data.h

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#ifndef INC_DATA_H_
#define INC_DATA_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
/* declaration of CO_Data type lets us include all necessary headers
 struct struct_CO_Data can then be defined later
 */
typedef struct struct_CO_Data CO_Data;
 
#include "stm32l4xx.h"
#include "applicfg.h"
#include "def.h"
#include "can.h"
#include "objdictdef.h"
#include "objacces.h"
#include "boot.h"
#include "sdo.h"
#include "pdo.h"
#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
 
struct struct_CO_Data {
    /* Object dictionary */
    UNS8 *bDeviceNodeId;
    const indextable *objdict;
    s_PDO_status *PDO_status;
    const quick_index *firstIndex;
    const quick_index *lastIndex;
    const UNS16 *ObjdictSize;
    const UNS8 *iam_a_slave;
    valueRangeTest_t valueRangeTest;
 
    /* SDO */
    s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
    /* s_sdo_parameter *sdo_parameters; */
 
    /* State machine */
    e_nodeState nodeState;
    s_state_communication CurrentCommunicationState;
    mode_X_Manual_t mode_X_Manual;
    mode_Y_Manual_t mode_Y_Manual;
    waiting_t waiting;
    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;
    TIMER_HANDLE *ConsumerHeartBeatTimers;
    UNS16 *ProducerHeartBeatTime;
    TIMER_HANDLE ProducerHeartBeatTimer;
    heartbeatError_t heartbeatError;
    e_nodeState NMTable[NMT_MAX_NODE_ID];
 
    /* SYNC */
    TIMER_HANDLE syncTimer;
    UNS32 *COB_ID_Sync;
    UNS32 *Sync_Cycle_Period;
 
    post_sync_t post_sync;
    post_TPDO_t post_TPDO;
    post_SlaveBootup_t post_SlaveBootup;
 
    /* General */
    UNS8 toggle;
    CAN_HandleTypeDef *canHandle;
    scanIndexOD_t scanIndexOD;
    storeODSubIndex_t storeODSubIndex;
 
    /* DCF concise */
    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,
 
#define s_transfer_Initializer {\
        0,          /* nodeId */\
        0,          /* wohami */\
        SDO_RESET,  /* state */\
        0,          /* toggle */\
        0,          /* abortCode */\
        0,          /* index */\
        0,          /* subIndex */\
        0,          /* count */\
        0,          /* offset */\
        {0},        /* data (static use, so that all the table is initialize at 0)*/\
        0,          /* dataType */\
        -1,         /* timer */\
        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 ## _PDO_status,          /* PDO_status */\
    & NODE_PREFIX ## _firstIndex,        /* firstIndex */\
    & NODE_PREFIX ## _lastIndex,         /* lastIndex */\
    & NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
    & NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
    NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
    \
    /* SDO, structure s_transfer */\
    {\
        REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
    },\
    \
    /* State machine*/\
    Unknown_state,  /* default nodeState */\
    /* structure s_state_communication */\
    {\
        0,          /* csBoot_Up */\
        0,          /* csSDO */\
        0,          /* csEmergency */\
        0,          /* csSYNC */\
        0,          /* csHeartbeat */\
        0,          /* csPDO */\
        0           /* csLSS */\
    },\
    _mode_Y_Manual,     /* initialisation */\
    _mode_X_Manual,     /* preOperational */\
    _waiting,           /* operational */\
    _stopped,           /* stopped */\
    NULL,               /* NMT node reset callback */\
    NULL,               /* NMT communications reset callback */\
    \
    /* NMT-heartbeat */\
    & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
    NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
    NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
    & NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
    TIMER_NONE,                                /* ProducerHeartBeatTimer */\
    _heartbeatError,           /* heartbeatError */\
    \
    {\
        REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)\
    },\
    /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
    \
    /* SYNC */\
    TIMER_NONE,                     /* syncTimer */\
    & NODE_PREFIX ## _obj1005,      /* COB_ID_Sync */\
    & NODE_PREFIX ## _obj1006,      /* Sync_Cycle_Period */\
    /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\
    _post_sync,                     /* post_sync */\
    _post_TPDO,                     /* post_TPDO */\
    _post_SlaveBootup,              /* post_SlaveBootup */\
    \
    /* General */\
    0,                              /* toggle */\
    NULL,                           /* canHandle */\
    NODE_PREFIX ## _scanIndexOD,    /* scanIndexOD */\
    _storeODSubIndex,               /* storeODSubIndex */\
    /* DCF concise */\
    NULL,                           /*dcf_odentry*/\
    NULL,                           /*dcf_cursor*/\
    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 /* INC_DATA_H_ */