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         SDOtimeoutError_t SDOtimeoutError;
  59         /* s_sdo_parameter *sdo_parameters; */
  60
  61         /* State machine */
  62         e_nodeState nodeState;
  63         s_state_communication CurrentCommunicationState;
  64         initialisation_t initialisation;
  65         preOperational_t preOperational;
  66         operational_t operational;
  67         stopped_t stopped;
  68
  69         /* NMT-heartbeat */
  70         UNS8 *ConsumerHeartbeatCount;
  71         UNS32 *ConsumerHeartbeatEntries;
  72         TIMER_HANDLE *ConsumerHeartBeatTimers;
  73         UNS16 *ProducerHeartBeatTime;
  74         TIMER_HANDLE ProducerHeartBeatTimer;
  75         heartbeatError_t heartbeatError;
  76         e_nodeState NMTable[NMT_MAX_NODE_ID];
  77
  78         /* SYNC */
  79         TIMER_HANDLE syncTimer;
  80         UNS32 *COB_ID_Sync;
  81         UNS32 *Sync_Cycle_Period;
  82         /*UNS32 *Sync_window_length;;*/
  83         post_sync_t post_sync;
  84         post_TPDO_t post_TPDO;
  85
  86         /* PDO */
  87         s_process_var process_var;
  88
  89         /* General */
  90         UNS8 toggle;
  91         CAN_HANDLE canHandle;
  92         scanIndexOD_t scanIndexOD;
  93         storeODSubIndex_t storeODSubIndex;
  94 };
  95
  96 #define NMTable_Initializer Unknown_state,
  97
  98 #define s_transfer_Initializer {\
  99                 0,          /* nodeId */\
 100                 0,          /* wohami */\
 101                 SDO_RESET,  /* state */\
 102                 0,          /* toggle */\
 103                 0,          /* abortCode */\
 104                 0,          /* index */\
 105                 0,          /* subIndex */\
 106                 0,          /* count */\
 107                 0,          /* offset */\
 108                 {0},        /* data (static use, so that all the table is initialize at 0)*/\
 109                 0,          /* dataType */\
 110                 -1,         /* timer */\
 111                 NULL        /* Callback */\
 112           },
 113
 114 /* A macro to initialize the data in client app.*/
 115 /* CO_Data structure */
 116 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
 117         /* Object dictionary*/\
 118         & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
 119         NODE_PREFIX ## _objdict,             /* objdict  */\
 120         NODE_PREFIX ## _count_sync,          /* count_sync */\
 121         & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
 122         & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
 123         & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
 124         & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
 125         NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
 126         \
 127         /* SDO, structure s_transfer */\
 128         {\
 129           REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
 130         },\
 131         _SDOtimeoutError,/*&NODE_PREFIX ## _SDOtimeoutError,    /* SDOtimeoutError */\
 132         \
 133         /* State machine*/\
 134         Unknown_state,      /* nodeState */\
 135         /* structure s_state_communication */\
 136         {\
 137                 0,          /* csBoot_Up */\
 138                 0,          /* csSDO */\
 139                 0,          /* csEmergency */\
 140                 0,          /* csSYNC */\
 141                 0,          /* csHeartbeat */\
 142                 0           /* csPDO */\
 143         },\
 144         _initialisation,/*&NODE_PREFIX ## _initialisation,     /* initialisation */\
 145         _preOperational,/*&NODE_PREFIX ## _preOperational,     /* preOperational */\
 146         _operational,/*&NODE_PREFIX ## _operational,        /* operational */\
 147         _stopped,/*&NODE_PREFIX ## _stopped,            /* stopped */\
 148         \
 149         /* NMT-heartbeat */\
 150         & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
 151         NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
 152         NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
 153         & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
 154         TIMER_NONE,                                /* ProducerHeartBeatTimer */\
 155         _heartbeatError,/*NODE_PREFIX ## _heartbeatError,            /* heartbeatError */\
 156         \
 157         {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
 158                                                    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
 159         \
 160         /* SYNC */\
 161         TIMER_NONE,                                /* syncTimer */\
 162         & NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
 163         & NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
 164         /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
 165         _post_sync,/*NODE_PREFIX ## _post_sync,                 /* post_sync */\
 166         _post_TPDO,/*NODE_PREFIX ## _post_TPDO,                 /* post_TPDO */\
 167         \
 168         /* PDO, structure s_process_var */\
 169         {\
 170                 0,          /* count */\
 171                 {0}         /* data (static use, so that all the table is initialize at 0)*/\
 172         },\
 173         \
 174         /* General */\
 175         0,                                         /* toggle */\
 176         NULL,/*NODE_PREFIX ## _canSend,                   /* canSend */\
 177         NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
 178         _storeODSubIndex                /* storeODSubIndex */\
 179 }
 180
 181 #endif /* __data_h__ */
 182
 183