src/lifegrd.c
author Mongo
Tue, 13 Dec 2011 17:38:12 +0100
changeset 671 06b30f679531
parent 669 50da44ebaf00
child 750 bfb63ff7106e
permissions -rw-r--r--
bug correction in dcf.c, an entry of only one byte was not checked
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     1
/*
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     2
  This file is part of CanFestival, a library implementing CanOpen
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     3
  Stack.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     4
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     5
  Copyright (C): Edouard TISSERANT and Francis DUPIN
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     6
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     7
  See COPYING file for copyrights details.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     8
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
     9
  This library is free software; you can redistribute it and/or
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    10
  modify it under the terms of the GNU Lesser General Public
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    11
  License as published by the Free Software Foundation; either
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    12
  version 2.1 of the License, or (at your option) any later version.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    13
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    14
  This library is distributed in the hope that it will be useful,
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    15
  but WITHOUT ANY WARRANTY; without even the implied warranty of
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    16
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    17
  Lesser General Public License for more details.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    18
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    19
  You should have received a copy of the GNU Lesser General Public
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    20
  License along with this library; if not, write to the Free Software
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    21
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    22
  USA
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    23
*/
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    24
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    25
/*!
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    26
** @file   lifegrd.c
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    27
** @author Edouard TISSERANT
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    28
** @date   Mon Jun  4 17:19:24 2007
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    29
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    30
** @brief
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    31
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    32
**
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    33
*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    34
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    35
#include <data.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    36
#include "lifegrd.h"
149
fe50ada8020b Changes in the API:
etisserant
parents: 71
diff changeset
    37
#include "canfestival.h"
357
838e5397ae67 Fixed some build errors and warnigs, thanks to Martin Hollenweger (geautomotive.eu)
etisserant
parents: 352
diff changeset
    38
#include "dcf.h"
370
6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents: 365
diff changeset
    39
#include "sysdep.h"
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    40
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    41
53
73bc47a0db55 Add prototypes
frdupin
parents: 0
diff changeset
    42
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    43
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    44
53
73bc47a0db55 Add prototypes
frdupin
parents: 0
diff changeset
    45
void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    46
185
d529e20c323c correction of lifegrd compilation warning
greg
parents: 177
diff changeset
    47
UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
53
73bc47a0db55 Add prototypes
frdupin
parents: 0
diff changeset
    48
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    49
/*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    50
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    51
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    52
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    53
** @param nodeId
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    54
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    55
** @return
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    56
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    57
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    58
{
668
ba53613e94e4 Added some fixes from Jaroslav Fojtik submitted on sourceforge bug tracker:
Mongo
parents: 635
diff changeset
    59
  e_nodeState networkNodeState = Unknown_state;
ba53613e94e4 Added some fixes from Jaroslav Fojtik submitted on sourceforge bug tracker:
Mongo
parents: 635
diff changeset
    60
  #if NMT_MAX_NODE_ID>0
ba53613e94e4 Added some fixes from Jaroslav Fojtik submitted on sourceforge bug tracker:
Mongo
parents: 635
diff changeset
    61
  if(nodeId < NMT_MAX_NODE_ID)
ba53613e94e4 Added some fixes from Jaroslav Fojtik submitted on sourceforge bug tracker:
Mongo
parents: 635
diff changeset
    62
    networkNodeState = d->NMTable[nodeId];
ba53613e94e4 Added some fixes from Jaroslav Fojtik submitted on sourceforge bug tracker:
Mongo
parents: 635
diff changeset
    63
  #endif
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    64
  return networkNodeState;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    65
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    66
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    67
/*! 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    68
** The Consumer Timer Callback
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    69
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    70
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    71
** @param id
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    72
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    73
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    74
{
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
    75
  UNS8 nodeId = (UNS8)(((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    76
  /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    77
352
3347581c3140 Fixed timer problem on late Heartbeat. Thanks to Jorge.
