| 1 | /*-----------------------------------------------------------------------------
|
|---|
| 2 | nmts.h -- NMT Slave, Node
|
|---|
| 3 |
|
|---|
| 4 | Copyright (c) 1994 JANZ Computer AG
|
|---|
| 5 | All Rights Reserved
|
|---|
| 6 |
|
|---|
| 7 | Created 94/10/11 by Soenke Hansen
|
|---|
| 8 | Version 1.17 of 99/04/26
|
|---|
| 9 |
|
|---|
| 10 | Various definitions: NMT Address type, NMT command specifiers, node states,
|
|---|
| 11 | macros for data indicated to the NMT User.
|
|---|
| 12 | Prototypes of functions defined in nmts.c.
|
|---|
| 13 |
|
|---|
| 14 | -----------------------------------------------------------------------------*/
|
|---|
| 15 |
|
|---|
| 16 |
|
|---|
| 17 | #ifndef nmts_DEFINED
|
|---|
| 18 | #define nmts_DEFINED
|
|---|
| 19 |
|
|---|
| 20 | #ifdef __cplusplus
|
|---|
| 21 | extern "C" {
|
|---|
| 22 | #endif
|
|---|
| 23 |
|
|---|
| 24 | #include "defs.h"
|
|---|
| 25 | #include "msg.h"
|
|---|
| 26 |
|
|---|
| 27 | /* Components of service confirmation message */
|
|---|
| 28 | #define nmts_state u.m1.w[0] /* Node State */
|
|---|
| 29 | #define nmts_error u.m1.w[0] /* Node Error */
|
|---|
| 30 | #define nmts_errcode u.m1.w[1] /* error code ident. from BCAN_EVENT */
|
|---|
| 31 | #define nmts_errcode_e0 u.m1.w[2] /* BCAN_EVENT additional infos */
|
|---|
| 32 | #define nmts_errcode_e1 u.m1.w[3] /* BCAN_EVENT additional infos */
|
|---|
| 33 | #define nmts_errcode_e2 u.m1.w[4] /* BCAN_EVENT additional infos */
|
|---|
| 34 | #define nmts_errcode_e3 u.m1.w[5] /* BCAN_EVENT additional infos */
|
|---|
| 35 | #define nmts_keep u.m2.b[2] /* Node Prepare Protocol */
|
|---|
| 36 |
|
|---|
| 37 | /* Values of node error flag nmts_error */
|
|---|
| 38 | #define NE_LOCAL_OCCURRED 0x0003 /* local error occurred */
|
|---|
| 39 | #define NE_LOCAL_RESOLVED 0x0002 /* local error resolved */
|
|---|
| 40 | #define NE_REMOTE_OCCURRED 0x000c /* remote error occurred */
|
|---|
| 41 | #define NE_REMOTE_RESOLVED 0x0008 /* remote error resolved */
|
|---|
| 42 |
|
|---|
| 43 | /* Components of configuration message (spec == M_NMTS_*) */
|
|---|
| 44 | #define nmts_conf_subspec_lo u.m1.w[0] /* subspec low */
|
|---|
| 45 | #define nmts_conf_subspec_hi u.m1.w[1] /* subspec high */
|
|---|
| 46 |
|
|---|
| 47 | #define nmts_conf_errspec u.m1.w[2] /* error specifier */
|
|---|
| 48 |
|
|---|
| 49 | #define nmts_conf_fail_reason u.m1.w[2] /* failure reason */
|
|---|
| 50 | #define nmts_conf_appl_spec_a u.m1.w[3] /* application specific a */
|
|---|
| 51 | #define nmts_conf_appl_spec_b u.m1.w[4] /* application specific b */
|
|---|
