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Can_open_masternode
Diff: framework/include/data.h
- Revision:
- 0:9dd7c6129683
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/include/data.h Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,306 @@ +/* +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__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* 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 "canopen_can.h" +#include "objdictdef.h" +#include "objacces.h" +#include "sdo.h" +#include "pdo.h" +#include "states.h" +#include "lifegrd.h" +#include "sync.h" +#include "nmtSlave.h" +#include "nmtMaster.h" +#include "emcy.h" +#ifdef CO_ENABLE_LSS +#include "lss.h" +#endif + +/** + * @ingroup od + * @brief This structure contains all necessary informations to define a CANOpen node + */ +struct struct_CO_Data { + /* Object dictionary */ + UNS8 *bDeviceNodeId; + const indextable *objdict; + s_PDO_status *PDO_status; + const quick_index *firstIndex; + const quick_index *lastIndex; + const 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; + void (*NMT_Slave_Node_Reset_Callback)(CO_Data*); + void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*); + + /* 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; + post_SlaveBootup_t post_SlaveBootup; + post_SlaveStateChange_t post_SlaveStateChange; + + /* General */ + UNS8 toggle; + CAN_PORT canHandle; + scanIndexOD_t scanIndexOD; + storeODSubIndex_t storeODSubIndex; + + /* DCF concise */ + const indextable* dcf_odentry; + UNS8* dcf_cursor; + UNS32 dcf_entries_count; + UNS8 dcf_request; + + /* EMCY */ + e_errorState error_state; + UNS8 error_history_size; + UNS8* error_number; + UNS32* error_first_element; + UNS8* error_register; + UNS32* error_cobid; + s_errors error_data[EMCY_MAX_ERRORS]; + post_emcy_t post_emcy; + +#ifdef CO_ENABLE_LSS + /* LSS */ + lss_transfer_t lss_transfer; + lss_StoreConfiguration_t lss_StoreConfiguration; +#endif +}; + +#define NMTable_Initializer Unknown_state, + +#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION +#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)*/\ + NULL, /* dynamicData */ \ + 0, /* dynamicDataSize */ \ + 0, /* dataType */\ + -1, /* timer */\ + NULL /* Callback */\ + }, +#else +#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 */\ + }, +#endif //SDO_DYNAMIC_BUFFER_ALLOCATION + +#define ERROR_DATA_INITIALIZER \ + {\ + 0, /* errCode */\ + 0, /* errRegMask */\ + 0 /* active */\ + }, + +#ifdef CO_ENABLE_LSS + +#ifdef CO_ENABLE_LSS_FS +#define lss_fs_Initializer \ + ,0, /* IDNumber */\ + 128, /* BitChecked */\ + 0, /* LSSSub */\ + 0, /* LSSNext */\ + 0, /* LSSPos */\ + LSS_FS_RESET, /* FastScan_SM */\ + -1, /* timerFS */\ + {{0,0,0,0},{0,0,0,0}} /* lss_fs_transfer */ +#else +#define lss_fs_Initializer +#endif + +#define lss_Initializer {\ + LSS_RESET, /* state */\ + 0, /* command */\ + LSS_WAITING_MODE, /* mode */\ + 0, /* dat1 */\ + 0, /* dat2 */\ + 0, /* NodeID */\ + 0, /* addr_sel_match */\ + 0, /* addr_ident_match */\ + "none", /* BaudRate */\ + 0, /* SwitchDelay */\ + SDELAY_OFF, /* SwitchDelayState */\ + NULL, /* canHandle_t */\ + -1, /* TimerMSG */\ + -1, /* TimerSDELAY */\ + NULL, /* Callback */\ + 0 /* LSSanswer */\ + lss_fs_Initializer /*FastScan service initialization */\ + },\ + NULL /* _lss_StoreConfiguration*/ +#else +#define lss_Initializer +#endif + + +/* 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 ## _PDO_status, /* PDO_status */\ + & 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 */\ + 0 /* csLSS */\ + },\ + _initialisation, /* initialisation */\ + _preOperational, /* preOperational */\ + _operational, /* operational */\ + _stopped, /* stopped */\ + NULL, /* NMT node reset callback */\ + NULL, /* NMT communications reset callback */\ + \ + /* 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 */\ + _post_SlaveBootup, /* post_SlaveBootup */\ + _post_SlaveStateChange, /* post_SlaveStateChange */\ + \ + /* General */\ + 0, /* toggle */\ + NULL, /* canSend */\ + NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\ + _storeODSubIndex, /* storeODSubIndex */\ + /* DCF concise */\ + NULL, /*dcf_odentry*/\ + NULL, /*dcf_cursor*/\ + 1, /*dcf_entries_count*/\ + 0, /* dcf_request*/\ + \ + /* EMCY */\ + Error_free, /* error_state */\ + sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\ + & NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\ + & NODE_PREFIX ## _obj1003[0], /* error_first_element */\ + & NODE_PREFIX ## _obj1001, /* error_register */\ + & NODE_PREFIX ## _obj1014, /* error_cobid */\ + /* error_data: structure s_errors */\ + {\ + REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\ + },\ + _post_emcy, /* post_emcy */\ + /* LSS */\ + lss_Initializer\ +} + +#ifdef __cplusplus +}; +#endif + +#endif /* __data_h__ */ + +