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Can_open_slavenode
framework/src/dcf.c@6:bc64031ac849, 2012-09-26 (annotated)
- Committer:
- sam_grove
- Date:
- Wed Sep 26 05:43:05 2012 +0000
- Revision:
- 6:bc64031ac849
- Parent:
- 0:6219434a0cb5
Change a typecast in can_mbed.cpp from unit8_t * to char * to fit the CANMessage constructor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove |
0:6219434a0cb5 | 1 | /* |
sam_grove |
0:6219434a0cb5 | 2 | This file is part of CanFestival, a library implementing CanOpen Stack. |
sam_grove |
0:6219434a0cb5 | 3 | |
sam_grove |
0:6219434a0cb5 | 4 | Copyright (C): Edouard TISSERANT and Francis DUPIN |
sam_grove |
0:6219434a0cb5 | 5 | |
sam_grove |
0:6219434a0cb5 | 6 | See COPYING file for copyrights details. |
sam_grove |
0:6219434a0cb5 | 7 | |
sam_grove |
0:6219434a0cb5 | 8 | This library is free software; you can redistribute it and/or |
sam_grove |
0:6219434a0cb5 | 9 | modify it under the terms of the GNU Lesser General Public |
sam_grove |
0:6219434a0cb5 | 10 | License as published by the Free Software Foundation; either |
sam_grove |
0:6219434a0cb5 | 11 | version 2.1 of the License, or (at your option) any later version. |
sam_grove |
0:6219434a0cb5 | 12 | |
sam_grove |
0:6219434a0cb5 | 13 | This library is distributed in the hope that it will be useful, |
sam_grove |
0:6219434a0cb5 | 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
sam_grove |
0:6219434a0cb5 | 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
sam_grove |
0:6219434a0cb5 | 16 | Lesser General Public License for more details. |
sam_grove |
0:6219434a0cb5 | 17 | |
sam_grove |
0:6219434a0cb5 | 18 | You should have received a copy of the GNU Lesser General Public |
sam_grove |
0:6219434a0cb5 | 19 | License along with this library; if not, write to the Free Software |
sam_grove |
0:6219434a0cb5 | 20 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 |
sam_grove |
0:6219434a0cb5 | 21 | USA |
sam_grove |
0:6219434a0cb5 | 22 | */ |
sam_grove |
0:6219434a0cb5 | 23 | |
sam_grove |
0:6219434a0cb5 | 24 | |
sam_grove |
0:6219434a0cb5 | 25 | /** |
sam_grove |
0:6219434a0cb5 | 26 | ** @file dcf.c |
sam_grove |
0:6219434a0cb5 | 27 | ** @author Edouard TISSERANT and Francis DUPIN |
sam_grove |
0:6219434a0cb5 | 28 | ** @date Mon Jun 4 17:06:12 2007 |
sam_grove |
0:6219434a0cb5 | 29 | ** |
sam_grove |
0:6219434a0cb5 | 30 | ** @brief EXEMPLE OF SOMMARY |
sam_grove |
0:6219434a0cb5 | 31 | ** |
sam_grove |
0:6219434a0cb5 | 32 | ** |
sam_grove |
0:6219434a0cb5 | 33 | */ |
sam_grove |
0:6219434a0cb5 | 34 | |
sam_grove |
0:6219434a0cb5 | 35 | |
sam_grove |
0:6219434a0cb5 | 36 | #include "data.h" |
sam_grove |
0:6219434a0cb5 | 37 | #include "sysdep.h" |
sam_grove |
0:6219434a0cb5 | 38 | //#include "sdo.h" |
sam_grove |
0:6219434a0cb5 | 39 | |
sam_grove |
0:6219434a0cb5 | 40 | //extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
sam_grove |
0:6219434a0cb5 | 41 | // UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize); |
sam_grove |
0:6219434a0cb5 | 42 | |
sam_grove |
0:6219434a0cb5 | 43 | |
sam_grove |
0:6219434a0cb5 | 44 | static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId); |
