beremiz: plugins/canfestival/cf_runtime.c@7818ec7b5c53 (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
59 b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	14
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	15	static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	16	{
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	17	/* Put the master in operational mode */
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	18	setState(d, Operational);
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	19
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	20	/* Ask slave node to go in operational mode */
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	21	masterSendNMTstateChange (d, 0, NMT_Start_Node);
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	22	}
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	23
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	24	#define NODE_DECLARE(nodename, nodeid)\
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	25	void nodename##_preOperational()\
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	26	{\
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	27	ConfigureSlaveNode(&nodename##_Data, nodeid);\
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	28	}\
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	29
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	30	%(nodes_declare)s
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	31
b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	32
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	33	#define NODE_INIT(nodename, nodeid) \
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	34	/* 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	35	nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	36	/* 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	37	*nodename##_Data.COB_ID_Sync = 0x40000080;\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	38	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	39	/* Defining the node Id */\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	40	setNodeId(&nodename##_Data, nodeid);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	41	/* init */\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	42	setState(&nodename##_Data, Initialisation);
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	43
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	44	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	45	{
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	46	%(nodes_init)s
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
144 7818ec7b5c53 add Exit function and StopTimerLoop arg to match with recent changes in CanFestival greg parents: 137 diff changeset	49	void Exit(CO_Data* d, UNS32 id)
7818ec7b5c53 add Exit function and StopTimerLoop arg to match with recent changes in CanFestival greg parents: 137 diff changeset	50	{
7818ec7b5c53 add Exit function and StopTimerLoop arg to match with recent changes in CanFestival greg parents: 137 diff changeset	51	}
7818ec7b5c53 add Exit function and StopTimerLoop arg to match with recent changes in CanFestival greg parents: 137 diff changeset	52
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	53	#define NODE_CLOSE(nodename) \
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	54	if(init_level-- > 0)\
52 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	EnterMutex();\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	57	setState(&nodename##_Data, Stopped);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	58	LeaveMutex();\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	59	canClose(&nodename##_Data);\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	60	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	61
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	62	void __cleanup_%(locstr)s()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	63	{
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	64	%(nodes_close)s
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	// Stop timer thread
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	67	if(init_level-- > 0)
144 7818ec7b5c53 add Exit function and StopTimerLoop arg to match with recent changes in CanFestival greg parents: 137 diff changeset	68	StopTimerLoop(&Exit);
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	69
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	70	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	71
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	72	#define NODE_OPEN(nodename)\
59 b6ff896ff58b Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs etisserant parents: 57 diff changeset	73	nodename##_Data.preOperational = nodename##_preOperational;\
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	74	if(!canOpen(&nodename##Board,&nodename##_Data)){\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	75	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	76	return -1;\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	77	}\
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	78	init_level++;
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	79
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	80	/************************* INIT ***************************************/
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	81	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	82	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	83	#ifndef NOT_USE_DYNAMIC_LOADING
75 9ad18a387a96 Windows related enhancements etisserant parents: 59 diff changeset	84	if( !LoadCanDriver("%(candriver)s") ){
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	85	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	86	return -1;
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	87	}
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	88	#endif
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	89
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	90	%(nodes_open)s
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	91
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	92	// Start timer thread
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	93	StartTimerLoop(&InitNodes);
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	94	init_level++;
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	95	return 0;
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	96	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	97
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	98	#define NODE_SEND_SYNC(nodename)\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	99	sendSYNCMessage(&nodename##_Data);
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	100
137 187a4e2412e5 Modifying svgui plugin for following new SVGUIEditor version lbessard parents: 75 diff changeset	101	void __retrieve_%(locstr)s()
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	102	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	103	/* 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	104	* TODO : implement buffers to avoid such a big lock
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	105	* */
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	106	EnterMutex();
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	107	/Send Sync /
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	108	%(nodes_send_sync)s
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	109	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	110
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	111	#define NODE_PROCEED_SYNC(nodename)\
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	112	proceedSYNC(&nodename##_Data);
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	113
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	114	void __publish_%(locstr)s()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	115	{
57 3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	116	/Call SendPDOEvent /
3b53f9a509d9 Basic CANOpen master node test compiles and run. etisserant parents: 52 diff changeset	117	%(nodes_proceed_sync)s
52 eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	118	LeaveMutex();
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	119	}
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop etisserant parents: diff changeset	120

author	greg
	Tue, 06 May 2008 15:22:18 +0200
changeset 144	7818ec7b5c53
parent 137	187a4e2412e5
child 152	9abf2ac9cb8e
permissions	-rw-r--r--