etisserant
parents: 349
diff changeset
    78
  /* timer have been notified and is now free (non periodic)*/
3347581c3140 Fixed timer problem on late Heartbeat. Thanks to Jorge.
etisserant
parents: 349
diff changeset
    79
  /* -> avoid deleting re-assigned timer if message is received too late*/
3347581c3140 Fixed timer problem on late Heartbeat. Thanks to Jorge.
etisserant
parents: 349
diff changeset
    80
  d->ConsumerHeartBeatTimers[id]=TIMER_NONE;
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
    81
  
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
    82
  /* set node state */
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
    83
  d->NMTable[nodeId] = Disconnected;
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    84
  /*! call heartbeat error with NodeId */
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
    85
  (*d->heartbeatError)(d, nodeId);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    86
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    87
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    88
/*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    89
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    90
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    91
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    92
** @param m
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    93
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    94
void proceedNODE_GUARD(CO_Data* d, Message* m )
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    95
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    96
  UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    97
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    98
  if((m->rtr == 1) )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
    99
    /*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   100
    ** Notice that only the master can have sent this
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   101
    ** node guarding request
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   102
    */
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   103
    {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   104
      /*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   105
      ** Receiving a NMT NodeGuarding (request of the state by the
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   106
      ** master)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   107
      ** Only answer to the NMT NodeGuarding request, the master is
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   108
      ** not checked (not implemented)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   109
      */
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   110
      if (nodeId == *d->bDeviceNodeId )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   111
        {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   112
          Message msg;
370
6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents: 365
diff changeset
   113
          UNS16 tmp = *d->bDeviceNodeId + 0x700;
6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents: 365
diff changeset
   114
          msg.cob_id = UNS16_LE(tmp);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   115
          msg.len = (UNS8)0x01;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   116
          msg.rtr = 0;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   117
          msg.data[0] = d->nodeState;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   118
          if (d->toggle)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   119
            {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   120
              msg.data[0] |= 0x80 ;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   121
              d->toggle = 0 ;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   122
            }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   123
          else
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   124
            d->toggle = 1 ;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   125
          /* send the nodeguard response. */
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   126
          MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   127
          canSend(d->canHandle,&msg );
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   128
        }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   129
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   130
    }else{ /* Not a request CAN */
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   131
      /* The state is stored on 7 bit */
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   132
      e_nodeState newNodeState = (e_nodeState) ((*m).data[0] & 0x7F);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   133
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   134
      MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   135
      
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   136
      if (d->NMTable[nodeId] != newNodeState)
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   137
      {
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   138
        (*d->post_SlaveStateChange)(d, nodeId, newNodeState);
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   139
        /* the slave's state receievd is stored in the NMTable */
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   140
        d->NMTable[nodeId] = newNodeState;
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   141
      }
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   142
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   143
      /* Boot-Up frame reception */
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   144
      if ( d->NMTable[nodeId] == Initialisation)
669
50da44ebaf00 Configuration manager with DCF in object 0x1F22 rewritten almost from scratch.
Mongo
parents: 668
diff changeset
   145
      {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   146
          /*
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   147
          ** The device send the boot-up message (Initialisation)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   148
          ** to indicate the master that it is entered in
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   149
          ** pre_operational mode
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   150
          */
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   151
          MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
669
50da44ebaf00 Configuration manager with DCF in object 0x1F22 rewritten almost from scratch.
Mongo
parents: 668
diff changeset
   152
          /* call post SlaveBootup with NodeId */
50da44ebaf00 Configuration manager with DCF in object 0x1F22 rewritten almost from scratch.
Mongo
parents: 668
diff changeset
   153
		  (*d->post_SlaveBootup)(d, nodeId);
50da44ebaf00 Configuration manager with DCF in object 0x1F22 rewritten almost from scratch.
