CanFestival: include/data.h Source File

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