Re-write doxygen tags in headers files to generate User API documentation

[CanFestival-3.git] / include / data.h

diff --git a/include/data.h b/include/data.h
index dd08ade23fe69314b74d33a29378529caa8fdd5c..080ceecfc0b624b71d172da3359dc1e35a1bb94a 100644 (file)
--- a/include/data.h
+++ b/include/data.h
@@ -20,10 +20,13 @@ License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
 
-
 #ifndef __data_h__
 #define __data_h__
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* declaration of CO_Data type let us include all necessary headers
  struct struct_CO_Data can then be defined later
  */
@@ -39,17 +42,25 @@ typedef struct struct_CO_Data CO_Data;
 #include "states.h"
 #include "lifegrd.h"
 #include "sync.h"
+#include "nmtSlave.h"
 #include "nmtMaster.h"
+#include "emcy.h"
+#ifdef CO_ENABLE_LSS
+#include "lss.h"
+#endif
 
-/* This structurs contains all necessary information for a CanOpen node */
+/**
+ * @ingroup od
+ * @brief This structure contains all necessary information for a CanOpen node 
+ */
 struct struct_CO_Data {
        /* Object dictionary */
        UNS8 *bDeviceNodeId;
        const indextable *objdict;
-       UNS8 *count_sync;
-       quick_index *firstIndex;
-       quick_index *lastIndex;
-       UNS16 *ObjdictSize;
+       s_PDO_status *PDO_status;
+       const quick_index *firstIndex;
+       const quick_index *lastIndex;
+       const UNS16 *ObjdictSize;
        const UNS8 *iam_a_slave;
        valueRangeTest_t valueRangeTest;
        
@@ -64,7 +75,9 @@ struct struct_CO_Data {
        preOperational_t preOperational;
        operational_t operational;
        stopped_t stopped;
-
+     void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
+     void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
+     
        /* NMT-heartbeat */
        UNS8 *ConsumerHeartbeatCount;
        UNS32 *ConsumerHeartbeatEntries;
@@ -81,20 +94,35 @@ struct struct_CO_Data {
        /*UNS32 *Sync_window_length;;*/
        post_sync_t post_sync;
        post_TPDO_t post_TPDO;
-       
-       /* PDO */
-       s_process_var process_var;
+       post_SlaveBootup_t post_SlaveBootup;
        
        /* General */
        UNS8 toggle;
-       CAN_HANDLE canHandle;   
+       CAN_PORT canHandle;     
        scanIndexOD_t scanIndexOD;
        storeODSubIndex_t storeODSubIndex; 
        
        /* DCF concise */
-       void* dcf_cursor;
-       UNS32 dcf_count_targets;
+    const indextable* dcf_odentry;
+       UNS8* dcf_cursor;
+       UNS32 dcf_entries_count;
+       UNS8 dcf_request;
        
+       /* EMCY */
+       e_errorState error_state;
+       UNS8 error_history_size;
+       UNS8* error_number;
+       UNS32* error_first_element;
+       UNS8* error_register;
+    UNS32* error_cobid;
+       s_errors error_data[EMCY_MAX_ERRORS];
+       post_emcy_t post_emcy;
+       
+#ifdef CO_ENABLE_LSS
+       /* LSS */
+       lss_transfer_t lss_transfer;
+       lss_StoreConfiguration_t lss_StoreConfiguration;
+#endif 
 };
 
 #define NMTable_Initializer Unknown_state,
@@ -115,13 +143,61 @@ struct struct_CO_Data {
                NULL        /* Callback */\
          },
 
+#define ERROR_DATA_INITIALIZER \
+       {\
+       0, /* errCode */\
+       0, /* errRegMask */\
+       0 /* active */\
+       },
+       
+#ifdef CO_ENABLE_LSS
+
+#ifdef CO_ENABLE_LSS_FS        
+#define lss_fs_Initializer \
+               ,0,                                             /* IDNumber */\
+               128,                                    /* BitChecked */\
+               0,                                              /* LSSSub */\
+               0,                                              /* LSSNext */\
+               0,                                              /* LSSPos */\
+               LSS_FS_RESET,                   /* FastScan_SM */\
+               -1,                                             /* timerFS */\
+               {{0,0,0,0},{0,0,0,0}}   /* lss_fs_transfer */
+#else
+#define lss_fs_Initializer
+#endif         
+
+#define lss_Initializer {\
+               LSS_RESET,                      /* state */\
+               0,                                              /* command */\
+               LSS_WAITING_MODE,               /* mode */\
+               0,                                              /* dat1 */\
+               0,                                              /* dat2 */\
+               0,                              /* NodeID */\
+               0,                              /* addr_sel_match */\
+               0,                              /* addr_ident_match */\
+               "none",                         /* BaudRate */\
+               0,                              /* SwitchDelay */\
+               SDELAY_OFF,                     /* SwitchDelayState */\
+               NULL,                                   /* canHandle_t */\
+               -1,                                             /* TimerMSG */\
+               -1,                             /* TimerSDELAY */\
+               NULL,                           /* Callback */\
+               0                                               /* LSSanswer */\
+               lss_fs_Initializer              /*FastScan service initialization */\
+         },\
+         NULL  /* _lss_StoreConfiguration*/
+#else
+#define lss_Initializer
+#endif
+
+
 /* A macro to initialize the data in client app.*/
 /* CO_Data structure */
 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
        /* Object dictionary*/\
        & NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
        NODE_PREFIX ## _objdict,             /* objdict  */\
-       NODE_PREFIX ## _count_sync,          /* count_sync */\
+       NODE_PREFIX ## _PDO_status,          /* PDO_status */\
        & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
        & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
        & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
@@ -142,12 +218,15 @@ struct struct_CO_Data {
                0,          /* csEmergency */\
                0,          /* csSYNC */\
                0,          /* csHeartbeat */\
-               0           /* csPDO */\
+               0,           /* csPDO */\
+               0           /* csLSS */\
        },\
        _initialisation,     /* initialisation */\
        _preOperational,     /* preOperational */\
        _operational,        /* operational */\
        _stopped,            /* stopped */\
+       NULL,                /* NMT node reset callback */\
+       NULL,                /* NMT communications reset callback */\
        \
        /* NMT-heartbeat */\
        & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
@@ -167,22 +246,39 @@ struct struct_CO_Data {
        /*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
        _post_sync,                 /* post_sync */\
        _post_TPDO,                 /* post_TPDO */\
+       _post_SlaveBootup,                      /* post_SlaveBootup */\
        \
-       /* PDO, structure s_process_var */\
-        {\
-               0,          /* count */\
-               {0}         /* data (static use, so that all the table is initialize at 0)*/\
-        },\
-        \
        /* General */\
        0,                                         /* toggle */\
        NULL,                   /* canSend */\
        NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
        _storeODSubIndex,                /* storeODSubIndex */\
+    /* DCF concise */\
+    NULL,       /*dcf_odentry*/\
        NULL,           /*dcf_cursor*/\
-       1               /*dcf_count_targets*/\
+       1,              /*dcf_entries_count*/\
+       0,              /* dcf_request*/\
+       \
+       /* EMCY */\
+       Error_free,                      /* error_state */\
+       sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\
+       & NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
+       & NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
+       & NODE_PREFIX ## _obj1001,       /* error_register */\
+    & NODE_PREFIX ## _obj1014,       /* error_cobid */\
+       /* error_data: structure s_errors */\
+       {\
+       REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
+       },\
+       _post_emcy,              /* post_emcy */\
+       /* LSS */\
+       lss_Initializer\
 }
 
+#ifdef __cplusplus
+};
+#endif
+
 #endif /* __data_h__ */