| 52 | #define nmts_conf_appl_spec_c u.m1.w[5] /* application specific c */
|
|---|
| 53 | #define nmts_conf_appl_spec_d u.m1.w[6] /* application specific d */
|
|---|
| 54 |
|
|---|
| 55 | #define nmts_conf_verify_cs_a u.m1.w[2] /* verify checksum a */
|
|---|
| 56 | #define nmts_conf_verify_cs_b u.m1.w[3] /* verify checksum b */
|
|---|
| 57 | #define nmts_conf_verify_cs_c u.m1.w[4] /* verify checksum c */
|
|---|
| 58 | #define nmts_conf_verify_cs_d u.m1.w[5] /* verify checksum d */
|
|---|
| 59 |
|
|---|
| 60 | /* Type definition of NMT address */
|
|---|
| 61 | struct nmt_addr {
|
|---|
| 62 | BYTE_t modname[8]; /* module name */
|
|---|
| 63 | BYTE_t modid; /* module Id */
|
|---|
| 64 | };
|
|---|
| 65 | #if TYPEDEFS == 1
|
|---|
| 66 | typedef struct nmt_addr NmtAddr;
|
|---|
| 67 | #else
|
|---|
| 68 | #define NmtAddr struct nmt_addr
|
|---|
| 69 | #endif
|
|---|
| 70 |
|
|---|
| 71 | /* Copy an NMT Address */
|
|---|
| 72 | extern void NmtAddrCopy(
|
|---|
| 73 | NmtAddr *, /* target address */
|
|---|
| 74 | NmtAddr * /* source address */
|
|---|
| 75 | );
|
|---|
| 76 |
|
|---|
| 77 | /* The Node State */
|
|---|
| 78 | extern int NodeState;
|
|---|
| 79 |
|
|---|
| 80 | /* Node State values */
|
|---|
| 81 | #define DISCONNECTED 1
|
|---|
| 82 | #define CONNECTING 2
|
|---|
| 83 | #define PREPARING 3
|
|---|
| 84 | #define PREPARED 4
|
|---|
| 85 | #define OPERATIONAL 5
|
|---|
| 86 | #define PRE_OPERATIONAL 127
|
|---|
| 87 |
|
|---|
| 88 | /* The Node Id */
|
|---|
| 89 | extern BYTE_t NodeId;
|
|---|
| 90 |
|
|---|
| 91 | /* There are three CAL Objects associated with the NMT Slave */
|
|---|
| 92 | extern struct calo *NodeO; /* receives COBs with Id=0 */
|
|---|
| 93 | extern struct calo *NmtSlave; /* receives COBs with Id=2026 */
|
|---|
| 94 | extern struct calo *NodeErrO; /* receives guarding COBs, Node Events */
|
|---|
| 95 |
|
|---|
| 96 | /* Command specifiers in NMT Protocol with COB-ID=0 */
|
|---|
| 97 | #define NMT_CS_START 1 /* Start Node, COB-ID=0 */
|
|---|
| 98 | #define NMT_CS_STOP 2 /* Stop Node, COB-ID=0 */
|
|---|
| 99 | #define NMT_CS_DISCONNECT 3 /* Disconnect Node, COB-ID=0 */
|
|---|
| 100 |
|
|---|
| 101 | /* Command specifiers in NMT Protocol with COB-ID=0 relevant for CANopen */
|
|---|
| 102 | #define NMT_CS_ENTER_PRE_OPERATIONAL 128 /* enter pre-operational state */
|
|---|
| 103 | #define NMT_CS_RESET_NODE 129 /* Reset Node */
|
|---|
| 104 | #define NMT_CS_RESET_COMMUNICATION 130 /* Reset Communication */
|
|---|
| 105 |
|
|---|
| 106 | /* Command specifiers in NMT Protocol with COB-IDs=2025,2026 */
|
|---|
| 107 | #define NMT_CS_CONNECT_NAME 1 /* Node Connect, Module Name */
