Diff: framework/src/lifegrd.c

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/lifegrd.c	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,275 @@
+/*
+  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   lifegrd.c
+** @author Edouard TISSERANT
+** @date   Mon Jun  4 17:19:24 2007
+**
+** @brief
+**
+**
+*/
+
+#include <data.h>
+#include "lifegrd.h"
+#include "canfestival.h"
+#include "dcf.h"
+#include "sysdep.h"
+
+
+void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
+
+
+void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
+
+UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
+
+/*!
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+**/
+e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
+{
+  e_nodeState networkNodeState = d->NMTable[nodeId];
+  return networkNodeState;
+}
+
+/*! 
+** The Consumer Timer Callback
+**
+** @param d
+** @param id
+**/
+void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
+{
+  UNS8 nodeId = (UNS8)(((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16);
+  /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
+
+  /* timer have been notified and is now free (non periodic)*/
+  /* -> avoid deleting re-assigned timer if message is received too late*/
+  d->ConsumerHeartBeatTimers[id]=TIMER_NONE;
+  
+  /* set node state */
+  d->NMTable[nodeId] = Disconnected;
+  /*! call heartbeat error with NodeId */
+  (*d->heartbeatError)(d, nodeId);
+}
+
+/*!
+**
+**
+** @param d
+** @param m
+**/
+void proceedNODE_GUARD(CO_Data* d, Message* m )
+{
+  UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
+
+  if((m->rtr == 1) )
+    /*!
+    ** Notice that only the master can have sent this
+    ** node guarding request
+    */
+    {
+      /*!
+      ** Receiving a NMT NodeGuarding (request of the state by the
+      ** master)
+      ** Only answer to the NMT NodeGuarding request, the master is
+      ** not checked (not implemented)
+      */
+      if (nodeId == *d->bDeviceNodeId )
+        {
+          Message msg;
+          UNS16 tmp = *d->bDeviceNodeId + 0x700;
+          msg.cob_id = UNS16_LE(tmp);
+          msg.len = (UNS8)0x01;
+          msg.rtr = 0;
+          msg.data[0] = d->nodeState;
+          if (d->toggle)
+            {
+              msg.data[0] |= 0x80 ;
+              d->toggle = 0 ;
+            }
+          else
+            d->toggle = 1 ;
+          /* send the nodeguard response. */
+          MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
+          canSend(d->canHandle,&msg );
+        }
+
+    }else{ /* Not a request CAN */
+      /* The state is stored on 7 bit */
+      e_nodeState newNodeState = (e_nodeState) ((*m).data[0] & 0x7F);
+
+      MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
+      
+      if (d->NMTable[nodeId] != newNodeState)
+      {
+        (*d->post_SlaveStateChange)(d, nodeId, newNodeState);
+        /* the slave's state receievd is stored in the NMTable */
+        d->NMTable[nodeId] = newNodeState;
+      }
+
+      /* Boot-Up frame reception */
+      if ( d->NMTable[nodeId] == Initialisation)
+        {
+          /*
+          ** The device send the boot-up message (Initialisation)
+          ** to indicate the master that it is entered in
+          ** pre_operational mode
+          ** Because the  device enter automaticaly in pre_operational
+          ** mode,
+          ** the pre_operational mode is stored
+          ** NMTable[bus_id][nodeId] = Pre_operational
+          */
+          MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
+          
+          if(!send_consise_dcf(d,nodeId)){
+             /* call post SlaveBootup with NodeId */
+              (*d->post_SlaveBootup)(d, nodeId);
+          }
+        }
+
+      if( d->NMTable[nodeId] != Unknown_state ) {
+        UNS8 index, ConsummerHeartBeat_nodeId ;
+        for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+          {
+            ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
+            if ( nodeId == ConsummerHeartBeat_nodeId )
+              {
+                TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+                /* Renew alarm for next heartbeat. */
+                DelAlarm(d->ConsumerHeartBeatTimers[index]);
+                d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+              }
+          }
+      }
+    }
+}
+
+/*! The Consumer Timer Callback
+**
+**
+** @param d
+** @param id
+**/
+void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
+{
+  if(*d->ProducerHeartBeatTime)
+    {
+      Message msg;
+      /* Time expired, the heartbeat must be sent immediately
+      ** generate the correct node-id: this is done by the offset 1792
+      ** (decimal) and additionaly
+      ** the node-id of this device.
+      */
+      UNS16 tmp = *d->bDeviceNodeId + 0x700;
+      msg.cob_id = UNS16_LE(tmp);
+      msg.len = (UNS8)0x01;
+      msg.rtr = 0;
+      msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
+      /* send the heartbeat */
+      MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
+      canSend(d->canHandle,&msg );
+
+    }else{
+      d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
+    }
+}
+
+/*! This is called when Index 0x1017 is updated.
+**
+**
+** @param d
+** @param unsused_indextable
+** @param unsused_bSubindex
+**
+** @return
+**/
+UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+{
+  heartbeatStop(d);
+  heartbeatInit(d);
+  return 0;
+}
+
+/*!
+**
+**
+** @param d
+**/
+void heartbeatInit(CO_Data* d)
+{
+
+  UNS8 index; /* Index to scan the table of heartbeat consumers */
+  RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
+
+  d->toggle = 0;
+
+  for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+    {
+      TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+      /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
+      if ( time )
+        {
+          d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+        }
+    }
+
+  if ( *d->ProducerHeartBeatTime )
+    {
+      TIMEVAL time = *d->ProducerHeartBeatTime;
+      d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+    }
+}
+
+/*!
+**
+**
+** @param d
+**/
+void heartbeatStop(CO_Data* d)
+{
+  UNS8 index;
+  for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+    {
+      d->ConsumerHeartBeatTimers[index] = DelAlarm(d->ConsumerHeartBeatTimers[index]);
+    }
+
+  d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
+}
+
+/*!
+**
+**
+** @param heartbeatID
+**/
+void _heartbeatError(CO_Data* d, UNS8 heartbeatID){}
+void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID){}
+void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState){}
+