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Can_open_masternode
framework/include/data.h
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:9dd7c6129683
File content as of revision 0:9dd7c6129683:
/* 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__ */