diff -r 6787754b251b -r b6572d0336c3 doc/doxygen/html/data_8h-source.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/doc/doxygen/html/data_8h-source.html Mon Jun 04 17:59:50 2007 +0200 @@ -0,0 +1,212 @@ + +
+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 UNS8 *count_sync; +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 /* PDO */ +00086 s_process_var process_var; +00087 +00088 /* General */ +00089 UNS8 toggle; +00090 CAN_HANDLE canHandle; +00091 scanIndexOD_t scanIndexOD; +00092 storeODSubIndex_t storeODSubIndex; +00093 +00094 /* DCF concise */ +00095 UNS8* dcf_cursor; +00096 UNS32 dcf_count_targets; +00097 +00098 }; +00099 +00100 #define NMTable_Initializer Unknown_state, +00101 +00102 #define s_transfer_Initializer {\ +00103 0, /* nodeId */\ +00104 0, /* wohami */\ +00105 SDO_RESET, /* state */\ +00106 0, /* toggle */\ +00107 0, /* abortCode */\ +00108 0, /* index */\ +00109 0, /* subIndex */\ +00110 0, /* count */\ +00111 0, /* offset */\ +00112 {0}, /* data (static use, so that all the table is initialize at 0)*/\ +00113 0, /* dataType */\ +00114 -1, /* timer */\ +00115 NULL /* Callback */\ +00116 }, +00117 +00118 /* A macro to initialize the data in client app.*/ +00119 /* CO_Data structure */ +00120 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\ +00121 /* Object dictionary*/\ +00122 & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\ +00123 NODE_PREFIX ## _objdict, /* objdict */\ +00124 NODE_PREFIX ## _count_sync, /* count_sync */\ +00125 & NODE_PREFIX ## _firstIndex, /* firstIndex */\ +00126 & NODE_PREFIX ## _lastIndex, /* lastIndex */\ +00127 & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\ +00128 & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\ +00129 NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\ +00130 \ +00131 /* SDO, structure s_transfer */\ +00132 {\ +00133 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\ +00134 },\ +00135 \ +00136 /* State machine*/\ +00137 Unknown_state, /* nodeState */\ +00138 /* structure s_state_communication */\ +00139 {\ +00140 0, /* csBoot_Up */\ +00141 0, /* csSDO */\ +00142 0, /* csEmergency */\ +00143 0, /* csSYNC */\ +00144 0, /* csHeartbeat */\ +00145 0 /* csPDO */\ +00146 },\ +00147 _initialisation, /* initialisation */\ +00148 _preOperational, /* preOperational */\ +00149 _operational, /* operational */\ +00150 _stopped, /* stopped */\ +00151 \ +00152 /* NMT-heartbeat */\ +00153 & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\ +00154 NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\ +00155 NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\ +00156 & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\ +00157 TIMER_NONE, /* ProducerHeartBeatTimer */\ +00158 _heartbeatError, /* heartbeatError */\ +00159 \ +00160 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ +00161 /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ +00162 \ +00163 /* SYNC */\ +00164 TIMER_NONE, /* syncTimer */\ +00165 & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\ +00166 & NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\ +00167 /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\ +00168 _post_sync, /* post_sync */\ +00169 _post_TPDO, /* post_TPDO */\ +00170 \ +00171 /* PDO, structure s_process_var */\ +00172 {\ +00173 0, /* count */\ +00174 {0} /* data (static use, so that all the table is initialize at 0)*/\ +00175 },\ +00176 \ +00177 /* General */\ +00178 0, /* toggle */\ +00179 NULL, /* canSend */\ +00180 NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\ +00181 _storeODSubIndex, /* storeODSubIndex */\ +00182 NULL, /*dcf_cursor*/\ +00183 1 /*dcf_count_targets*/\ +00184 } +00185 +00186 #endif /* __data_h__ */ +00187 +00188 +