|
|---|
| 108 | #define NMT_CS_CONNECT_ID 4 /* Node Connect, Module Id */
|
|---|
| 109 | #define NMT_CS_CONNECT_ASSIGN 2 /* Node Connect, assign phase */
|
|---|
| 110 | #define NMT_CS_PREPARE 3 /* Node Prepare */
|
|---|
| 111 | #define NMT_CS_CONFIG 5 /* Configuration Service */
|
|---|
| 112 | #define NMT_CS_IDENTIFY 6 /* Node Identify */
|
|---|
| 113 |
|
|---|
| 114 | /* Nil command specifier */
|
|---|
| 115 | #define NMT_CS_NIL 0 /* not used by protocols */
|
|---|
| 116 |
|
|---|
| 117 |
|
|---|
| 118 | /* timepoint of guard start: */
|
|---|
| 119 | #define START_AT_IDENTIFY 0x01 /* receiving of a identify msg */
|
|---|
| 120 | #define START_AT_GUARD_ID_RX 0x02 /* receiving on guard ID */
|
|---|
| 121 |
|
|---|
| 122 | #define NMTS_CONF_DOWNLOAD_ACK 0x01 /* mux: configure nmt slave to use */
|
|---|
| 123 | /* acknowledge at configuration */
|
|---|
| 124 | /* download */
|
|---|
| 125 | #define NMTS_CONF_DL_ACK_OFF 0x00 /* flag: use acknowledge */
|
|---|
| 126 | #define NMTS_CONF_DL_ACK_ON 0x01 /* flag: don't use acknowledge (dflt.)*/
|
|---|
| 127 |
|
|---|
| 128 | /* Subsequent command (sub-) specifiers in Nmt Configuration protocol */
|
|---|
| 129 | #define NMT_CONF_DIR_NO 0
|
|---|
| 130 | #define NMT_CONF_DIR_UPLOAD 1
|
|---|
| 131 | #define NMT_CONF_DIR_DOWNLOAD 2
|
|---|
| 132 | /* master commands */
|
|---|
| 133 | #define NMT_MCS_DL_SEGMENT_REQ 0
|
|---|
| 134 | #define NMT_MCS_INITIATE_DL_REQ 0x20
|
|---|
| 135 | #define NMT_MCS_INITIATE_UL_REQ 0x40
|
|---|
| 136 | #define NMT_MCS_UL_SEGMENT_REQ 0x60
|
|---|
| 137 | #define NMT_MCS_ABORT_CONF_REQ 0x80
|
|---|
| 138 | #define NMT_MCS_VERIFY_CONF_REQ 0xa0
|
|---|
| 139 | #define MCS_MASK 0xe0
|
|---|
| 140 |
|
|---|
| 141 | /* slave commands */
|
|---|
| 142 | #define NMT_SCS_UL_SEGMENT_RES 0
|
|---|
| 143 | #define NMT_SCS_DL_SEGMENT_RES 0x20
|
|---|
| 144 | #define NMT_SCS_INITIATE_UL_RES 0x40
|
|---|
| 145 | #define NMT_SCS_INITIATE_DL_RES 0x60
|
|---|
| 146 | #define NMT_SCS_ABORT_CONF_REQ 0x80
|
|---|
| 147 | #define NMT_SCS_VERIFY_CONF_RES 0xa0
|
|---|
| 148 | #define SCS_MASK 0xe0
|
|---|
| 149 |
|
|---|
| 150 | #define NMT_CONFIG_TOGGLE 0x10
|
|---|
| 151 |
|
|---|
| 152 | /* leaving place for 2 byte subspec, 4 byte whole */
|
|---|
| 153 | /* size, 1 byte dblk-size and 1 byte cs */
|
|---|
| 154 | #define NMT_CONFIG_HEAD_SIZE 8
|
|---|
| 155 | #define NMT_CONFIG_DBLK_SIZE MSGLEN - NMT_CONFIG_HEAD_SIZE
|
|---|
| 156 | #define NMT_CONFIG_MORE_SEG_INDICATOR 0x01 /* bit position in protocol */
|
|---|
| 157 | #define NMT_CONFIG_MORE_BYTES 0
|
|---|
| 158 | #define NMT_CONFIG_NOMORE_BYTES 1
|
|---|
