CO_gateway_ascii.h

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#ifndef CO_GATEWAY_ASCII_H
#define CO_GATEWAY_ASCII_H
 
#include "301/CO_driver.h"
#include "301/CO_fifo.h"
#include "301/CO_SDOclient.h"
#include "301/CO_NMT_Heartbeat.h"
#include "305/CO_LSSmaster.h"
#include "303/CO_LEDs.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_GTW
#define CO_CONFIG_GTW (0)
#endif
 
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CO_GTWA_RESP_BUF_SIZE
#define CO_GTWA_RESP_BUF_SIZE 200U
#endif
 
#ifndef CO_GTWA_STATE_TIMEOUT_TIME_US
#define CO_GTWA_STATE_TIMEOUT_TIME_US 1200000U
#endif
 
typedef enum {
    CO_GTWA_respErrorNone = 0,                        
    CO_GTWA_respErrorReqNotSupported = 100,           
    CO_GTWA_respErrorSyntax = 101,                    
    CO_GTWA_respErrorInternalState = 102,             
    CO_GTWA_respErrorTimeOut = 103,                   
    CO_GTWA_respErrorNoDefaultNetSet = 104,           
    CO_GTWA_respErrorNoDefaultNodeSet = 105,          
    CO_GTWA_respErrorUnsupportedNet = 106,            
    CO_GTWA_respErrorUnsupportedNode = 107,           
    CO_GTWA_respErrorLostGuardingMessage = 200,       
    CO_GTWA_respErrorLostConnection = 201,            
    CO_GTWA_respErrorHeartbeatStarted = 202,          
    CO_GTWA_respErrorHeartbeatLost = 203,             
    CO_GTWA_respErrorWrongNMTstate = 204,             
    CO_GTWA_respErrorBootUp = 205,                    
    CO_GTWA_respErrorErrorPassive = 300,              
    CO_GTWA_respErrorBusOff = 301,                    
    CO_GTWA_respErrorCANbufferOverflow = 303,         
    CO_GTWA_respErrorCANinit = 304,                   
    CO_GTWA_respErrorCANactive = 305,                 
    CO_GTWA_respErrorPDOalreadyUsed = 400,            
    CO_GTWA_respErrorPDOlengthExceeded = 401,         
    CO_GTWA_respErrorLSSmanufacturer = 501,           
    CO_GTWA_respErrorLSSnodeIdNotSupported = 502,     
    CO_GTWA_respErrorLSSbitRateNotSupported = 503,    
    CO_GTWA_respErrorLSSparameterStoringFailed = 504, 
    CO_GTWA_respErrorLSSmediaError = 505,             
    CO_GTWA_respErrorRunningOutOfMemory = 600         
} CO_GTWA_respErrorCode_t;
 
typedef enum {
    CO_GTWA_ST_IDLE = 0x00U,  
    CO_GTWA_ST_READ = 0x10U,  
    CO_GTWA_ST_WRITE = 0x11U, 
    CO_GTWA_ST_WRITE_ABORTED = 0x12U,        
    CO_GTWA_ST_LSS_SWITCH_GLOB = 0x20U,      
    CO_GTWA_ST_LSS_SWITCH_SEL = 0x21U,       
    CO_GTWA_ST_LSS_SET_NODE = 0x22U,         
    CO_GTWA_ST_LSS_CONF_BITRATE = 0x23U,     
    CO_GTWA_ST_LSS_STORE = 0x24U,            
    CO_GTWA_ST_LSS_INQUIRE = 0x25U,          
    CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL = 0x26U, 
    CO_GTWA_ST__LSS_FASTSCAN = 0x30U,        
    CO_GTWA_ST_LSS_ALLNODES = 0x31U,         
    CO_GTWA_ST_LOG = 0x80U,                  
    CO_GTWA_ST_HELP = 0x81U,                 
    CO_GTWA_ST_LED = 0x82U                   
} CO_GTWA_state_t;
 
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
/*
 * CANopen Gateway-ascii data types structure
 */
typedef struct {
    char* syntax;  
    size_t length; 
    size_t (*dataTypePrint)(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
    size_t (*dataTypeScan)(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
} CO_GTWA_dataType_t;
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
 
typedef struct {
    size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK);
    void* readCallbackObject; 
    uint32_t sequence;        
    int32_t net_default;      
    int16_t node_default;     
    uint16_t net;             
    uint8_t node;             
    CO_fifo_t commFifo;       
    uint8_t commBuf[CO_CONFIG_GTWA_COMM_BUF_SIZE + 1]; 
    char respBuf[CO_GTWA_RESP_BUF_SIZE];               
    size_t respBufCount;                               
    size_t respBufOffset; 
    bool_t respHold;      
    uint32_t timeDifference_us_cumulative; 
    CO_GTWA_state_t state;                 
    uint32_t stateTimeoutTmr;              
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
    CO_SDOclient_t* SDO_C;         
    uint16_t SDOtimeoutTime;       
    bool_t SDOblockTransferEnable; 
    bool_t SDOdataCopyStatus; 
    const CO_GTWA_dataType_t* SDOdataType; 
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
    CO_NMT_t* NMT; 
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
    CO_LSSmaster_t* LSSmaster;           
    CO_LSS_address_t lssAddress;         
    uint8_t lssNID;                      
    uint16_t lssBitrate;                 
    uint8_t lssInquireCs;                
    CO_LSSmaster_fastscan_t lssFastscan; 
    uint8_t lssSubState;                 
    uint8_t lssNodeCount;                
    bool_t lssStore;                     
    uint16_t lssTimeout_ms;              
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
    uint8_t logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1]; 
    CO_fifo_t logFifo;                               
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0) || defined CO_DOXYGEN
    const char* helpString; 
    size_t helpStringOffset;
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
    CO_LEDs_t* LEDs; 
    uint8_t ledStringPreviousIndex;
#endif
} CO_GTWA_t;
 
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
                              CO_SDOclient_t* SDO_C, uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer,
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
                              CO_NMT_t* NMT,
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
                              CO_LSSmaster_t* LSSmaster,
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
                              CO_LEDs_t* LEDs,
#endif
                              uint8_t dummy);
 
void CO_GTWA_initRead(CO_GTWA_t* gtwa,
                      size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK),
                      void* readCallbackObject);
 
static inline size_t
CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
    return CO_fifo_getSpace(&gtwa->commFifo);
}
 
static inline size_t
CO_GTWA_write(CO_GTWA_t* gtwa, const char* buf, size_t count) {
    return CO_fifo_write(&gtwa->commFifo, (const uint8_t*)buf, count, NULL);
}
 
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char* message);
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
 
void CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint32_t* timerNext_us);
 
 /* CO_CANopen_309_3 */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
 
#endif /* CO_GATEWAY_ASCII_H */