Mongo
parents: 668
diff changeset
   154
      }
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   155
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   156
      if( d->NMTable[nodeId] != Unknown_state ) {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   157
        UNS8 index, ConsummerHeartBeat_nodeId ;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   158
        for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   159
          {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   160
            ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   161
            if ( nodeId == ConsummerHeartBeat_nodeId )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   162
              {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   163
                TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   164
                /* Renew alarm for next heartbeat. */
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   165
                DelAlarm(d->ConsumerHeartBeatTimers[index]);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   166
                d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   167
              }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   168
          }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   169
      }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   170
    }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   171
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   172
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   173
/*! The Consumer Timer Callback
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   174
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   175
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   176
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   177
** @param id
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   178
**/
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   179
void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   180
{
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   181
  if(*d->ProducerHeartBeatTime)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   182
    {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   183
      Message msg;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   184
      /* Time expired, the heartbeat must be sent immediately
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   185
      ** generate the correct node-id: this is done by the offset 1792
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   186
      ** (decimal) and additionaly
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   187
      ** the node-id of this device.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   188
      */
370
6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents: 365
diff changeset
   189
      UNS16 tmp = *d->bDeviceNodeId + 0x700;
6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents: 365
diff changeset
   190
      msg.cob_id = UNS16_LE(tmp);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   191
      msg.len = (UNS8)0x01;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   192
      msg.rtr = 0;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   193
      msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   194
      /* send the heartbeat */
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   195
      MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
149
fe50ada8020b Changes in the API:
etisserant
parents: 71
diff changeset
   196
      canSend(d->canHandle,&msg );
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   197
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   198
    }else{
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   199
      d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   200
    }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   201
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   202
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   203
/*! This is called when Index 0x1017 is updated.
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   204
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   205
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   206
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   207
** @param unsused_indextable
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   208
** @param unsused_bSubindex
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   209
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   210
** @return
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   211
**/
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   212
UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   213
{
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   214
  heartbeatStop(d);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   215
  heartbeatInit(d);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   216
  return 0;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   217
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   218
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   219
/*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   220
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   221
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   222
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   223
**/
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   224
void heartbeatInit(CO_Data* d)
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   225
{
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   226
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   227
  UNS8 index; /* Index to scan the table of heartbeat consumers */
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   228
  RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   229
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   230
  d->toggle = 0;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   231
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   232
  for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   233
    {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   234
      TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   235
      /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   236
      if ( time )
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   237
        {
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   238
          d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   239
        }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   240
    }
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   241
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   242
  if ( *d->ProducerHeartBeatTime )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   243
    {
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   244
      TIMEVAL time = *d->ProducerHeartBeatTime;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   245
      d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   246
    }
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   247
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   248
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   249
/*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   250
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   251
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   252
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   253
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   254
void heartbeatStop(CO_Data* d)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   255
{
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   256
  UNS8 index;
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   257
  for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   258
    {
423
d60363d872dd Probable bug fix in HeartBeatStop
etisserant
parents: 378
diff changeset
   259
      d->ConsumerHeartBeatTimers[index] = DelAlarm(d->ConsumerHeartBeatTimers[index]);
d60363d872dd Probable bug fix in HeartBeatStop
etisserant
parents: 378
diff changeset
   260
    }
d60363d872dd Probable bug fix in HeartBeatStop
etisserant
parents: 378
diff changeset
   261
d60363d872dd Probable bug fix in HeartBeatStop
etisserant
parents: 378
diff changeset
   262
  d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
207
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   263
}
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   264
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   265
/*!
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   266
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   267
**
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   268
** @param heartbeatID
b6572d0336c3 First doxygen implementation
nico
parents: 185
diff changeset
   269
**/
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 370
diff changeset
   270
void _heartbeatError(CO_Data* d, UNS8 heartbeatID){}
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 370
diff changeset
   271
void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID){}
635
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   272
void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState){}
30a0e926bb2e ADDED: - new callback post_SlaveStateChange so that a master can monitor the state of its slave nodes using a heartbeat.
Christian Taedcke
parents: 423
diff changeset
   273