include/data.h

   1 /*
   2 This file is part of CanFestival, a library implementing CanOpen Stack.
   3
   4 Copyright (C): Edouard TISSERANT and Francis DUPIN
   5
   6 See COPYING file for copyrights details.
   7
   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.
  12
  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.
  17
  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
  21 */
  22
  23 #ifndef __data_h__
  24 #define __data_h__
  25
  26 #ifdef __cplusplus
  27 extern "C" {
  28 #endif
  29
  30 /* declaration of CO_Data type let us include all necessary headers
  31  struct struct_CO_Data can then be defined later
  32  */
  33 typedef struct struct_CO_Data CO_Data;
  34
  35 #include "applicfg.h"
  36 #include "def.h"
  37 #include "can.h"
  38 #include "objdictdef.h"
  39 #include "objacces.h"
  40 #include "sdo.h"
  41 #include "pdo.h"
  42 #include "states.h"
  43 #include "lifegrd.h"
  44 #include "sync.h"
  45 #include "nmtMaster.h"
  46 #include "emcy.h"
  47 #ifdef CO_ENABLE_LSS
  48 #include "lss.h"
  49 #endif
  50
  51 /* This structurs contains all necessary information for a CanOpen node */
  52 struct struct_CO_Data {
  53         /* Object dictionary */
  54         UNS8 *bDeviceNodeId;
  55         const indextable *objdict;
  56         s_PDO_status *PDO_status;
  57         quick_index *firstIndex;
  58         quick_index *lastIndex;
  59         UNS16 *ObjdictSize;
  60         const UNS8 *iam_a_slave;
  61         valueRangeTest_t valueRangeTest;
  62
  63         /* SDO */
  64         s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
  65         /* s_sdo_parameter *sdo_parameters; */
  66
  67         /* State machine */
  68         e_nodeState nodeState;
  69         s_state_communication CurrentCommunicationState;
  70         initialisation_t initialisation;
  71         preOperational_t preOperational;
  72         operational_t operational;
  73         stopped_t stopped;
  74
  75         /* NMT-heartbeat */
  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];
  83
  84         /* SYNC */
  85         TIMER_HANDLE syncTimer;
  86         UNS32 *COB_ID_Sync;
  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;
  92
  93         /* General */
  94         UNS8 toggle;
  95         CAN_HANDLE canHandle;
  96         scanIndexOD_t scanIndexOD;
  97         storeODSubIndex_t storeODSubIndex;
  98
  99         /* DCF concise */
 100     const indextable* dcf_odentry;
 101         UNS8* dcf_cursor;
 102         UNS32 dcf_entries_count;
 103         UNS8 dcf_request;
 104
 105         /* EMCY */
 106         e_errorState error_state;
 107         UNS8 error_history_size;
 108         UNS8* error_number;
 109         UNS32* error_first_element;
 110         UNS8* error_register;
 111     UNS32* error_cobid;
 112         s_errors error_data[EMCY_MAX_ERRORS];
 113         post_emcy_t post_emcy;
 114
 115 #ifdef CO_ENABLE_LSS
 116         /* LSS */
 117         lss_transfer_t lss_transfer;
 118         lss_StoreConfiguration_t lss_StoreConfiguration;
 119         lss_ChangeBaudRate_t lss_ChangeBaudRate;
 120 #endif
 121 };
 122
 123 #define NMTable_Initializer Unknown_state,
 124
 125 #define s_transfer_Initializer {\
 126                 0,          /* nodeId */\
 127                 0,          /* wohami */\
 128                 SDO_RESET,  /* state */\
 129                 0,          /* toggle */\
 130                 0,          /* abortCode */\
 131                 0,          /* index */\
 132                 0,          /* subIndex */\
 133                 0,          /* count */\
 134                 0,          /* offset */\
 135                 {0},        /* data (static use, so that all the table is initialize at 0)*/\
 136                 0,          /* dataType */\
 137                 -1,         /* timer */\
 138                 NULL        /* Callback */\
 139           },
 140
 141 #define ERROR_DATA_INITIALIZER \
 142         {\
 143         0, /* errCode */\
 144         0, /* errRegMask */\
 145         0 /* active */\
 146         },
 147
 148 #ifdef CO_ENABLE_LSS
 149
 150 #ifdef CO_ENABLE_LSS_FS
 151 #define lss_fs_Initializer \
 152                 ,0,                                             /* IDNumber */\
 153                 128,                                    /* BitChecked */\
 154                 0,                                              /* LSSSub */\
 155                 0,                                              /* LSSNext */\
 156                 0,                                              /* LSSPos */\
 157                 LSS_FS_RESET,                   /* FastScan_SM */\
 158                 -1                                              /* timerFS */
 159 #else
 160 #define lss_fs_Initializer
 161 #endif
 162
 163 #define lss_Initializer {\
 164                 LSS_RESET,                      /* state */\
 165                 0,                                              /* command */\
 166                 LSS_WAITING_MODE,               /* mode */\
 167                 0,                                              /* dat1 */\
 168                 0,                                              /* dat2 */\
