data.h

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef __data_h__
#define __data_h__

/* declaration of CO_Data type let us include all necessary headers
 struct struct_CO_Data can then be defined later
 */
typedef struct struct_CO_Data CO_Data;

#include "applicfg.h"
#include "def.h"
#include "can.h"
#include "objdictdef.h"
#include "objacces.h"
#include "sdo.h"
#include "pdo.h"
#include "states.h"
#include "lifegrd.h"
#include "sync.h"
#include "nmtMaster.h"

/* This structurs contains all necessary information for a CanOpen node */
struct struct_CO_Data {
        /* Object dictionary */
        UNS8 *bDeviceNodeId;
        const indextable *objdict;
        UNS8 *count_sync;
        quick_index *firstIndex;
        quick_index *lastIndex;
        UNS16 *ObjdictSize;
        const UNS8 *iam_a_slave;
        valueRangeTest_t valueRangeTest;
        
        /* SDO */
        s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
        /* s_sdo_parameter *sdo_parameters; */

        /* State machine */
        e_nodeState nodeState;
        s_state_communication CurrentCommunicationState;
        initialisation_t initialisation;
        preOperational_t preOperational;
        operational_t operational;
        stopped_t stopped;

        /* NMT-heartbeat */
        UNS8 *ConsumerHeartbeatCount;
        UNS32 *ConsumerHeartbeatEntries;
        TIMER_HANDLE *ConsumerHeartBeatTimers;
        UNS16 *ProducerHeartBeatTime;
        TIMER_HANDLE ProducerHeartBeatTimer;
        heartbeatError_t heartbeatError;
        e_nodeState NMTable[NMT_MAX_NODE_ID]; 

        /* SYNC */
        TIMER_HANDLE syncTimer;
        UNS32 *COB_ID_Sync;
        UNS32 *Sync_Cycle_Period;
        /*UNS32 *Sync_window_length;;*/
        post_sync_t post_sync;
        post_TPDO_t post_TPDO;
        
        /* PDO */
        s_process_var process_var;
        
        /* General */
        UNS8 toggle;
        CAN_HANDLE canHandle;   
        scanIndexOD_t scanIndexOD;
        storeODSubIndex_t storeODSubIndex; 
        
        /* DCF concise */
        UNS8* dcf_cursor;
        UNS32 dcf_count_targets;
        
};

#define NMTable_Initializer Unknown_state,

#define s_transfer_Initializer {\
                0,          /* nodeId */\
                0,          /* wohami */\
                SDO_RESET,  /* state */\
                0,          /* toggle */\
                0,          /* abortCode */\
                0,          /* index */\
                0,          /* subIndex */\
                0,          /* count */\
                0,          /* offset */\
                {0},        /* data (static use, so that all the table is initialize at 0)*/\
                0,          /* dataType */\
                -1,         /* timer */\
                NULL        /* Callback */\
          },

/* A macro to initialize the data in client app.*/
/* CO_Data structure */
#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
        /* Object dictionary*/\
        & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
        NODE_PREFIX ## _objdict,             /* objdict  */\
        NODE_PREFIX ## _count_sync,          /* count_sync */\
        & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
        & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
        & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
        & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
        NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
        \
        /* SDO, structure s_transfer */\
        {\
          REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
        },\
        \
        /* State machine*/\
        Unknown_state,      /* nodeState */\
        /* structure s_state_communication */\
        {\
                0,          /* csBoot_Up */\
                0,          /* csSDO */\
                0,          /* csEmergency */\
                0,          /* csSYNC */\
                0,          /* csHeartbeat */\
                0           /* csPDO */\
        },\
        _initialisation,     /* initialisation */\
        _preOperational,     /* preOperational */\
        _operational,        /* operational */\
        _stopped,            /* stopped */\
        \
        /* NMT-heartbeat */\
        & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
        NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
        NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
        & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
        TIMER_NONE,                                /* ProducerHeartBeatTimer */\
        _heartbeatError,           /* heartbeatError */\
        \
        {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
                                                   /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
        \
        /* SYNC */\
        TIMER_NONE,                                /* syncTimer */\
        & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
        & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
        /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
        _post_sync,                 /* post_sync */\
        _post_TPDO,                 /* post_TPDO */\
        \
        /* PDO, structure s_process_var */\
        {\
                0,          /* count */\
                {0}         /* data (static use, so that all the table is initialize at 0)*/\
        },\
        \
        /* General */\
        0,                                         /* toggle */\
        NULL,                   /* canSend */\
        NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
        _storeODSubIndex,                /* storeODSubIndex */\
        NULL,           /*dcf_cursor*/\
        1               /*dcf_count_targets*/\
}

#endif /* __data_h__ */

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