etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0:
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0:
etisserant@0: See COPYING file for copyrights details.
etisserant@0:
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0:
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0:
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
etisserant@0: */
etisserant@0:
etisserant@0: #ifndef __data_h__
etisserant@0: #define __data_h__
etisserant@0:
etisserant@251: #ifdef __cplusplus
etisserant@251: extern "C" {
etisserant@251: #endif
etisserant@251:
frdupin@71: /* declaration of CO_Data type let us include all necessary headers
frdupin@71: struct struct_CO_Data can then be defined later
frdupin@71: */
etisserant@0: typedef struct struct_CO_Data CO_Data;
etisserant@0:
etisserant@145: #include "applicfg.h"
etisserant@0: #include "def.h"
etisserant@0: #include "can.h"
etisserant@0: #include "objdictdef.h"
etisserant@0: #include "objacces.h"
etisserant@0: #include "sdo.h"
etisserant@0: #include "pdo.h"
etisserant@0: #include "states.h"
etisserant@0: #include "lifegrd.h"
etisserant@0: #include "sync.h"
etisserant@383: #include "nmtSlave.h"
etisserant@0: #include "nmtMaster.h"
luis@284: #include "emcy.h"
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343: #include "lss.h"
etisserant@343: #endif
etisserant@0:
greg@528: /**
greg@528: * @ingroup od
greg@561: * @brief This structure contains all necessary informations to define a CANOpen node
greg@528: */
etisserant@0: struct struct_CO_Data {
frdupin@71: /* Object dictionary */
etisserant@0: UNS8 *bDeviceNodeId;
etisserant@0: const indextable *objdict;
etisserant@235: s_PDO_status *PDO_status;
Mongo@670: TIMER_HANDLE *RxPDO_EventTimers;
Mongo@670: void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32);
etisserant@475: const quick_index *firstIndex;
etisserant@475: const quick_index *lastIndex;
etisserant@475: const UNS16 *ObjdictSize;
etisserant@0: const UNS8 *iam_a_slave;
etisserant@0: valueRangeTest_t valueRangeTest;
etisserant@0:
frdupin@71: /* SDO */
etisserant@0: s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
frdupin@71: /* s_sdo_parameter *sdo_parameters; */
etisserant@0:
frdupin@71: /* State machine */
etisserant@0: e_nodeState nodeState;
etisserant@0: s_state_communication CurrentCommunicationState;
etisserant@0: initialisation_t initialisation;
etisserant@0: preOperational_t preOperational;
etisserant@0: operational_t operational;
etisserant@0: stopped_t stopped;
etisserant@475: void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
etisserant@475: void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
etisserant@475:
frdupin@71: /* NMT-heartbeat */
etisserant@0: UNS8 *ConsumerHeartbeatCount;
etisserant@0: UNS32 *ConsumerHeartbeatEntries;
etisserant@0: TIMER_HANDLE *ConsumerHeartBeatTimers;
etisserant@0: UNS16 *ProducerHeartBeatTime;
etisserant@0: TIMER_HANDLE ProducerHeartBeatTimer;
etisserant@0: heartbeatError_t heartbeatError;
etisserant@0: e_nodeState NMTable[NMT_MAX_NODE_ID];
etisserant@0:
frdupin@71: /* SYNC */
etisserant@0: TIMER_HANDLE syncTimer;
etisserant@0: UNS32 *COB_ID_Sync;
etisserant@0: UNS32 *Sync_Cycle_Period;
frdupin@71: /*UNS32 *Sync_window_length;;*/
etisserant@0: post_sync_t post_sync;
etisserant@0: post_TPDO_t post_TPDO;
etisserant@343: post_SlaveBootup_t post_SlaveBootup;
fbeaulier@664: post_SlaveStateChange_t post_SlaveStateChange;
etisserant@0:
frdupin@71: /* General */
etisserant@0: UNS8 toggle;
etisserant@405: CAN_PORT canHandle;
etisserant@0: scanIndexOD_t scanIndexOD;
etisserant@161: storeODSubIndex_t storeODSubIndex;
greg@178:
greg@178: /* DCF concise */
etisserant@322: const indextable* dcf_odentry;
etisserant@204: UNS8* dcf_cursor;
etisserant@320: UNS32 dcf_entries_count;
Mongo@669: UNS8 dcf_status;
Mongo@669: UNS32 dcf_size;
Mongo@669: UNS8* dcf_data;
greg@178:
luis@284: /* EMCY */
luis@284: e_errorState error_state;
luis@284: UNS8 error_history_size;
luis@284: UNS8* error_number;
luis@284: UNS32* error_first_element;
