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         SDOtimeoutError: &NODE_PREFIX ## _SDOtimeoutError,\
 119         \
 120         /* State machine */\
 121         nodeState:Unknown_state,\
 122         CurrentCommunicationState:{\
 123                 csBoot_Up: 0,\
 124                 csSDO: 0,\
 125                 csEmergency: 0,\
 126                 csSYNC: 0,\
 127                 csHeartbeat: 0,\
 128                 csPDO: 0},\
 129         initialisation: &NODE_PREFIX ## _initialisation,\
 130         preOperational: &NODE_PREFIX ## _preOperational,\
 131         operational: &NODE_PREFIX ## _operational,\
 132         stopped: &NODE_PREFIX ## _stopped,\
 133         \
 134         /* NMT-heartbeat */\
 135         ConsumerHeartbeatCount: & NODE_PREFIX ## _highestSubIndex_obj1016,\
 136         ConsumerHeartbeatEntries: NODE_PREFIX ## _obj1016,\
 137         ConsumerHeartBeatTimers: NODE_PREFIX ## _heartBeatTimers,\
 138         ProducerHeartBeatTime: & NODE_PREFIX ## _obj1017,\
 139         ProducerHeartBeatTimer: TIMER_NONE,\
 140         heartbeatError: NODE_PREFIX ## _heartbeatError,\
 141         NMTable:{Unknown_state,},\
 142         \
 143         /* SYNC */\
 144         syncTimer: TIMER_NONE,\
 145         COB_ID_Sync: & NODE_PREFIX ## _obj1005,\
 146         Sync_Cycle_Period: & NODE_PREFIX ## _obj1006,\
 147         /*Sync_window_length: & NODE_PREFIX ## _obj1007,*/\
 148         post_sync: NODE_PREFIX ## _post_sync,\
 149         post_TPDO: NODE_PREFIX ## _post_TPDO,\
 150         \
 151         /* PDO */\
 152         process_var: {\
 153                 count: 0,\
 154                 data: {0,}},\
 155         \
 156         /* General */\
 157         toggle: 0,\
 158         canSend: NODE_PREFIX ## _canSend,\
 159         scanIndexOD: NODE_PREFIX ## _scanIndexOD\
 160 }
 161
 162 #endif // __data_h__
 163
 164