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 typedef struct struct_CO_Data CO_Data;
  30
  31 #include <applicfg.h>
  32 #include "def.h"
  33 #include "can.h"
  34 #include "objdictdef.h"
  35 #include "objacces.h"
  36 #include "sdo.h"
  37 #include "pdo.h"
  38 #include "states.h"
  39 #include "lifegrd.h"
  40 #include "sync.h"
  41 #include "nmtMaster.h"
  42
  43 // This structurs contains all necessary information for a CanOpen node
  44 struct struct_CO_Data {
  45         // Object dictionary
  46         UNS8 *bDeviceNodeId;
  47         const indextable *objdict;
  48         UNS8 *count_sync;
  49         quick_index *firstIndex;
  50         quick_index *lastIndex;
  51         UNS16 *ObjdictSize;
  52         const UNS8 *iam_a_slave;
  53         valueRangeTest_t valueRangeTest;
  54
  55         // SDO
  56         s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
  57         SDOtimeoutError_t SDOtimeoutError;
  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         canSend_t canSend;
  91         scanIndexOD_t scanIndexOD;
  92 };
  93
  94 // A macro to initialize the data in client app.
  95 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
  96         /* Object dictionary*/\
  97         bDeviceNodeId:& NODE_PREFIX ## _bDeviceNodeId,\
  98         objdict: NODE_PREFIX ## _objdict,\
  99         count_sync: NODE_PREFIX ## _count_sync,\
 100         firstIndex: & NODE_PREFIX ## _firstIndex,\
 101         lastIndex: & NODE_PREFIX ## _lastIndex,\
 102         ObjdictSize: & NODE_PREFIX ## _ObjdictSize,\
 103         iam_a_slave: & NODE_PREFIX ## _iam_a_slave,\
 104         valueRangeTest: NODE_PREFIX ## _valueRangeTest,\
 105         \
 106         /* SDO */\
 107         transfers:{{\
 108                 nodeId: 0,\
 109                 index: 0,\
 110                 subIndex: 0,\
 111                 state: SDO_RESET,\
 112                 toggle: 0,\
 113                 count: 0,\
 114                 offset: 0,\
 115                 data: {0,},\
 116                 dataType: 0,\
 117                 timer: -1,\
 118                 Callback: NULL},},\
 119         SDOtimeoutError: &NODE_PREFIX ## _SDOtimeoutError,\
 120         \
 121         /* State machine */\
 122         nodeState:Unknown_state,\
 123         CurrentCommunicationState:{\
 124                 csBoot_Up: 0,\
 125                 csSDO: 0,\
 126                 csEmergency: 0,\
 127                 csSYNC: 0,\
 128                 csHeartbeat: 0,\
 129                 csPDO: 0},\
 130         initialisation: &NODE_PREFIX ## _initialisation,\
 131         preOperational: &NODE_PREFIX ## _preOperational,\
 132         operational: &NODE_PREFIX ## _operational,\
 133         stopped: &NODE_PREFIX ## _stopped,\
 134         \
 135         /* NMT-heartbeat */\
 136         ConsumerHeartbeatCount: & NODE_PREFIX ## _highestSubIndex_obj1016,\
 137         ConsumerHeartbeatEntries: NODE_PREFIX ## _obj1016,\
 138         ConsumerHeartBeatTimers: NODE_PREFIX ## _heartBeatTimers,\
 139         ProducerHeartBeatTime: & NODE_PREFIX ## _obj1017,\
 140         ProducerHeartBeatTimer: TIMER_NONE,\
 141         heartbeatError: NODE_PREFIX ## _heartbeatError,\
 142         NMTable:{Unknown_state,},\
 143         \
 144         /* SYNC */\
 145         syncTimer: TIMER_NONE,\
 146         COB_ID_Sync: & NODE_PREFIX ## _obj1005,\
 147         Sync_Cycle_Period: & NODE_PREFIX ## _obj1006,\
 148         /*Sync_window_length: & NODE_PREFIX ## _obj1007,*/\
 149         post_sync: NODE_PREFIX ## _post_sync,\
 150         post_TPDO: NODE_PREFIX ## _post_TPDO,\
 151         \
 152         /* PDO */\
 153         process_var: {\
 154                 count: 0,\
 155                 data: {0,}},\
 156         \
 157         /* General */\
 158         toggle: 0,\
 159         canSend: NODE_PREFIX ## _canSend,\
 160         scanIndexOD: NODE_PREFIX ## _scanIndexOD\
 161 }
 162
 163 #endif // __data_h__
 164
 165