luis@284: UNS8* error_register;
etisserant@314: UNS32* error_cobid;
luis@284: s_errors error_data[EMCY_MAX_ERRORS];
luis@284: post_emcy_t post_emcy;
luis@284:
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343: /* LSS */
etisserant@343: lss_transfer_t lss_transfer;
etisserant@343: lss_StoreConfiguration_t lss_StoreConfiguration;
etisserant@343: #endif
etisserant@0: };
etisserant@0:
etisserant@91: #define NMTable_Initializer Unknown_state,
etisserant@91:
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: #define s_transfer_Initializer {\
fbeaulier@664: 0, /* CliServNbr */\
Christian@636: 0, /* wohami */\
Christian@636: SDO_RESET, /* state */\
Christian@636: 0, /* toggle */\
Christian@636: 0, /* abortCode */\
Christian@636: 0, /* index */\
Christian@636: 0, /* subIndex */\
Christian@636: 0, /* count */\
Christian@636: 0, /* offset */\
Christian@636: {0}, /* data (static use, so that all the table is initialize at 0)*/\
Christian@636: NULL, /* dynamicData */ \
Christian@636: 0, /* dynamicDataSize */ \
fbeaulier@664: 0, /* peerCRCsupport */\
fbeaulier@664: 0, /* blksize */\
fbeaulier@664: 0, /* ackseq */\
fbeaulier@664: 0, /* objsize */\
fbeaulier@664: 0, /* lastblockoffset */\
fbeaulier@664: 0, /* seqno */\
fbeaulier@664: 0, /* endfield */\
fbeaulier@664: RXSTEP_INIT,/* rxstep */\
fbeaulier@664: {0}, /* tmpData */\
Christian@636: 0, /* dataType */\
Christian@636: -1, /* timer */\
Christian@636: NULL /* Callback */\
Christian@636: },
Christian@636: #else
etisserant@91: #define s_transfer_Initializer {\
etisserant@91: 0, /* nodeId */\
etisserant@91: 0, /* wohami */\
etisserant@91: SDO_RESET, /* state */\
etisserant@91: 0, /* toggle */\
etisserant@91: 0, /* abortCode */\
etisserant@91: 0, /* index */\
etisserant@91: 0, /* subIndex */\
etisserant@91: 0, /* count */\
etisserant@91: 0, /* offset */\
etisserant@91: {0}, /* data (static use, so that all the table is initialize at 0)*/\
fbeaulier@664: 0, /* peerCRCsupport */\
fbeaulier@664: 0, /* blksize */\
fbeaulier@664: 0, /* ackseq */\
fbeaulier@664: 0, /* objsize */\
fbeaulier@664: 0, /* lastblockoffset */\
fbeaulier@664: 0, /* seqno */\
fbeaulier@664: 0, /* endfield */\
fbeaulier@664: RXSTEP_INIT,/* rxstep */\
fbeaulier@664: {0}, /* tmpData */\
fbeaulier@664: 0, /* */\
fbeaulier@664: -1, /* */\
fbeaulier@664: NULL /* */\
etisserant@91: },
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
etisserant@91:
luis@284: #define ERROR_DATA_INITIALIZER \
luis@284: {\
luis@284: 0, /* errCode */\
luis@284: 0, /* errRegMask */\
luis@284: 0 /* active */\
luis@284: },
etisserant@343:
etisserant@343: #ifdef CO_ENABLE_LSS
groke6@381:
groke6@381: #ifdef CO_ENABLE_LSS_FS
groke6@381: #define lss_fs_Initializer \
groke6@381: ,0, /* IDNumber */\
groke6@381: 128, /* BitChecked */\
groke6@381: 0, /* LSSSub */\
groke6@381: 0, /* LSSNext */\
groke6@381: 0, /* LSSPos */\
groke6@381: LSS_FS_RESET, /* FastScan_SM */\
groke6@517: -1, /* timerFS */\
groke6@517: {{0,0,0,0},{0,0,0,0}} /* lss_fs_transfer */
groke6@381: #else
groke6@381: #define lss_fs_Initializer
groke6@381: #endif
groke6@381:
etisserant@343: #define lss_Initializer {\
etisserant@343: LSS_RESET, /* state */\
etisserant@343: 0, /* command */\
etisserant@343: LSS_WAITING_MODE, /* mode */\
etisserant@343: 0, /* dat1 */\
etisserant@343: 0, /* dat2 */\
etisserant@343: 0, /* NodeID */\
etisserant@343: 0, /* addr_sel_match */\
etisserant@343: 0, /* addr_ident_match */\
etisserant@343: "none", /* BaudRate */\
etisserant@343: 0, /* SwitchDelay */\
etisserant@343: SDELAY_OFF, /* SwitchDelayState */\
groke6@381: NULL, /* canHandle_t */\
groke6@381: -1, /* TimerMSG */\
groke6@381: -1, /* TimerSDELAY */\
etisserant@343: NULL, /* Callback */\
groke6@381: 0 /* LSSanswer */\
groke6@381: lss_fs_Initializer /*FastScan service initialization */\
etisserant@343: },\
groke6@384: NULL /* _lss_StoreConfiguration*/
etisserant@343: #else
etisserant@343: #define lss_Initializer
etisserant@343: #endif
etisserant@343:
luis@284:
frdupin@71: /* A macro to initialize the data in client app.*/
