data.h

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 #ifndef __data_h__
00024 #define __data_h__
00025 
00026 #ifdef __cplusplus
00027 extern "C" {
00028 #endif
00029 
00030 /* declaration of CO_Data type let us include all necessary headers
00031  struct struct_CO_Data can then be defined later
00032  */
00033 typedef struct struct_CO_Data CO_Data;
00034 
00035 #include "applicfg.h"
00036 #include "def.h"
00037 #include "canopen_can.h"
00038 #include "objdictdef.h"
00039 #include "objacces.h"
00040 #include "sdo.h"
00041 #include "pdo.h"
00042 #include "states.h"
00043 #include "lifegrd.h"
00044 #include "sync.h"
00045 #include "nmtSlave.h"
00046 #include "nmtMaster.h"
00047 #include "emcy.h"
00048 #ifdef CO_ENABLE_LSS
00049 #include "lss.h"
00050 #endif
00051 
00052 /**
00053  * @ingroup od
00054  * @brief This structure contains all necessary informations to define a CANOpen node 
00055  */
00056 struct struct_CO_Data {
00057     /* Object dictionary */
00058     UNS8 *bDeviceNodeId;
00059     const indextable *objdict;
00060     s_PDO_status *PDO_status;
00061     const quick_index *firstIndex;
00062     const quick_index *lastIndex;
00063     const UNS16 *ObjdictSize;
00064     const UNS8 *iam_a_slave;
00065     valueRangeTest_t valueRangeTest;
00066     
00067     /* SDO */
00068     s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
00069     /* s_sdo_parameter *sdo_parameters; */
00070 
00071     /* State machine */
00072     e_nodeState nodeState;
00073     s_state_communication CurrentCommunicationState;
00074     initialisation_t initialisation;
00075     preOperational_t preOperational;
00076     operational_t operational;
00077     stopped_t stopped;
00078     void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
00079     void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
00080      
00081     /* NMT-heartbeat */
00082     UNS8 *ConsumerHeartbeatCount;
00083     UNS32 *ConsumerHeartbeatEntries;
00084     TIMER_HANDLE *ConsumerHeartBeatTimers;
00085     UNS16 *ProducerHeartBeatTime;
00086     TIMER_HANDLE ProducerHeartBeatTimer;
00087     heartbeatError_t heartbeatError;
00088     e_nodeState NMTable[NMT_MAX_NODE_ID]; 
00089 
00090     /* SYNC */
00091     TIMER_HANDLE syncTimer;
00092     UNS32 *COB_ID_Sync;
00093     UNS32 *Sync_Cycle_Period;
00094     /*UNS32 *Sync_window_length;;*/
00095     post_sync_t post_sync;
00096     post_TPDO_t post_TPDO;
00097     post_SlaveBootup_t post_SlaveBootup;
00098       post_SlaveStateChange_t post_SlaveStateChange;
00099     
00100     /* General */
00101     UNS8 toggle;
00102     CAN_PORT canHandle;    
00103     scanIndexOD_t scanIndexOD;
00104     storeODSubIndex_t storeODSubIndex; 
00105     
00106     /* DCF concise */
00107     const indextable* dcf_odentry;
00108     UNS8* dcf_cursor;
00109     UNS32 dcf_entries_count;
00110     UNS8 dcf_request;
00111     
00112     /* EMCY */
00113     e_errorState error_state;
00114     UNS8 error_history_size;
00115     UNS8* error_number;
00116     UNS32* error_first_element;
00117     UNS8* error_register;
00118     UNS32* error_cobid;
00119     s_errors error_data[EMCY_MAX_ERRORS];
00120     post_emcy_t post_emcy;
00121     
00122 #ifdef CO_ENABLE_LSS
00123     /* LSS */
00124     lss_transfer_t lss_transfer;
00125     lss_StoreConfiguration_t lss_StoreConfiguration;
00126 #endif    
00127 };
00128 
00129 #define NMTable_Initializer Unknown_state,
00130 
00131 #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
00132 #define s_transfer_Initializer {\
00133         0,          /* nodeId */\
00134         0,          /* wohami */\
00135         SDO_RESET,  /* state */\
00136         0,          /* toggle */\
00137         0,          /* abortCode */\
00138         0,          /* index */\
00139         0,          /* subIndex */\
00140         0,          /* count */\
00141         0,          /* offset */\
00142         {0},        /* data (static use, so that all the table is initialize at 0)*/\
00143         NULL,       /* dynamicData */ \
00144         0,          /* dynamicDataSize */ \
00145         0,          /* dataType */\
00146         -1,         /* timer */\
00147         NULL        /* Callback */\
00148       },
00149 #else
00150 #define s_transfer_Initializer {\
00151         0,          /* nodeId */\
00152         0,          /* wohami */\
00153         SDO_RESET,  /* state */\
00154         0,          /* toggle */\
00155         0,          /* abortCode */\
00156         0,          /* index */\
00157         0,          /* subIndex */\
00158         0,          /* count */\
00159         0,          /* offset */\
00160         {0},        /* data (static use, so that all the table is initialize at 0)*/\
00161         0,          /* dataType */\
00162         -1,         /* timer */\
00163         NULL        /* Callback */\
00164       },
00165 #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
00166 
00167 #define ERROR_DATA_INITIALIZER \
00168     {\
00169     0, /* errCode */\
00170     0, /* errRegMask */\
00171     0 /* active */\
00172     },
00173     
00174 #ifdef CO_ENABLE_LSS
00175 
00176 #ifdef CO_ENABLE_LSS_FS    
00177 #define lss_fs_Initializer \
00178         ,0,                        /* IDNumber */\
00179           128,                     /* BitChecked */\
00180           0,                        /* LSSSub */\
00181           0,                         /* LSSNext */\
00182           0,                         /* LSSPos */\
