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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/dcf.c Source File</title>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c</h1><a href="dcf_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span>
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<a name="l00003"></a>00003 <span class="comment"> Stack.</span>
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<a name="l00004"></a>00004 <span class="comment"></span>
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<a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00006"></a>00006 <span class="comment"></span>
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<a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span>
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<a name="l00008"></a>00008 <span class="comment"></span>
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<a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span>
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<a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span>
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<a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00013"></a>00013 <span class="comment"></span>
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<a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span>
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<a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span>
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<a name="l00018"></a>00018 <span class="comment"></span>
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<a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span>
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<a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span>
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<a name="l00022"></a>00022 <span class="comment"> USA</span>
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<a name="l00023"></a>00023 <span class="comment">*/</span>
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<a name="l00024"></a>00024
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<a name="l00025"></a>00025
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<a name="l00035"></a>00035 <span class="preprocessor">#include "objacces.h"</span>
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<a name="l00036"></a>00036 <span class="preprocessor">#include "sdo.h"</span>
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<a name="l00037"></a>00037 <span class="preprocessor">#include "dcf.h"</span>
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<a name="l00038"></a>00038 <span class="preprocessor">#include "sysdep.h"</span>
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<a name="l00039"></a>00039
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<a name="l00040"></a>00040
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<a name="l00054"></a>00054 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
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<a name="l00055"></a>00055 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
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<a name="l00056"></a>00056
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<a name="l00057"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00057</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
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<a name="l00058"></a>00058
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<a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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<a name="l00066"></a>00066 {
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<a name="l00067"></a>00067 UNS32 abortCode;
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<a name="l00068"></a>00068
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<a name="l00069"></a>00069 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != SDO_FINISHED)
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<a name="l00070"></a>00070 {
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<a name="l00071"></a>00071 MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode);
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<a name="l00072"></a>00072 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId);
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<a name="l00073"></a>00073 }
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<a name="l00074"></a>00074
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<a name="l00075"></a>00075 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT);
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<a name="l00076"></a>00076 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId);
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<a name="l00077"></a>00077 }
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<a name="l00078"></a>00078
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<a name="l00087"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00087</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId)
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<a name="l00088"></a>00088 {
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<a name="l00089"></a>00089 UNS32 errorCode;
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<a name="l00090"></a>00090 UNS16 target_Index;
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<a name="l00091"></a>00091 UNS8 target_Subindex;
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<a name="l00092"></a>00092 UNS32 target_Size;
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<a name="l00093"></a>00093 UNS32 res;
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<a name="l00094"></a>00094 ODCallback_t *Callback;
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<a name="l00095"></a>00095
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<a name="l00096"></a>00096 <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
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<a name="l00097"></a>00097 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
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<a name="l00098"></a>00098 {
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<a name="l00099"></a>00099 <span class="keywordflow">return</span> errorCode;
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<a name="l00100"></a>00100 }
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<a name="l00101"></a>00101
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<a name="l00103"></a>00103 <span class="keywordflow">while</span> (nodeId < ptrTable->bSubCount){
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<a name="l00104"></a>00104 UNS32 nb_targets;
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<a name="l00105"></a>00105
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<a name="l00106"></a>00106 UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].size;
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<a name="l00107"></a>00107 UNS8* dcfend;
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<a name="l00108"></a>00108
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<a name="l00109"></a>00109 {
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<a name="l00110"></a>00110 UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].pObject);
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<a name="l00111"></a>00111 dcfend = dcf + szData;
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<a name="l00112"></a>00112 <span class="keywordflow">if</span> (!d->dcf_cursor){
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<a name="l00113"></a>00113 d->dcf_cursor = (UNS8*)dcf + 4;
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<a name="l00114"></a>00114 d->dcf_count_targets = 0;
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<a name="l00115"></a>00115 }
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<a name="l00116"></a>00116 nb_targets = UNS32_LE(*((UNS32*)dcf));
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<a name="l00117"></a>00117 }
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<a name="l00118"></a>00118
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<a name="l00120"></a>00120 <span class="keywordflow">if</span>((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
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<a name="l00121"></a>00121 {
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<a name="l00123"></a>00123 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
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<a name="l00124"></a>00124 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
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<a name="l00125"></a>00125 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
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<a name="l00126"></a>00126
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<a name="l00127"></a>00127 <span class="comment">/* printf("Master : ConfigureSlaveNode %2.2x (Concise</span>
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<a name="l00128"></a>00128 <span class="comment"> DCF)\n",nodeId);*/</span>
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<a name="l00129"></a>00129 res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d,
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<a name="l00130"></a>00130 nodeId,
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<a name="l00131"></a>00131 target_Index,
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<a name="l00132"></a>00132 target_Subindex,
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<a name="l00133"></a>00133 target_Size,
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<a name="l00134"></a>00134 0,
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<a name="l00135"></a>00135 d->dcf_cursor,
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<a name="l00136"></a>00136 CheckSDOAndContinue,
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<a name="l00138"></a>00138 0);
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<a name="l00141"></a>00141 d->dcf_cursor += target_Size;
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<a name="l00142"></a>00142 d->dcf_count_targets++;
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<a name="l00143"></a>00143
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<a name="l00144"></a>00144 return ;
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<a name="l00145"></a>00145 }
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<a name="l00146"></a>00146 nodeId++;
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<a name="l00147"></a>00147 d->dcf_cursor = NULL;
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<a name="l00148"></a>00148 }
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<a name="l00150"></a>00150 (*d->preOperational)();
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<a name="l00151"></a>00151
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<a name="l00152"></a>00152 }
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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