etisserant@52: 
etisserant@52: #include "canfestival.h"
etisserant@52: 
etisserant@52: %(nodes_includes)s
etisserant@52: 
etisserant@52: #define BOARD_DECL(nodename, busname, baudrate)\
etisserant@52:     s_BOARD nodename##Board = {busname, baudrate};
etisserant@52: 
etisserant@52: %(board_decls)s
etisserant@52: 
etisserant@52: static int init_level=0;
etisserant@57: extern int common_ticktime__;
etisserant@52: 
etisserant@59: 
etisserant@59: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
etisserant@59: {
etisserant@59:     /* Put the master in operational mode */
etisserant@59:     setState(d, Operational);
etisserant@59:       
etisserant@59:     /* Ask slave node to go in operational mode */
etisserant@59:     masterSendNMTstateChange (d, 0, NMT_Start_Node);
etisserant@59: }
etisserant@59: 
etisserant@59: #define NODE_DECLARE(nodename, nodeid)\
etisserant@59: void nodename##_preOperational()\
etisserant@59: {\
etisserant@59:     ConfigureSlaveNode(&nodename##_Data, nodeid);\
etisserant@59: }\
etisserant@59: 
etisserant@59: %(nodes_declare)s
etisserant@59: 
etisserant@59: 
etisserant@52: #define NODE_INIT(nodename, nodeid) \
etisserant@57:     /* Artificially force sync state to 1 so that it is not started */\
etisserant@57:     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
etisserant@57:     /* Force sync period to common_ticktime__ so that other node can read it*/\
etisserant@57:     *nodename##_Data.COB_ID_Sync = 0x40000080;\
etisserant@57:     *nodename##_Data.Sync_Cycle_Period = common_ticktime__ * 1000;\
etisserant@52:     /* Defining the node Id */\
etisserant@52:     setNodeId(&nodename##_Data, nodeid);\
etisserant@52:     /* init */\
etisserant@52:     setState(&nodename##_Data, Initialisation);
etisserant@52: 
etisserant@52: void InitNodes(CO_Data* d, UNS32 id)
etisserant@52: {
etisserant@52:     %(nodes_init)s
etisserant@52: }
etisserant@52: 
etisserant@52: #define NODE_CLOSE(nodename) \
etisserant@57:     if(init_level-- > 0)\
etisserant@52:     {\
etisserant@52:         EnterMutex();\
etisserant@52:         setState(&nodename##_Data, Stopped);\
etisserant@52:         LeaveMutex();\
etisserant@52:         canClose(&nodename##_Data);\
etisserant@52:     }
etisserant@52: 
etisserant@52: void __cleanup_%(locstr)s()
etisserant@52: {
etisserant@52:     %(nodes_close)s
etisserant@52:     
etisserant@52:     // Stop timer thread
etisserant@57:     if(init_level-- > 0)
etisserant@57:         StopTimerLoop();
etisserant@52: 
etisserant@52: }
etisserant@52: 
etisserant@52: #define NODE_OPEN(nodename)\
etisserant@59:     nodename##_Data.preOperational = nodename##_preOperational;\
etisserant@52:     if(!canOpen(&nodename##Board,&nodename##_Data)){\
etisserant@52:         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
etisserant@52:         return -1;\
etisserant@52:     }\
etisserant@52:     init_level++;
etisserant@52: 
etisserant@52: /***************************  INIT  *****************************************/
etisserant@52: int __init_%(locstr)s(int argc,char **argv)
etisserant@52: {
etisserant@57: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@57:     if( !LoadCanDriver("libcanfestival_can_%(candriver)s.so") ){
etisserant@57:         fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
etisserant@57:         return -1;
etisserant@57:     }
etisserant@57: #endif      
etisserant@52: 
etisserant@52:     %(nodes_open)s
etisserant@52: 
etisserant@52:     // Start timer thread
etisserant@52:     StartTimerLoop(&InitNodes);
etisserant@57:     init_level++;
etisserant@52:     return 0;
etisserant@52: }
etisserant@52: 
etisserant@57: #define NODE_SEND_SYNC(nodename)\
etisserant@57:     sendSYNCMessage(&nodename##_Data);
etisserant@57: 
etisserant@52: void __retrive_%(locstr)s()
etisserant@52: {
etisserant@57:     /* Locks the stack, so that no changes occurs while PLC access variables
etisserant@57:      * TODO : implement buffers to avoid such a big lock  
etisserant@57:      *  */
etisserant@52:     EnterMutex();
etisserant@57:     /*Send Sync */
etisserant@57:     %(nodes_send_sync)s
etisserant@52: }
etisserant@52: 
etisserant@57: #define NODE_PROCEED_SYNC(nodename)\
etisserant@57:     proceedSYNC(&nodename##_Data);
etisserant@57: 
etisserant@52: void __publish_%(locstr)s()
etisserant@52: {
etisserant@57:     /*Call SendPDOEvent */
etisserant@57:     %(nodes_proceed_sync)s
etisserant@52:     LeaveMutex();
etisserant@52: }
etisserant@52: