#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;
s_PDO_status *PDO_status;
- quick_index *firstIndex;
- quick_index *lastIndex;
- UNS16 *ObjdictSize;
+ const quick_index *firstIndex;
+ const quick_index *lastIndex;
+ const UNS16 *ObjdictSize;
const UNS8 *iam_a_slave;
valueRangeTest_t valueRangeTest;
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;
/* General */
UNS8 toggle;
- CAN_HANDLE canHandle;
+ CAN_PORT canHandle;
scanIndexOD_t scanIndexOD;
storeODSubIndex_t storeODSubIndex;
/* LSS */
lss_transfer_t lss_transfer;
lss_StoreConfiguration_t lss_StoreConfiguration;
- lss_ChangeBaudRate_t lss_ChangeBaudRate;
#endif
};
},
#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 */\
- Unknown_state, /* currentState */\
0, /* NodeID */\
0, /* addr_sel_match */\
0, /* addr_ident_match */\
"none", /* BaudRate */\
0, /* SwitchDelay */\
SDELAY_OFF, /* SwitchDelayState */\
- {-1,-1,-1}, /* Timers[3] */\
+ NULL, /* canHandle_t */\
+ -1, /* TimerMSG */\
+ -1, /* TimerSDELAY */\
NULL, /* Callback */\
- 0, /* LSSanswer */\
- 0, /* IDNumber */\
- 128, /* BitChecked */\
- 0, /* LSSSub */\
- 0, /* LSSNext */\
- 0, /* LSSPos */\
- LSS_FS_RESET /* FastScan_SM */\
+ 0 /* LSSanswer */\
+ lss_fs_Initializer /*FastScan service initialization */\
},\
- NULL, /* _lss_StoreConfiguration*/\
- NULL /* _lss_ChangeBaudRate */
+ NULL /* _lss_StoreConfiguration*/
#else
#define lss_Initializer
#endif
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 */\