1

     2

#include "canfestival.h"

     3

     4

%(nodes_includes)s

     5

     6

#define BOARD_DECL(nodename, busname, baudrate)\

     7

    s_BOARD nodename##Board = {busname, baudrate};

     8

     9

%(board_decls)s

    10

    11

static int init_level=0;

    12

extern int common_ticktime__;

    13

    14

    15

static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)

    16

{

    17

    /* Put the master in operational mode */

    18

    setState(d, Operational);

    19

    20

    /* Ask slave node to go in operational mode */

    21

    masterSendNMTstateChange (d, 0, NMT_Start_Node);

    22

}

    23

    24

#define NODE_DECLARE(nodename, nodeid)\

    25

void nodename##_preOperational()\

    26

{\

    27

    ConfigureSlaveNode(&nodename##_Data, nodeid);\

    28

}\

    29

    30

%(nodes_declare)s

    31

    32

    33

#define NODE_INIT(nodename, nodeid) \

    34

    /* Artificially force sync state to 1 so that it is not started */\

    35

    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

    36

    /* Force sync period to common_ticktime__ so that other node can read it*/\

    37

    *nodename##_Data.COB_ID_Sync = 0x40000080;\

    38

    *nodename##_Data.Sync_Cycle_Period = common_ticktime__ * 1000;\

    39

    /* Defining the node Id */\

    40

    setNodeId(&nodename##_Data, nodeid);\

    41

    /* init */\

    42

    setState(&nodename##_Data, Initialisation);

    43

    44

void InitNodes(CO_Data* d, UNS32 id)

    45

{

    46

    %(nodes_init)s

    47

}

    48

    49

#define NODE_CLOSE(nodename) \

    50

    if(init_level-- > 0)\

    51

    {\

    52

        EnterMutex();\

    53

        setState(&nodename##_Data, Stopped);\

    54

        LeaveMutex();\

    55

        canClose(&nodename##_Data);\

    56

    }

    57

    58

void __cleanup_%(locstr)s()

    59

{

    60

    %(nodes_close)s

    61

    62

    // Stop timer thread

    63

    if(init_level-- > 0)

    64

        StopTimerLoop();

    65

    66

}

    67

    68

#define NODE_OPEN(nodename)\

    69

    nodename##_Data.preOperational = nodename##_preOperational;\

    70

    if(!canOpen(&nodename##Board,&nodename##_Data)){\

    71

        printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\

    72

        return -1;\

    73

    }\

    74

    init_level++;

    75

    76

/***************************  INIT  *****************************************/

    77

int __init_%(locstr)s(int argc,char **argv)

    78

{

    79

#ifndef NOT_USE_DYNAMIC_LOADING

    80

    if( !LoadCanDriver("%(candriver)s") ){

    81

        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\

    82

        return -1;

    83

    }

    84

#endif      

    85

    86

    %(nodes_open)s

    87

    88

    // Start timer thread

    89

    StartTimerLoop(&InitNodes);

    90

    init_level++;

    91

    return 0;

    92

}

    93

    94

#define NODE_SEND_SYNC(nodename)\

    95

    sendSYNCMessage(&nodename##_Data);

    96

    98

{

    99

    /* Locks the stack, so that no changes occurs while PLC access variables

   100

     * TODO : implement buffers to avoid such a big lock  

   101

     *  */

   102

    EnterMutex();

   103

    /*Send Sync */

   104

    %(nodes_send_sync)s

   105

}

   106

   107

#define NODE_PROCEED_SYNC(nodename)\

   108

    proceedSYNC(&nodename##_Data);

   109

   110

void __publish_%(locstr)s()

   111

{

   112

    /*Call SendPDOEvent */

   113

    %(nodes_proceed_sync)s

   114

    LeaveMutex();

   115

}

   116