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         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 
+