CANopen.h

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#ifndef CANopen_H
#define CANopen_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_HBconsumer.h"
#include "301/CO_Node_Guarding.h"
#include "301/CO_Emergency.h"
#include "301/CO_SDOserver.h"
#include "301/CO_SDOclient.h"
#include "301/CO_SYNC.h"
#include "301/CO_PDO.h"
#include "301/CO_TIME.h"
#include "303/CO_LEDs.h"
#include "304/CO_GFC.h"
#include "304/CO_SRDO.h"
#include "305/CO_LSSslave.h"
#include "305/CO_LSSmaster.h"
#include "309/CO_gateway_ascii.h"
#include "extra/CO_trace.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifdef CO_DOXYGEN
#define CO_MULTIPLE_OD
#endif
 
#ifdef CO_DOXYGEN
#define CO_USE_GLOBALS
#endif
 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
typedef struct {
    uint8_t CNT_NMT;         
    OD_entry_t* ENTRY_H1017; 
    uint8_t CNT_HB_CONS;     
    uint8_t CNT_ARR_1016; 
    OD_entry_t* ENTRY_H1016; 
    OD_entry_t* ENTRY_H100C; 
    OD_entry_t* ENTRY_H100D; 
    uint8_t CNT_EM; 
    const OD_entry_t* ENTRY_H1001; 
    OD_entry_t* ENTRY_H1014;       
    OD_entry_t* ENTRY_H1015;       
    uint8_t CNT_ARR_1003;    
    OD_entry_t* ENTRY_H1003; 
    uint8_t CNT_SDO_SRV;     
    OD_entry_t* ENTRY_H1200; 
    uint8_t CNT_SDO_CLI;     
    OD_entry_t* ENTRY_H1280; 
    uint8_t CNT_TIME;        
    OD_entry_t* ENTRY_H1012; 
    uint8_t CNT_SYNC;        
    OD_entry_t* ENTRY_H1005; 
    OD_entry_t* ENTRY_H1006; 
    OD_entry_t* ENTRY_H1007; 
    OD_entry_t* ENTRY_H1019; 
    uint16_t CNT_RPDO;       
    OD_entry_t* ENTRY_H1400; 
    OD_entry_t* ENTRY_H1600; 
    uint16_t CNT_TPDO;       
    OD_entry_t* ENTRY_H1800; 
    OD_entry_t* ENTRY_H1A00; 
    uint8_t CNT_LEDS;        
    uint8_t CNT_GFC;         
    OD_entry_t* ENTRY_H1300; 
    uint8_t CNT_SRDO;        
    OD_entry_t* ENTRY_H1301; 
    OD_entry_t* ENTRY_H1381; 
    OD_entry_t* ENTRY_H13FE; 
    OD_entry_t* ENTRY_H13FF; 
    uint8_t CNT_LSS_SLV;     
    uint8_t CNT_LSS_MST;     
    uint8_t CNT_GTWA;        
    uint16_t CNT_TRACE;      
} CO_config_t;
#else
typedef void CO_config_t;
#endif /* CO_MULTIPLE_OD */
 
typedef struct {
    bool_t nodeIdUnconfigured; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    CO_config_t* config; 
#endif
    CO_CANmodule_t* CANmodule; 
    CO_CANrx_t* CANrx;         
    CO_CANtx_t* CANtx;         
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t CNT_ALL_RX_MSGS; 
    uint16_t CNT_ALL_TX_MSGS; 
#endif
    CO_NMT_t* NMT; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_NMT_SLV; 
    uint16_t TX_IDX_NMT_MST; 
    uint16_t TX_IDX_HB_PROD; 
#endif
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
    CO_HBconsumer_t* HBcons;               
    CO_HBconsNode_t* HBconsMonitoredNodes; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_HB_CONS; 
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
    CO_nodeGuardingSlave_t* NGslave; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_NG_SLV; 
    uint16_t TX_IDX_NG_SLV; 
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
    CO_nodeGuardingMaster_t*
        NGmaster; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_NG_MST; 
    uint16_t TX_IDX_NG_MST; 
#endif
#endif
    CO_EM_t* em; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_EM_CONS; 
    uint16_t TX_IDX_EM_PROD; 
#endif
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
    CO_EM_fifo_t* em_fifo; 
#endif
    CO_SDOserver_t* SDOserver; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_SDO_SRV; 
    uint16_t TX_IDX_SDO_SRV; 
#endif
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
    CO_SDOclient_t* SDOclient; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_SDO_CLI; 
    uint16_t TX_IDX_SDO_CLI; 
#endif
#endif
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
    CO_TIME_t* TIME; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_TIME; 
    uint16_t TX_IDX_TIME; 
#endif
#endif
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
    CO_SYNC_t* SYNC; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_SYNC; 
    uint16_t TX_IDX_SYNC; 
#endif
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
    CO_RPDO_t* RPDO; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_RPDO; 
#endif
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
    CO_TPDO_t* TPDO; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t TX_IDX_TPDO; 
#endif
#endif
#if (((CO_CONFIG_LEDS)&CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
    CO_LEDs_t* LEDs; 
#endif
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
    CO_GFC_t* GFC; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_GFC; 
    uint16_t TX_IDX_GFC; 
#endif
#endif
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
    CO_SRDOGuard_t* SRDOGuard; 
    CO_SRDO_t* SRDO;           
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_SRDO; 
    uint16_t TX_IDX_SRDO; 
#endif
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
    CO_LSSslave_t* LSSslave; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_LSS_SLV; 
    uint16_t TX_IDX_LSS_SLV; 
#endif
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
    CO_LSSmaster_t* LSSmaster; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
    uint16_t RX_IDX_LSS_MST; 
    uint16_t TX_IDX_LSS_MST; 
#endif
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
    CO_GTWA_t* gtwa; 
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
#endif
#endif
#if ((CO_CONFIG_TRACE)&CO_CONFIG_TRACE_ENABLE) || defined CO_DOXYGEN
    CO_trace_t* trace; 
#endif
} CO_t;
 
CO_t* CO_new(CO_config_t* config, uint32_t* heapMemoryUsed);
 
void CO_delete(CO_t* co);
 
bool_t CO_isLSSslaveEnabled(CO_t* co);
 
CO_ReturnError_t CO_CANinit(CO_t* co, void* CANptr, uint16_t bitRate);
 
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
CO_ReturnError_t CO_LSSinit(CO_t* co, CO_LSS_address_t* lssAddress, uint8_t* pendingNodeID, uint16_t* pendingBitRate);
#endif
 
CO_ReturnError_t CO_CANopenInit(CO_t* co, CO_NMT_t* NMT, CO_EM_t* em, OD_t* od, OD_entry_t* OD_statusBits,
                                uint16_t NMTcontrol, uint16_t firstHBTime_ms, uint16_t SDOserverTimeoutTime_ms,
                                uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer, uint8_t nodeId,
                                uint32_t* errInfo);
 
CO_ReturnError_t CO_CANopenInitPDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
 
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0)                   \
    || defined CO_DOXYGEN
CO_ReturnError_t CO_CANopenInitSRDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
#endif
 
CO_NMT_reset_cmd_t CO_process(CO_t* co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t* timerNext_us);
 
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
bool_t CO_process_SYNC(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
 
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
void CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
 
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
void CO_process_TPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
 
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
CO_SRDO_state_t CO_process_SRDO(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
 
 /* CO_CANopen */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CANopen_H */