| 159 |
|
|---|
| 160 | #define NMT_CONFIG_MAX_SEG_DATA 5
|
|---|
| 161 | #define NMT_CONFIG_SIZE_INDICATOR 0x01
|
|---|
| 162 |
|
|---|
| 163 | /* bitpositions in cs to user */
|
|---|
| 164 | #define NMT_MORE 1 /* more date will follow */
|
|---|
| 165 | #define NMT_SUCCESS 4 /* success indication */
|
|---|
| 166 |
|
|---|
| 167 | /* indication of success/fail of last nmt transfer */
|
|---|
| 168 | #define NMT_CONFIG_TRANSFER_FAILED 0
|
|---|
| 169 | #define NMT_CONFIG_TRANSFER_SUCCESS 1
|
|---|
| 170 | #define XFER_FAIL NMT_CONFIG_TRANSFER_FAILED
|
|---|
| 171 | #define XFER_SUCC NMT_CONFIG_TRANSFER_SUCCESS
|
|---|
| 172 |
|
|---|
| 173 | /* Allocate and initialize NMT Slave */
|
|---|
| 174 | extern void InitNmtS(
|
|---|
| 175 | WORD_t , /* timeout interval */
|
|---|
| 176 | void (*)() /* user handler indication/confirmation */
|
|---|
| 177 | );
|
|---|
| 178 |
|
|---|
| 179 | /* Deallocate NMT Slave */
|
|---|
| 180 | extern void DeleteNmtS(void);
|
|---|
| 181 |
|
|---|
| 182 | /* Create Node Service */
|
|---|
| 183 | extern void CreateNode(NmtAddr *, unsigned);
|
|---|
| 184 |
|
|---|
| 185 | /* Create CANopen Node Service */
|
|---|
| 186 | extern void CreateCOPNode(NmtAddr *, unsigned);
|
|---|
| 187 |
|
|---|
| 188 | /* Config CANopen Node Service */
|
|---|
| 189 | extern void ConfigCOPNode(WORD_t, int, BYTE_t);
|
|---|
| 190 |
|
|---|
| 191 | /* Delete Node Service */
|
|---|
| 192 | extern void DeleteNode(void);
|
|---|
| 193 |
|
|---|
| 194 | /* Identify Node Service */
|
|---|
| 195 | extern void IdentifyNode(void);
|
|---|
| 196 |
|
|---|
| 197 | /* Disconnect Node Service */
|
|---|
| 198 | extern void DisconnectNode(void);
|
|---|
| 199 |
|
|---|
| 200 | /* Connect Node Service */
|
|---|
| 201 | extern int ConnectNode(int, WORD_t, BYTE_t);
|
|---|
| 202 |
|
|---|
| 203 | /* Respond Prepare Remote Node Service */
|
|---|
| 204 | extern int PrepareRemoteNodeRes(unsigned);
|
|---|
| 205 |
|
|---|
| 206 | /* Configure Configuration download acknowledge */
|
|---|
| 207 | extern void NsConfigConfDownloadAck(WORD_t);
|
|---|
| 208 |
|
|---|
| 209 | /* nmt configuration download acknowledge from user */
|
|---|
| 210 | extern void NsConfAckUser(void);
|
|---|
| 211 |
|
|---|
| 212 | /* Request Abort Configuration */
|
|---|
| 213 | extern int NsAbortConfigTransferReq(int,int);
|
|---|
| 214 |
|
|---|
| 215 | /* Response Verify Configuration */
|
|---|
| 216 | extern int NsVerifyConfigTransferRes(BYTE_t, BYTE_t);
|
|---|
| 217 |
|
|---|
| 218 | #ifdef __cplusplus
|
|---|
| 219 | }
|
|---|
| 220 | #endif
|
|---|
| 221 |
|
|---|
| 222 | #endif /* !nmts_DEFINED */
|
|---|