 169                 0,                              /* NodeID */\
 170                 0,                              /* addr_sel_match */\
 171                 0,                              /* addr_ident_match */\
 172                 "none",                         /* BaudRate */\
 173                 0,                              /* SwitchDelay */\
 174                 SDELAY_OFF,                     /* SwitchDelayState */\
 175                 NULL,                                   /* canHandle_t */\
 176                 -1,                                             /* TimerMSG */\
 177                 -1,                             /* TimerSDELAY */\
 178                 NULL,                           /* Callback */\
 179                 0                                               /* LSSanswer */\
 180                 lss_fs_Initializer              /*FastScan service initialization */\
 181           },\
 182           NULL,         /* _lss_StoreConfiguration*/\
 183           NULL    /* _lss_ChangeBaudRate */
 184 #else
 185 #define lss_Initializer
 186 #endif
 187
 188
 189 /* A macro to initialize the data in client app.*/
 190 /* CO_Data structure */
 191 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
 192         /* Object dictionary*/\
 193         & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
 194         NODE_PREFIX ## _objdict,             /* objdict  */\
 195         NODE_PREFIX ## _PDO_status,          /* PDO_status */\
 196         & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
 197         & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
 198         & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
 199         & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
 200         NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
 201         \
 202         /* SDO, structure s_transfer */\
 203         {\
 204           REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
 205         },\
 206         \
 207         /* State machine*/\
 208         Unknown_state,      /* nodeState */\
 209         /* structure s_state_communication */\
 210         {\
 211                 0,          /* csBoot_Up */\
 212                 0,          /* csSDO */\
 213                 0,          /* csEmergency */\
 214                 0,          /* csSYNC */\
 215                 0,          /* csHeartbeat */\
 216                 0,           /* csPDO */\
 217                 0           /* csLSS */\
 218         },\
 219         _initialisation,     /* initialisation */\
 220         _preOperational,     /* preOperational */\
 221         _operational,        /* operational */\
 222         _stopped,            /* stopped */\
 223         \
 224         /* NMT-heartbeat */\
 225         & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
 226         NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
 227         NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
 228         & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
 229         TIMER_NONE,                                /* ProducerHeartBeatTimer */\
 230         _heartbeatError,           /* heartbeatError */\
 231         \
 232         {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
 233                                                    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
 234         \
 235         /* SYNC */\
 236         TIMER_NONE,                                /* syncTimer */\
 237         & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
 238         & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
 239         /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
 240         _post_sync,                 /* post_sync */\
 241         _post_TPDO,                 /* post_TPDO */\
 242         _post_SlaveBootup,                      /* post_SlaveBootup */\
 243         \
 244         /* General */\
 245         0,                                         /* toggle */\
 246         NULL,                   /* canSend */\
 247         NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
 248         _storeODSubIndex,                /* storeODSubIndex */\
 249     /* DCF concise */\
 250     NULL,       /*dcf_odentry*/\
 251         NULL,           /*dcf_cursor*/\
 252         1,              /*dcf_entries_count*/\
 253         0,              /* dcf_request*/\
 254         \
 255         /* EMCY */\
 256         Error_free,                      /* error_state */\
 257         sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\
 258         & NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
 259         & NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
 260         & NODE_PREFIX ## _obj1001,       /* error_register */\
 261     & NODE_PREFIX ## _obj1014,       /* error_cobid */\
 262         /* error_data: structure s_errors */\
 263         {\
 264         REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
 265         },\
 266         _post_emcy,              /* post_emcy */\
 267         /* LSS */\
 268         lss_Initializer\
 269 }
 270
 271 #ifdef __cplusplus
 272 };
 273 #endif
 274
 275 #endif /* __data_h__ */
 276
 277