beremiz: plugins/canfestival/cf_runtime.c@3b53f9a509d9 (annotated)

52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	1
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	2	#include "canfestival.h"
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	3
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	4	%(nodes_includes)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	5
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	6	#define BOARD_DECL(nodename, busname, baudrate)\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	7	s_BOARD nodename##Board = {busname, baudrate};
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	8
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	9	%(board_decls)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	10
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	11	static int init_level=0;
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	12	extern int common_ticktime__;
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	13
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	14	#define NODE_INIT(nodename, nodeid) \
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	15	/* Artificially force sync state to 1 so that it is not started */\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	16	nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	17	/* Force sync period to common_ticktime__ so that other node can read it*/\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	18	*nodename##_Data.COB_ID_Sync = 0x40000080;\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	19	nodename##_Data.Sync_Cycle_Period = common_ticktime__ 1000;\
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	20	/* Defining the node Id */\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	21	setNodeId(&nodename##_Data, nodeid);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	22	/* init */\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	23	setState(&nodename##_Data, Initialisation);
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	24
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	25	void InitNodes(CO_Data* d, UNS32 id)
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	26	{
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	27	%(nodes_init)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	28	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	29
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	30	#define NODE_CLOSE(nodename) \
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	31	if(init_level-- > 0)\
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	32	{\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	33	EnterMutex();\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	34	setState(&nodename##_Data, Stopped);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	35	LeaveMutex();\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	36	canClose(&nodename##_Data);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	37	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	38
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	39	void __cleanup_%(locstr)s()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	40	{
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	41	%(nodes_close)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	42
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	43	// Stop timer thread
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	44	if(init_level-- > 0)
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	45	StopTimerLoop();
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	46
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	47	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	48
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	49	#define NODE_OPEN(nodename)\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	50	if(!canOpen(&nodename##Board,&nodename##_Data)){\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	51	printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	52	return -1;\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	53	}\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	54	init_level++;
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	55
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	56	/************************* INIT ***************************************/
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	57	int __init_%(locstr)s(int argc,char **argv)
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	58	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	59	#ifndef NOT_USE_DYNAMIC_LOADING
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	60	if( !LoadCanDriver("libcanfestival_can_%(candriver)s.so") ){
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	61	fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	62	return -1;
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	63	}
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	64	#endif
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	65
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	66	%(nodes_open)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	67
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	68	// Start timer thread
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	69	StartTimerLoop(&InitNodes);
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	70	init_level++;
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	71	return 0;
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	72	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	73
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	74	#define NODE_SEND_SYNC(nodename)\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	75	sendSYNCMessage(&nodename##_Data);
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	76
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	77	void __retrive_%(locstr)s()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	78	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	79	/* Locks the stack, so that no changes occurs while PLC access variables
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	80	* TODO : implement buffers to avoid such a big lock
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	81	* */
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	82	EnterMutex();
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	83	/Send Sync /
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	84	%(nodes_send_sync)s
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	85	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	86
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	87	#define NODE_PROCEED_SYNC(nodename)\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	88	proceedSYNC(&nodename##_Data);
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	89
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	90	void __publish_%(locstr)s()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	91	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	92	/Call SendPDOEvent /
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	93	%(nodes_proceed_sync)s
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	94	LeaveMutex();
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	95	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	96

author	etisserant
	Mon, 01 Oct 2007 21:44:40 +0200
changeset 57	3b53f9a509d9
parent 52	eaffcd0a2f03
child 59	b6ff896ff58b
permissions	-rw-r--r--