frdupin@78: /* CO_Data structure */
etisserant@0: #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
etisserant@0: /* Object dictionary*/\
frdupin@78: & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\
frdupin@78: NODE_PREFIX ## _objdict, /* objdict */\
etisserant@235: NODE_PREFIX ## _PDO_status, /* PDO_status */\
Mongo@670: NULL, /* RxPDO_EventTimers */\
Mongo@670: _RxPDO_EventTimers_Handler, /* RxPDO_EventTimers_Handler */\
frdupin@78: & NODE_PREFIX ## _firstIndex, /* firstIndex */\
frdupin@78: & NODE_PREFIX ## _lastIndex, /* lastIndex */\
frdupin@78: & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\
frdupin@78: & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\
frdupin@78: NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\
etisserant@0: \
frdupin@78: /* SDO, structure s_transfer */\
etisserant@91: {\
etisserant@91: REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
frdupin@78: },\
etisserant@0: \
frdupin@78: /* State machine*/\
frdupin@78: Unknown_state, /* nodeState */\
frdupin@78: /* structure s_state_communication */\
frdupin@78: {\
frdupin@78: 0, /* csBoot_Up */\
frdupin@78: 0, /* csSDO */\
frdupin@78: 0, /* csEmergency */\
frdupin@78: 0, /* csSYNC */\
frdupin@78: 0, /* csHeartbeat */\
groke6@381: 0, /* csPDO */\
groke6@381: 0 /* csLSS */\
frdupin@78: },\
etisserant@167: _initialisation, /* initialisation */\
etisserant@167: _preOperational, /* preOperational */\
etisserant@167: _operational, /* operational */\
etisserant@167: _stopped, /* stopped */\
etisserant@475: NULL, /* NMT node reset callback */\
etisserant@475: NULL, /* NMT communications reset callback */\
etisserant@0: \
etisserant@0: /* NMT-heartbeat */\
frdupin@78: & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
frdupin@78: NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\
frdupin@78: NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\
frdupin@78: & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\
frdupin@78: TIMER_NONE, /* ProducerHeartBeatTimer */\
etisserant@167: _heartbeatError, /* heartbeatError */\
frdupin@78: \
etisserant@91: {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
frdupin@78: /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\
etisserant@0: \
etisserant@0: /* SYNC */\
frdupin@78: TIMER_NONE, /* syncTimer */\
frdupin@78: & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\
frdupin@78: & NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\
frdupin@78: /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\
etisserant@167: _post_sync, /* post_sync */\
etisserant@167: _post_TPDO, /* post_TPDO */\
etisserant@343: _post_SlaveBootup, /* post_SlaveBootup */\
Christian@635: _post_SlaveStateChange, /* post_SlaveStateChange */\
etisserant@0: \
etisserant@0: /* General */\
frdupin@78: 0, /* toggle */\
etisserant@167: NULL, /* canSend */\
etisserant@161: NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\
greg@178: _storeODSubIndex, /* storeODSubIndex */\
etisserant@320: /* DCF concise */\
etisserant@320: NULL, /*dcf_odentry*/\
greg@178: NULL, /*dcf_cursor*/\
etisserant@320: 1, /*dcf_entries_count*/\
Mongo@669: 0, /* dcf_status*/\
Mongo@669: 0, /* dcf_size */\
Mongo@669: NULL, /* dcf_data */\
luis@284: \
luis@284: /* EMCY */\
luis@284: Error_free, /* error_state */\
luis@284: sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\
luis@284: & NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\
luis@284: & NODE_PREFIX ## _obj1003[0], /* error_first_element */\
luis@284: & NODE_PREFIX ## _obj1001, /* error_register */\
etisserant@314: & NODE_PREFIX ## _obj1014, /* error_cobid */\
luis@284: /* error_data: structure s_errors */\
luis@284: {\
luis@284: REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
luis@284: },\
etisserant@343: _post_emcy, /* post_emcy */\
etisserant@343: /* LSS */\
etisserant@343: lss_Initializer\
etisserant@0: }
etisserant@0:
etisserant@251: #ifdef __cplusplus
etisserant@251: };
etisserant@251: #endif
etisserant@251:
frdupin@71: #endif /* __data_h__ */
etisserant@0:
etisserant@0: