author | Laurent Bessard |
Wed, 19 Dec 2012 13:32:51 +0100 | |
changeset 901 | ab43f3e40b9d |
parent 778 | 4f9e6d9a3d98 |
child 1397 | 21a2ea65cb30 |
permissions | -rw-r--r-- |
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#include "canfestival.h" |
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#include "dcf.h" |
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/* CanFestival nodes generated OD headers*/ |
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%(nodes_includes)s |
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#define BOARD_DECL(nodename, busname, baudrate)\ |
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s_BOARD nodename##Board = {busname, baudrate}; |
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/* CAN channels declaration */ |
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%(board_decls)s |
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/* Keep track of init level to cleanup correctly */ |
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static int init_level=0; |
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/* Retrieve PLC cycle time */ |
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extern int common_ticktime__; |
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/* Per master node slavebootup callbacks. Checks that |
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* every node have booted before calling Master_post_SlaveBootup */ |
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%(slavebootups)s |
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/* One slave node post_sync callback. |
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* Used to align PLC tick-time on CANopen SYNC |
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*/ |
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%(post_sync)s |
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/* Triggers DCF transission |
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*/ |
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%(pre_op)s |
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#define NODE_FORCE_SYNC(nodename) \ |
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/* Artificially force sync state to 1 so that it is not started */\ |
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nodename##_Data.CurrentCommunicationState.csSYNC = -1;\ |
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/* Force sync period to common_ticktime__ so that other node can read it*/\ |
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*nodename##_Data.COB_ID_Sync = 0x40000080;\ |
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*nodename##_Data.Sync_Cycle_Period = common_ticktime__ * 1000; |
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#define NODE_INIT(nodename, nodeid) \ |
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/* Defining the node Id */\ |
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setNodeId(&nodename##_Data, nodeid);\ |
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/* init */\ |
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setState(&nodename##_Data, Initialisation); |
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#define NODE_MASTER_INIT(nodename, nodeid) \ |
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NODE_FORCE_SYNC(nodename) \ |
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NODE_INIT(nodename, nodeid) |
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#define NODE_SLAVE_INIT(nodename, nodeid) \ |
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NODE_INIT(nodename, nodeid) |
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void InitNodes(CO_Data* d, UNS32 id) |
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{ |
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%(slavebootup_register)s |
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%(post_sync_register)s |
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%(pre_op_register)s |
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%(nodes_init)s |
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} |
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#define NODE_STOP(nodename) \ |
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if(init_level-- > 0)\ |
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{\ |
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masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\ |
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setState(&nodename##_Data, Stopped);\ |
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} |
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void Exit(CO_Data* d, UNS32 id) |
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{ |
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%(nodes_stop)s |
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} |
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#define NODE_CLOSE(nodename) \ |
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if(init_level_c-- > 0)\ |
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{\ |
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canClose(&nodename##_Data);\ |
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} |
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void __cleanup_%(locstr)s(void) |
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{ |
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// Stop timer thread |
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if(init_level-- > 0){ |
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int init_level_c = init_level; |
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StopTimerLoop(&Exit); |
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%(nodes_close)s |
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} |
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TimerCleanup(); |
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} |
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#ifndef stderr |
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#define fprintf(...) |
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#define fflush(...) |
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#endif |
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#define NODE_OPEN(nodename)\ |
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if(!canOpen(&nodename##Board,&nodename##_Data)){\ |
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fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\ |
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fflush(stderr);\ |
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return -1;\ |
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}\ |
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init_level++; |
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/*************************** INIT *****************************************/ |
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int __init_%(locstr)s(int argc,char **argv) |
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{ |
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#ifndef NOT_USE_DYNAMIC_LOADING |
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if( !LoadCanDriver("%(candriver)s") ){ |
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fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\ |
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fflush(stderr);\ |
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return -1;\ |
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} |
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#endif |
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TimerInit(); |
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%(nodes_open)s |
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// Start timer thread |
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StartTimerLoop(&InitNodes); |
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init_level++; |
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return 0; |
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} |
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#define NODE_SEND_SYNC(nodename)\ |
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if(getState(&nodename##_Data)==Operational){\ |
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sendSYNCMessage(&nodename##_Data);\ |
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} |
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void __retrieve_%(locstr)s(void) |
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{ |
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/* Locks the stack, so that no changes occurs while PLC access variables |
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* TODO : implement buffers to avoid such a big lock |
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* */ |
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EnterMutex(); |
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/* Send Sync */ |
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%(nodes_send_sync)s |
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} |
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#define NODE_PROCEED_SYNC(nodename)\ |
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proceedSYNC(&nodename##_Data); |
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void __publish_%(locstr)s(void) |
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{ |
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/* Process sync event */ |
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%(nodes_proceed_sync)s |
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LeaveMutex(); |
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} |
eaffcd0a2f03
Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents:
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changeset
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148 |