sam_grove |
0:6219434a0cb5 | 45 | |
sam_grove |
0:6219434a0cb5 | 46 | /* Seek to next NodeID's DCF */ |
sam_grove |
0:6219434a0cb5 | 47 | #define SEEK_NEXT_DCF() \ |
sam_grove |
0:6219434a0cb5 | 48 | nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \ |
sam_grove |
0:6219434a0cb5 | 49 | if(nodeId==0) nodeId=1; \ |
sam_grove |
0:6219434a0cb5 | 50 | d->dcf_cursor = NULL; |
sam_grove |
0:6219434a0cb5 | 51 | |
sam_grove |
0:6219434a0cb5 | 52 | /** |
sam_grove |
0:6219434a0cb5 | 53 | ** |
sam_grove |
0:6219434a0cb5 | 54 | ** |
sam_grove |
0:6219434a0cb5 | 55 | ** @param d |
sam_grove |
0:6219434a0cb5 | 56 | ** @param nodeId |
sam_grove |
0:6219434a0cb5 | 57 | */ |
sam_grove |
0:6219434a0cb5 | 58 | static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
sam_grove |
0:6219434a0cb5 | 59 | { |
sam_grove |
0:6219434a0cb5 | 60 | UNS32 abortCode = 0; |
sam_grove |
0:6219434a0cb5 | 61 | |
sam_grove |
0:6219434a0cb5 | 62 | if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
sam_grove |
0:6219434a0cb5 | 63 | { |
sam_grove |
0:6219434a0cb5 | 64 | MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode); |
sam_grove |
0:6219434a0cb5 | 65 | MSG_WAR(0x2A02, "server node : ", nodeId); |
sam_grove |
0:6219434a0cb5 | 66 | } |
sam_grove |
0:6219434a0cb5 | 67 | |
sam_grove |
0:6219434a0cb5 | 68 | closeSDOtransfer(d, nodeId, SDO_CLIENT); |
sam_grove |
0:6219434a0cb5 | 69 | /* Timedout ? */ |
sam_grove |
0:6219434a0cb5 | 70 | if(abortCode == SDOABT_TIMED_OUT){ |
sam_grove |
0:6219434a0cb5 | 71 | /* Node may not be ready, try another one */ |
sam_grove |
0:6219434a0cb5 | 72 | /* Warning, this might leed to endless attempts */ |
sam_grove |
0:6219434a0cb5 | 73 | /* if node does never answer */ |
sam_grove |
0:6219434a0cb5 | 74 | SEEK_NEXT_DCF() |
sam_grove |
0:6219434a0cb5 | 75 | } |
sam_grove |
0:6219434a0cb5 | 76 | send_consise_dcf_loop(d,nodeId); |
sam_grove |
0:6219434a0cb5 | 77 | } |
sam_grove |
0:6219434a0cb5 | 78 | |
sam_grove |
0:6219434a0cb5 | 79 | |
sam_grove |
0:6219434a0cb5 | 80 | /** |
sam_grove |
0:6219434a0cb5 | 81 | ** |
sam_grove |
0:6219434a0cb5 | 82 | ** |
sam_grove |
0:6219434a0cb5 | 83 | ** @param d |
sam_grove |
0:6219434a0cb5 | 84 | ** @param nodeId |
sam_grove |
0:6219434a0cb5 | 85 | ** |
sam_grove |
0:6219434a0cb5 | 86 | ** @return |
sam_grove |
0:6219434a0cb5 | 87 | */ |
sam_grove |
0:6219434a0cb5 | 88 | UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId) |
sam_grove |
0:6219434a0cb5 | 89 | { |
sam_grove |
0:6219434a0cb5 | 90 | UNS32 szData; |
sam_grove |
0:6219434a0cb5 | 91 | /* Fetch DCF OD entry, if not already done */ |
sam_grove |
0:6219434a0cb5 | 92 | if(!d->dcf_odentry) |
sam_grove |
0:6219434a0cb5 | 93 | { |
sam_grove |
0:6219434a0cb5 | 94 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 95 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 96 | d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 97 | /* If DCF entry do not exist... Nothing to do.*/ |
sam_grove |
0:6219434a0cb5 | 98 | if (errorCode != OD_SUCCESSFUL) goto DCF_finish; |
sam_grove |
0:6219434a0cb5 | 99 | } |
sam_grove |
