File content as of revision 7:537bae5a6fc6:

/*
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__ */