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 "nmtSlave.h"
  46 #include "nmtMaster.h"
  47 #include "emcy.h"
  48 #ifdef CO_ENABLE_LSS
  49 #include "lss.h"
  50 #endif
  51
  52 /* This structurs contains all necessary information for a CanOpen node */
  53 struct struct_CO_Data {
  54         /* Object dictionary */
  55         UNS8 *bDeviceNodeId;
  56         const indextable *objdict;
  57         s_PDO_status *PDO_status;
  58         quick_index *firstIndex;
  59         quick_index *lastIndex;
  60         UNS16 *ObjdictSize;
  61         const UNS8 *iam_a_slave;
  62         valueRangeTest_t valueRangeTest;
  63
  64         /* SDO */
  65         s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
  66         /* s_sdo_parameter *sdo_parameters; */
  67
  68         /* State machine */
  69         e_nodeState nodeState;
  70         s_state_communication CurrentCommunicationState;
  71         initialisation_t initialisation;
  72         preOperational_t preOperational;
  73         operational_t operational;
  74         stopped_t stopped;
  75
  76         /* NMT-heartbeat */
  77         UNS8 *ConsumerHeartbeatCount;
  78         UNS32 *ConsumerHeartbeatEntries;
  79         TIMER_HANDLE *ConsumerHeartBeatTimers;
  80         UNS16 *ProducerHeartBeatTime;
  81         TIMER_HANDLE ProducerHeartBeatTimer;
  82         heartbeatError_t heartbeatError;
  83         e_nodeState NMTable[NMT_MAX_NODE_ID];
  84
  85         /* SYNC */
  86         TIMER_HANDLE syncTimer;
  87         UNS32 *COB_ID_Sync;
  88         UNS32 *Sync_Cycle_Period;
  89         /*UNS32 *Sync_window_length;;*/
  90         post_sync_t post_sync;
  91         post_TPDO_t post_TPDO;
  92         post_SlaveBootup_t post_SlaveBootup;
  93
  94         /* General */
  95         UNS8 toggle;
  96         CAN_PORT canHandle;
  97         scanIndexOD_t scanIndexOD;
  98         storeODSubIndex_t storeODSubIndex;
  99
 100         /* DCF concise */
 101     const indextable* dcf_odentry;
 102         UNS8* dcf_cursor;
 103         UNS32 dcf_entries_count;
 104         UNS8 dcf_request;
 105
 106         /* EMCY */
 107         e_errorState error_state;
 108         UNS8 error_history_size;
 109         UNS8* error_number;
 110         UNS32* error_first_element;
 111         UNS8* error_register;
 112     UNS32* error_cobid;
 113         s_errors error_data[EMCY_MAX_ERRORS];
 114         post_emcy_t post_emcy;
 115
 116 #ifdef CO_ENABLE_LSS
 117         /* LSS */
 118         lss_transfer_t lss_transfer;
 119         lss_StoreConfiguration_t lss_StoreConfiguration;
 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 #else
 184 #define lss_Initializer
 185 #endif
 186
 187
 188 /* A macro to initialize the data in client app.*/
 189 /* CO_Data structure */
 190 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
 191         /* Object dictionary*/\
 192         & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
 193         NODE_PREFIX ## _objdict,             /* objdict  */\
 194         NODE_PREFIX ## _PDO_status,          /* PDO_status */\
 195         & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
 196         & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
 197         & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
 198         & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
 199         NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
 200         \
 201         /* SDO, structure s_transfer */\
 202         {\
 203           REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
 204         },\
 205         \
 206         /* State machine*/\
 207         Unknown_state,      /* nodeState */\
 208         /* structure s_state_communication */\
 209         {\
 210                 0,          /* csBoot_Up */\
 211                 0,          /* csSDO */\
 212                 0,          /* csEmergency */\
 213                 0,          /* csSYNC */\
 214                 0,          /* csHeartbeat */\
 215                 0,           /* csPDO */\
 216                 0           /* csLSS */\
 217         },\
 218         _initialisation,     /* initialisation */\
 219         _preOperational,     /* preOperational */\
 220         _operational,        /* operational */\
 221         _stopped,            /* stopped */\
 222         \
 223         /* NMT-heartbeat */\
 224         & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
 225         NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
 226         NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
 227         & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
 228         TIMER_NONE,                                /* ProducerHeartBeatTimer */\
 229         _heartbeatError,           /* heartbeatError */\
 230         \
 231         {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
 232                                                    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
 233         \
 234         /* SYNC */\
 235         TIMER_NONE,                                /* syncTimer */\
 236         & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
 237         & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
 238         /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
 239         _post_sync,                 /* post_sync */\
 240         _post_TPDO,                 /* post_TPDO */\
 241         _post_SlaveBootup,                      /* post_SlaveBootup */\
 242         \
 243         /* General */\
 244         0,                                         /* toggle */\
 245         NULL,                   /* canSend */\
 246         NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
 247         _storeODSubIndex,                /* storeODSubIndex */\
 248     /* DCF concise */\
 249     NULL,       /*dcf_odentry*/\
 250         NULL,           /*dcf_cursor*/\
 251         1,              /*dcf_entries_count*/\
 252         0,              /* dcf_request*/\
 253         \
 254         /* EMCY */\
 255         Error_free,                      /* error_state */\
 256         sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\
 257         & NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
 258         & NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
 259         & NODE_PREFIX ## _obj1001,       /* error_register */\
 260     & NODE_PREFIX ## _obj1014,       /* error_cobid */\
 261         /* error_data: structure s_errors */\
 262         {\
 263         REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
 264         },\
 265         _post_emcy,              /* post_emcy */\
 266         /* LSS */\
 267         lss_Initializer\
 268 }
 269
 270 #ifdef __cplusplus
 271 };
 272 #endif
 273
 274 #endif /* __data_h__ */
 275
 276