0:6219434a0cb5 | 100 | |
sam_grove |
0:6219434a0cb5 | 101 | szData = d->dcf_odentry->pSubindex[nodeId].size; |
sam_grove |
0:6219434a0cb5 | 102 | |
sam_grove |
0:6219434a0cb5 | 103 | /* if the entry for the nodeId is not empty. */ |
sam_grove |
0:6219434a0cb5 | 104 | if(szData!=0){ |
sam_grove |
0:6219434a0cb5 | 105 | /* if the entry for the nodeId is already been processing, quit.*/ |
sam_grove |
0:6219434a0cb5 | 106 | if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1; |
sam_grove |
0:6219434a0cb5 | 107 | |
sam_grove |
0:6219434a0cb5 | 108 | d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND; |
sam_grove |
0:6219434a0cb5 | 109 | d->dcf_request++; |
sam_grove |
0:6219434a0cb5 | 110 | if(d->dcf_request==1) |
sam_grove |
0:6219434a0cb5 | 111 | send_consise_dcf_loop(d,nodeId); |
sam_grove |
0:6219434a0cb5 | 112 | return 1; |
sam_grove |
0:6219434a0cb5 | 113 | } |
sam_grove |
0:6219434a0cb5 | 114 | |
sam_grove |
0:6219434a0cb5 | 115 | DCF_finish: |
sam_grove |
0:6219434a0cb5 | 116 | return 0; |
sam_grove |
0:6219434a0cb5 | 117 | } |
sam_grove |
0:6219434a0cb5 | 118 | |
sam_grove |
0:6219434a0cb5 | 119 | static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId) |
sam_grove |
0:6219434a0cb5 | 120 | { |
sam_grove |
0:6219434a0cb5 | 121 | if(nodeId > d->dcf_odentry->bSubCount) return; |
sam_grove |
0:6219434a0cb5 | 122 | /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/ |
sam_grove |
0:6219434a0cb5 | 123 | //while (nodeId < d->dcf_odentry->bSubCount){ |
sam_grove |
0:6219434a0cb5 | 124 | while (d->dcf_request>0){ |
sam_grove |
0:6219434a0cb5 | 125 | if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){ |
sam_grove |
0:6219434a0cb5 | 126 | UNS8* dcfend; |
sam_grove |
0:6219434a0cb5 | 127 | UNS32 nb_entries; |
sam_grove |
0:6219434a0cb5 | 128 | UNS32 szData = d->dcf_odentry->pSubindex[nodeId].size; |
sam_grove |
0:6219434a0cb5 | 129 | |
sam_grove |
0:6219434a0cb5 | 130 | { |
sam_grove |
0:6219434a0cb5 | 131 | UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject); |
sam_grove |
0:6219434a0cb5 | 132 | dcfend = dcf + szData; |
sam_grove |
0:6219434a0cb5 | 133 | if (!d->dcf_cursor){ |
sam_grove |
0:6219434a0cb5 | 134 | d->dcf_cursor = (UNS8*)dcf + 4; |
sam_grove |
0:6219434a0cb5 | 135 | d->dcf_entries_count = 0; |
sam_grove |
0:6219434a0cb5 | 136 | } |
sam_grove |
0:6219434a0cb5 | 137 | nb_entries = UNS32_LE(*((UNS32*)dcf)); |
sam_grove |
0:6219434a0cb5 | 138 | } |
sam_grove |
0:6219434a0cb5 | 139 | |
sam_grove |
0:6219434a0cb5 | 140 | /* condition on consise DCF string for NodeID, if big enough */ |
sam_grove |
0:6219434a0cb5 | 141 | if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){ |
sam_grove |
0:6219434a0cb5 | 142 | |
sam_grove |
0:6219434a0cb5 | 143 | UNS16 target_Index; |
sam_grove |
0:6219434a0cb5 | 144 | UNS8 target_Subindex; |
sam_grove |
0:6219434a0cb5 | 145 | UNS32 target_Size; |
sam_grove |
0:6219434a0cb5 | 146 | |
sam_grove |
0:6219434a0cb5 | 147 | /* DCF data may not be 32/16b aligned, |
sam_grove |
0:6219434a0cb5 | 148 | * we cannot directly dereference d->dcf_cursor |
sam_grove |
0:6219434a0cb5 | 149 | * as UNS16 or UNS32 |
