2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Edouard TISSERANT and Francis DUPIN
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
30 /* declaration of CO_Data type let us include all necessary headers
31 struct struct_CO_Data can then be defined later
33 typedef struct struct_CO_Data CO_Data;
38 #include "objdictdef.h"
45 #include "nmtMaster.h"
51 /* This structurs contains all necessary information for a CanOpen node */
52 struct struct_CO_Data {
53 /* Object dictionary */
55 const indextable *objdict;
56 s_PDO_status *PDO_status;
57 quick_index *firstIndex;
58 quick_index *lastIndex;
60 const UNS8 *iam_a_slave;
61 valueRangeTest_t valueRangeTest;
64 s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
65 /* s_sdo_parameter *sdo_parameters; */
68 e_nodeState nodeState;
69 s_state_communication CurrentCommunicationState;
70 initialisation_t initialisation;
71 preOperational_t preOperational;
72 operational_t operational;
76 UNS8 *ConsumerHeartbeatCount;
77 UNS32 *ConsumerHeartbeatEntries;
78 TIMER_HANDLE *ConsumerHeartBeatTimers;
79 UNS16 *ProducerHeartBeatTime;
80 TIMER_HANDLE ProducerHeartBeatTimer;
81 heartbeatError_t heartbeatError;
82 e_nodeState NMTable[NMT_MAX_NODE_ID];
85 TIMER_HANDLE syncTimer;
87 UNS32 *Sync_Cycle_Period;
88 /*UNS32 *Sync_window_length;;*/
89 post_sync_t post_sync;
90 post_TPDO_t post_TPDO;
91 post_SlaveBootup_t post_SlaveBootup;
96 scanIndexOD_t scanIndexOD;
97 storeODSubIndex_t storeODSubIndex;
100 const indextable* dcf_odentry;
102 UNS32 dcf_entries_count;
106 e_errorState error_state;
107 UNS8 error_history_size;
109 UNS32* error_first_element;
110 UNS8* error_register;
112 s_errors error_data[EMCY_MAX_ERRORS];
113 post_emcy_t post_emcy;
117 lss_transfer_t lss_transfer;
118 lss_StoreConfiguration_t lss_StoreConfiguration;
119 lss_ChangeBaudRate_t lss_ChangeBaudRate;
123 #define NMTable_Initializer Unknown_state,
125 #define s_transfer_Initializer {\
128 SDO_RESET, /* state */\
135 {0}, /* data (static use, so that all the table is initialize at 0)*/\
141 #define ERROR_DATA_INITIALIZER \
149 #define lss_Initializer {\
150 LSS_RESET, /* state */\
152 LSS_WAITING_MODE, /* mode */\
155 Unknown_state, /* currentState */\
157 0, /* addr_sel_match */\
158 0, /* addr_ident_match */\
159 "none", /* BaudRate */\
160 0, /* SwitchDelay */\
161 SDELAY_OFF, /* SwitchDelayState */\
162 {-1,-1,-1}, /* Timers[3] */\
163 NULL, /* Callback */\
166 128, /* BitChecked */\
170 LSS_FS_RESET /* FastScan_SM */\
172 NULL, /* _lss_StoreConfiguration*/\
173 NULL /* _lss_ChangeBaudRate */
175 #define lss_Initializer
179 /* A macro to initialize the data in client app.*/
180 /* CO_Data structure */
181 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
182 /* Object dictionary*/\
183 & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\
184 NODE_PREFIX ## _objdict, /* objdict */\
185 NODE_PREFIX ## _PDO_status, /* PDO_status */\
186 & NODE_PREFIX ## _firstIndex, /* firstIndex */\
187 & NODE_PREFIX ## _lastIndex, /* lastIndex */\
188 & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\
189 & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\
190 NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\
192 /* SDO, structure s_transfer */\
194 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
198 Unknown_state, /* nodeState */\
199 /* structure s_state_communication */\
203 0, /* csEmergency */\
205 0, /* csHeartbeat */\
208 _initialisation, /* initialisation */\
209 _preOperational, /* preOperational */\
210 _operational, /* operational */\
211 _stopped, /* stopped */\
214 & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
215 NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\
216 NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\
217 & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\
218 TIMER_NONE, /* ProducerHeartBeatTimer */\
219 _heartbeatError, /* heartbeatError */\
221 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
222 /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\
225 TIMER_NONE, /* syncTimer */\
226 & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\
227 & NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\
228 /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\
229 _post_sync, /* post_sync */\
230 _post_TPDO, /* post_TPDO */\
231 _post_SlaveBootup, /* post_SlaveBootup */\
236 NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\
237 _storeODSubIndex, /* storeODSubIndex */\
239 NULL, /*dcf_odentry*/\
240 NULL, /*dcf_cursor*/\
241 1, /*dcf_entries_count*/\
245 Error_free, /* error_state */\
246 sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\
247 & NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\
248 & NODE_PREFIX ## _obj1003[0], /* error_first_element */\
249 & NODE_PREFIX ## _obj1001, /* error_register */\
250 & NODE_PREFIX ## _obj1014, /* error_cobid */\
251 /* error_data: structure s_errors */\
253 REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
255 _post_emcy, /* post_emcy */\
264 #endif /* __data_h__ */