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
  24 #ifndef __data_h__
  25 #define __data_h__
  26
  27 /* declaration of CO_Data type let us include all necessary headers
  28  struct struct_CO_Data can then be defined later
  29  */
  30 typedef struct struct_CO_Data CO_Data;
  31
  32 #include "applicfg.h"
  33 #include "def.h"
  34 #include "can.h"
  35 #include "objdictdef.h"
  36 #include "objacces.h"
  37 #include "sdo.h"
  38 #include "pdo.h"
  39 #include "states.h"
  40 #include "lifegrd.h"
  41 #include "sync.h"
  42 #include "nmtMaster.h"
  43
  44 /* This structurs contains all necessary information for a CanOpen node */
  45 struct struct_CO_Data {
  46         /* Object dictionary */
  47         UNS8 *bDeviceNodeId;
  48         const indextable *objdict;
  49         UNS8 *count_sync;
  50         quick_index *firstIndex;
  51         quick_index *lastIndex;
  52         UNS16 *ObjdictSize;
  53         const UNS8 *iam_a_slave;
  54         valueRangeTest_t valueRangeTest;
  55
  56         /* SDO */
  57         s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
  58         /* s_sdo_parameter *sdo_parameters; */
  59
  60         /* State machine */
  61         e_nodeState nodeState;
  62         s_state_communication CurrentCommunicationState;
  63         initialisation_t initialisation;
  64         preOperational_t preOperational;
  65         operational_t operational;
  66         stopped_t stopped;
  67
  68         /* NMT-heartbeat */
  69         UNS8 *ConsumerHeartbeatCount;
  70         UNS32 *ConsumerHeartbeatEntries;
  71         TIMER_HANDLE *ConsumerHeartBeatTimers;
  72         UNS16 *ProducerHeartBeatTime;
  73         TIMER_HANDLE ProducerHeartBeatTimer;
  74         heartbeatError_t heartbeatError;
  75         e_nodeState NMTable[NMT_MAX_NODE_ID];
  76
  77         /* SYNC */
  78         TIMER_HANDLE syncTimer;
  79         UNS32 *COB_ID_Sync;
  80         UNS32 *Sync_Cycle_Period;
  81         /*UNS32 *Sync_window_length;;*/
  82         post_sync_t post_sync;
  83         post_TPDO_t post_TPDO;
  84
  85         /* PDO */
  86         s_process_var process_var;
  87
  88         /* General */
  89         UNS8 toggle;
  90         CAN_HANDLE canHandle;
  91         scanIndexOD_t scanIndexOD;
  92         storeODSubIndex_t storeODSubIndex;
  93
  94         /* DCF concise */
  95         UNS8* dcf_cursor;
  96         UNS32 dcf_count_targets;
  97
  98 };
  99
 100 #define NMTable_Initializer Unknown_state,
 101
 102 #define s_transfer_Initializer {\
 103                 0,          /* nodeId */\
 104                 0,          /* wohami */\
 105                 SDO_RESET,  /* state */\
 106                 0,          /* toggle */\
 107                 0,          /* abortCode */\
 108                 0,          /* index */\
 109                 0,          /* subIndex */\
 110                 0,          /* count */\
 111                 0,          /* offset */\
 112                 {0},        /* data (static use, so that all the table is initialize at 0)*/\
 113                 0,          /* dataType */\
 114                 -1,         /* timer */\
 115                 NULL        /* Callback */\
 116           },
 117
 118 /* A macro to initialize the data in client app.*/
 119 /* CO_Data structure */
 120 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
 121         /* Object dictionary*/\
 122         & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
 123         NODE_PREFIX ## _objdict,             /* objdict  */\
 124         NODE_PREFIX ## _count_sync,          /* count_sync */\
 125         & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
 126         & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
 127         & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
 128         & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
 129         NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
 130         \
 131         /* SDO, structure s_transfer */\
 132         {\
 133           REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
 134         },\
 135         \
 136         /* State machine*/\
 137         Unknown_state,      /* nodeState */\
 138         /* structure s_state_communication */\
 139         {\
 140                 0,          /* csBoot_Up */\
 141                 0,          /* csSDO */\
 142                 0,          /* csEmergency */\
 143                 0,          /* csSYNC */\
 144                 0,          /* csHeartbeat */\
 145                 0           /* csPDO */\
 146         },\
 147         _initialisation,     /* initialisation */\
 148         _preOperational,     /* preOperational */\
 149         _operational,        /* operational */\
 150         _stopped,            /* stopped */\
 151         \
 152         /* NMT-heartbeat */\
 153         & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
 154         NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
 155         NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
 156         & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
 157         TIMER_NONE,                                /* ProducerHeartBeatTimer */\
 158         _heartbeatError,           /* heartbeatError */\
 159         \
 160         {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
 161                                                    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
 162         \
 163         /* SYNC */\
 164         TIMER_NONE,                                /* syncTimer */\
 165         & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
 166         & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
 167         /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
 168         _post_sync,                 /* post_sync */\
 169         _post_TPDO,                 /* post_TPDO */\
 170         \
 171         /* PDO, structure s_process_var */\
 172         {\
 173                 0,          /* count */\
 174                 {0}         /* data (static use, so that all the table is initialize at 0)*/\
 175         },\
 176         \
 177         /* General */\
 178         0,                                         /* toggle */\
 179         NULL,                   /* canSend */\
 180         NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
 181         _storeODSubIndex,                /* storeODSubIndex */\
 182         NULL,           /*dcf_cursor*/\
 183         1               /*dcf_count_targets*/\
 184 }
 185
 186 #endif /* __data_h__ */
 187
 188