sam_grove |
0:6219434a0cb5 | 150 | * Do it byte per byte taking care on endianess*/ |
sam_grove |
0:6219434a0cb5 | 151 | #ifdef CANOPEN_BIG_ENDIAN |
sam_grove |
0:6219434a0cb5 | 152 | target_Index = *(d->dcf_cursor++) << 8 | |
sam_grove |
0:6219434a0cb5 | 153 | *(d->dcf_cursor++); |
sam_grove |
0:6219434a0cb5 | 154 | #else |
sam_grove |
0:6219434a0cb5 | 155 | memcpy(&target_Index, d->dcf_cursor,2); |
sam_grove |
0:6219434a0cb5 | 156 | d->dcf_cursor+=2; |
sam_grove |
0:6219434a0cb5 | 157 | #endif |
sam_grove |
0:6219434a0cb5 | 158 | |
sam_grove |
0:6219434a0cb5 | 159 | target_Subindex = *(d->dcf_cursor++); |
sam_grove |
0:6219434a0cb5 | 160 | |
sam_grove |
0:6219434a0cb5 | 161 | #ifdef CANOPEN_BIG_ENDIAN |
sam_grove |
0:6219434a0cb5 | 162 | target_Size = *(d->dcf_cursor++) << 24 | |
sam_grove |
0:6219434a0cb5 | 163 | *(d->dcf_cursor++) << 16 | |
sam_grove |
0:6219434a0cb5 | 164 | *(d->dcf_cursor++) << 8 | |
sam_grove |
0:6219434a0cb5 | 165 | *(d->dcf_cursor++); |
sam_grove |
0:6219434a0cb5 | 166 | #else |
sam_grove |
0:6219434a0cb5 | 167 | memcpy(&target_Size, d->dcf_cursor,4); |
sam_grove |
0:6219434a0cb5 | 168 | d->dcf_cursor+=4; |
sam_grove |
0:6219434a0cb5 | 169 | #endif |
sam_grove |
0:6219434a0cb5 | 170 | |
sam_grove |
0:6219434a0cb5 | 171 | _writeNetworkDict(d, /* CO_Data* d*/ |
sam_grove |
0:6219434a0cb5 | 172 | nodeId, /* UNS8 nodeId*/ |
sam_grove |
0:6219434a0cb5 | 173 | target_Index, /* UNS16 index*/ |
sam_grove |
0:6219434a0cb5 | 174 | target_Subindex, /* UNS8 subindex*/ |
sam_grove |
0:6219434a0cb5 | 175 | (UNS8)target_Size, /* UNS8 count*/ |
sam_grove |
0:6219434a0cb5 | 176 | 0, /* UNS8 dataType*/ |
sam_grove |
0:6219434a0cb5 | 177 | d->dcf_cursor,/* void *data*/ |
sam_grove |
0:6219434a0cb5 | 178 | CheckSDOAndContinue,/* SDOCallback_t |
sam_grove |
0:6219434a0cb5 | 179 | Callback*/ |
sam_grove |
0:6219434a0cb5 | 180 | 0); /* no endianize*/ |
sam_grove |
0:6219434a0cb5 | 181 | /* Push d->dcf_cursor to the end of data*/ |
sam_grove |
0:6219434a0cb5 | 182 | |
sam_grove |
0:6219434a0cb5 | 183 | d->dcf_cursor += target_Size; |
sam_grove |
0:6219434a0cb5 | 184 | d->dcf_entries_count++; |
sam_grove |
0:6219434a0cb5 | 185 | |
sam_grove |
0:6219434a0cb5 | 186 | /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/ |
sam_grove |
0:6219434a0cb5 | 187 | return; |
sam_grove |
0:6219434a0cb5 | 188 | } |
sam_grove |
0:6219434a0cb5 | 189 | else |
sam_grove |
0:6219434a0cb5 | 190 | { |
sam_grove |
0:6219434a0cb5 | 191 | /* We have finished with the dcf entry. Change the flag, decrement the request |
sam_grove |
0:6219434a0cb5 | 192 | * and execute the bootup callback. */ |
sam_grove |
0:6219434a0cb5 | 193 | d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND; |
sam_grove |
0:6219434a0cb5 | 194 | d->dcf_request--; |
sam_grove |
0:6219434a0cb5 | 195 | (*d->post_SlaveBootup)(d, nodeId); |
sam_grove |
0:6219434a0cb5 | 196 | } |
sam_grove |
0:6219434a0cb5 | 197 | } |
sam_grove |
0:6219434a0cb5 | 198 | |
sam_grove |
0:6219434a0cb5 | 199 | SEEK_NEXT_DCF() |
sam_grove |
0:6219434a0cb5 | 200 | } |
sam_grove |
0:6219434a0cb5 | 201 | |
sam_grove |
0:6219434a0cb5 | 202 | } |