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