00183           LSS_FS_RESET,            /* FastScan_SM */\
00184           -1,                        /* timerFS */\
00185           {{0,0,0,0},{0,0,0,0}}   /* lss_fs_transfer */
00186 #else
00187 #define lss_fs_Initializer
00188 #endif        
00189 
00190 #define lss_Initializer {\
00191         LSS_RESET,              /* state */\
00192         0,                        /* command */\
00193         LSS_WAITING_MODE,         /* mode */\
00194         0,                        /* dat1 */\
00195         0,                        /* dat2 */\
00196         0,                      /* NodeID */\
00197         0,                      /* addr_sel_match */\
00198         0,                      /* addr_ident_match */\
00199         "none",                 /* BaudRate */\
00200         0,                      /* SwitchDelay */\
00201         SDELAY_OFF,               /* SwitchDelayState */\
00202         NULL,                    /* canHandle_t */\
00203         -1,                        /* TimerMSG */\
00204         -1,                      /* TimerSDELAY */\
00205         NULL,                    /* Callback */\
00206         0                        /* LSSanswer */\
00207         lss_fs_Initializer        /*FastScan service initialization */\
00208       },\
00209       NULL     /* _lss_StoreConfiguration*/
00210 #else
00211 #define lss_Initializer
00212 #endif
00213 
00214 
00215 /* A macro to initialize the data in client app.*/
00216 /* CO_Data structure */
00217 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
00218     /* Object dictionary*/\
00219     & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
00220     NODE_PREFIX ## _objdict,             /* objdict  */\
00221     NODE_PREFIX ## _PDO_status,          /* PDO_status */\
00222     & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
00223     & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
00224     & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
00225     & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
00226     NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
00227     \
00228     /* SDO, structure s_transfer */\
00229     {\
00230           REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
00231     },\
00232     \
00233     /* State machine*/\
00234     Unknown_state,      /* nodeState */\
00235     /* structure s_state_communication */\
00236     {\
00237         0,          /* csBoot_Up */\
00238         0,          /* csSDO */\
00239         0,          /* csEmergency */\
00240         0,          /* csSYNC */\
00241         0,          /* csHeartbeat */\
00242         0,           /* csPDO */\
00243         0           /* csLSS */\
00244     },\
00245     _initialisation,     /* initialisation */\
00246     _preOperational,     /* preOperational */\
00247     _operational,        /* operational */\
00248     _stopped,            /* stopped */\
00249     NULL,                /* NMT node reset callback */\
00250     NULL,                /* NMT communications reset callback */\
00251     \
00252     /* NMT-heartbeat */\
00253     & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
00254     NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
00255     NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
00256     & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
00257     TIMER_NONE,                                /* ProducerHeartBeatTimer */\
00258     _heartbeatError,           /* heartbeatError */\
00259     \
00260     {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
00261                                                    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
00262     \
00263     /* SYNC */\
00264     TIMER_NONE,                                /* syncTimer */\
00265     & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
00266     & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
00267     /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
00268     _post_sync,                 /* post_sync */\
00269     _post_TPDO,                 /* post_TPDO */\
00270     _post_SlaveBootup,            /* post_SlaveBootup */\
00271   _post_SlaveStateChange,            /* post_SlaveStateChange */\
00272     \
00273     /* General */\
00274     0,                                         /* toggle */\
00275     NULL,                   /* canSend */\
00276     NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
00277     _storeODSubIndex,                /* storeODSubIndex */\
00278     /* DCF concise */\
00279     NULL,       /*dcf_odentry*/\
00280     NULL,        /*dcf_cursor*/\
00281     1,        /*dcf_entries_count*/\
00282     0,        /* dcf_request*/\
00283     \
00284     /* EMCY */\
00285     Error_free,                      /* error_state */\
00286     sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\
00287     & NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
00288     & NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
00289     & NODE_PREFIX ## _obj1001,       /* error_register */\
00290     & NODE_PREFIX ## _obj1014,       /* error_cobid */\
00291     /* error_data: structure s_errors */\
00292     {\
00293     REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
00294     },\
00295     _post_emcy,              /* post_emcy */\
00296     /* LSS */\
00297     lss_Initializer\
00298 }
00299 
00300 #ifdef __cplusplus
00301 };
00302 #endif
00303 
00304 #endif /* __data_h__ */
00305 
00306