CO_gateway_ascii.h

Go to the documentation of this file.

 
#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) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CO_GTWA_RESP_BUF_SIZE
#define CO_GTWA_RESP_BUF_SIZE 200
#endif
 
 
#ifndef CO_GTWA_STATE_TIMEOUT_TIME_US
#define CO_GTWA_STATE_TIMEOUT_TIME_US 1200000
#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) || 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,
                           CO_fifo_st *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;
    char 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) || 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) || defined CO_DOXYGEN
 
    CO_NMT_t *NMT;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
 
    CO_LSSmaster_t *LSSmaster;
    CO_LSS_address_t lssAddress;
    uint8_t lssNID;
    uint16_t lssBitrate;
    CO_LSS_cs_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) || defined CO_DOXYGEN
 
    char logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1];
    CO_fifo_t logFifo;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) || defined CO_DOXYGEN
 
    const char *helpString;
    size_t helpStringOffset;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || 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) || 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) || defined CO_DOXYGEN
                              CO_NMT_t *NMT,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
                              CO_LSSmaster_t *LSSmaster,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || 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, buf, count, NULL);
}
 
 
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) || 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 */