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Can_open_masternode
Diff: framework/src/dcf.c
- Revision:
- 0:9dd7c6129683
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/src/dcf.c Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,203 @@ +/* + This file is part of CanFestival, a library implementing CanOpen + Stack. + + Copyright (C): Edouard TISSERANT and Francis DUPIN + + See COPYING file for copyrights details. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 + USA +*/ + + +/** +** @file dcf.c +** @author Edouard TISSERANT and Francis DUPIN +** @date Mon Jun 4 17:06:12 2007 +** +** @brief EXEMPLE OF SOMMARY +** +** +*/ + + +#include "data.h" +#include "sysdep.h" +//#include "sdo.h" + +//extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, +// UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize); + + +static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId); + +/* Seek to next NodeID's DCF */ +#define SEEK_NEXT_DCF() \ + nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \ + if(nodeId==0) nodeId=1; \ + d->dcf_cursor = NULL; + +/** +** +** +** @param d +** @param nodeId +*/ +static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) +{ + UNS32 abortCode = 0; + + if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) + { + MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode); + MSG_WAR(0x2A02, "server node : ", nodeId); + } + + closeSDOtransfer(d, nodeId, SDO_CLIENT); + /* Timedout ? */ + if(abortCode == SDOABT_TIMED_OUT){ + /* Node may not be ready, try another one */ + /* Warning, this might leed to endless attempts */ + /* if node does never answer */ + SEEK_NEXT_DCF() + } + send_consise_dcf_loop(d,nodeId); +} + + +/** +** +** +** @param d +** @param nodeId +** +** @return +*/ +UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId) +{ + UNS32 szData; + /* Fetch DCF OD entry, if not already done */ + if(!d->dcf_odentry) + { + UNS32 errorCode; + ODCallback_t *Callback; + d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback); + /* If DCF entry do not exist... Nothing to do.*/ + if (errorCode != OD_SUCCESSFUL) goto DCF_finish; + } + + szData = d->dcf_odentry->pSubindex[nodeId].size; + + /* if the entry for the nodeId is not empty. */ + if(szData!=0){ + /* if the entry for the nodeId is already been processing, quit.*/ + if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1; + + d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND; + d->dcf_request++; + if(d->dcf_request==1) + send_consise_dcf_loop(d,nodeId); + return 1; + } + + DCF_finish: + return 0; +} + +static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId) +{ + if(nodeId > d->dcf_odentry->bSubCount) return; +/* Loop on all DCF subindexes, corresponding to node ID until there is no request*/ + //while (nodeId < d->dcf_odentry->bSubCount){ + while (d->dcf_request>0){ + if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){ + UNS8* dcfend; + UNS32 nb_entries; + UNS32 szData = d->dcf_odentry->pSubindex[nodeId].size; + + { + UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject); + dcfend = dcf + szData; + if (!d->dcf_cursor){ + d->dcf_cursor = (UNS8*)dcf + 4; + d->dcf_entries_count = 0; + } + nb_entries = UNS32_LE(*((UNS32*)dcf)); + } + + /* condition on consise DCF string for NodeID, if big enough */ + if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){ + + UNS16 target_Index; + UNS8 target_Subindex; + UNS32 target_Size; + + /* DCF data may not be 32/16b aligned, + * we cannot directly dereference d->dcf_cursor + * as UNS16 or UNS32 + * Do it byte per byte taking care on endianess*/ +#ifdef CANOPEN_BIG_ENDIAN + target_Index = *(d->dcf_cursor++) << 8 | + *(d->dcf_cursor++); +#else + memcpy(&target_Index, d->dcf_cursor,2); + d->dcf_cursor+=2; +#endif + + target_Subindex = *(d->dcf_cursor++); + +#ifdef CANOPEN_BIG_ENDIAN + target_Size = *(d->dcf_cursor++) << 24 | + *(d->dcf_cursor++) << 16 | + *(d->dcf_cursor++) << 8 | + *(d->dcf_cursor++); +#else + memcpy(&target_Size, d->dcf_cursor,4); + d->dcf_cursor+=4; +#endif + + _writeNetworkDict(d, /* CO_Data* d*/ + nodeId, /* UNS8 nodeId*/ + target_Index, /* UNS16 index*/ + target_Subindex, /* UNS8 subindex*/ + (UNS8)target_Size, /* UNS8 count*/ + 0, /* UNS8 dataType*/ + d->dcf_cursor,/* void *data*/ + CheckSDOAndContinue,/* SDOCallback_t + Callback*/ + 0); /* no endianize*/ + /* Push d->dcf_cursor to the end of data*/ + + d->dcf_cursor += target_Size; + d->dcf_entries_count++; + + /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/ + return; + } + else + { + /* We have finished with the dcf entry. Change the flag, decrement the request + * and execute the bootup callback. */ + d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND; + d->dcf_request--; + (*d->post_SlaveBootup)(d, nodeId); + } + } + + SEEK_NEXT_DCF() + } + +}