {\ etisserant@240: 00100 0, /* nodeId */\ etisserant@240: 00101 0, /* wohami */\ etisserant@240: 00102 SDO_RESET, /* state */\ etisserant@240: 00103 0, /* toggle */\ etisserant@240: 00104 0, /* abortCode */\ etisserant@240: 00105 0, /* index */\ etisserant@240: 00106 0, /* subIndex */\ etisserant@240: 00107 0, /* count */\ etisserant@240: 00108 0, /* offset */\ etisserant@240: 00109 {0}, /* data (static use, so that all the table is initialize at 0)*/\ etisserant@240: 00110 0, /* dataType */\ etisserant@240: 00111 -1, /* timer */\ etisserant@240: 00112 NULL /* Callback */\ etisserant@240: 00113 }, etisserant@240: 00114 etisserant@240: 00115 /* A macro to initialize the data in client app.*/ etisserant@240: 00116 /* CO_Data structure */ etisserant@240: 00117 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\ etisserant@240: 00118 /* Object dictionary*/\ etisserant@240: 00119 & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\ etisserant@240: 00120 NODE_PREFIX ## _objdict, /* objdict */\ etisserant@240: 00121 NODE_PREFIX ## _PDO_status, /* PDO_status */\ etisserant@240: 00122 & NODE_PREFIX ## _firstIndex, /* firstIndex */\ etisserant@240: 00123 & NODE_PREFIX ## _lastIndex, /* lastIndex */\ etisserant@240: 00124 & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\ etisserant@240: 00125 & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\ etisserant@240: 00126 NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\ etisserant@240: 00127 \ etisserant@240: 00128 /* SDO, structure s_transfer */\ etisserant@240: 00129 {\ etisserant@240: 00130 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\ etisserant@240: 00131 },\ etisserant@240: 00132 \ etisserant@240: 00133 /* State machine*/\ etisserant@240: 00134 Unknown_state, /* nodeState */\ etisserant@240: 00135 /* structure s_state_communication */\ etisserant@240: 00136 {\ etisserant@240: 00137 0, /* csBoot_Up */\ etisserant@240: 00138 0, /* csSDO */\ etisserant@240: 00139 0, /* csEmergency */\ etisserant@240: 00140 0, /* csSYNC */\ etisserant@240: 00141 0, /* csHeartbeat */\ etisserant@240: 00142 0 /* csPDO */\ etisserant@240: 00143 },\ etisserant@240: 00144 _initialisation, /* initialisation */\ etisserant@240: 00145 _preOperational, /* preOperational */\ etisserant@240: 00146 _operational, /* operational */\ etisserant@240: 00147 _stopped, /* stopped */\ etisserant@240: 00148 \ etisserant@240: 00149 /* NMT-heartbeat */\ etisserant@240: 00150 & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\ etisserant@240: 00151 NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\ etisserant@240: 00152 NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\ etisserant@240: 00153 & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\ etisserant@240: 00154 TIMER_NONE, /* ProducerHeartBeatTimer */\ etisserant@240: 00155 _heartbeatError, /* heartbeatError */\ etisserant@240: 00156 \ etisserant@240: 00157 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ etisserant@240: 00158 /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ nico@215: 00159 \ etisserant@240: 00160 /* SYNC */\ etisserant@240: 00161 TIMER_NONE, /* syncTimer */\ etisserant@240: 00162 & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\ etisserant@240: 00163 & NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\ etisserant@240: 00164 /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\ etisserant@240: 00165 _post_sync, /* post_sync */\ etisserant@240: 00166 _post_TPDO, /* post_TPDO */\ etisserant@240: 00167 \ etisserant@240: 00168 /* General */\ etisserant@240: 00169 0, /* toggle */\ etisserant@240: 00170 NULL, /* canSend */\ etisserant@240: 00171 NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\ etisserant@240: 00172 _storeODSubIndex, /* storeODSubIndex */\ etisserant@240: 00173 NULL, /*dcf_cursor*/\ etisserant@240: 00174 1 /*dcf_count_targets*/\ etisserant@240: 00175 } etisserant@240: 00176 etisserant@240: 00177 #endif /* __data_h__ */ etisserant@240: 00178 etisserant@240: 00179 etisserant@240: