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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "objacces.h"
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#include "sdo.h"
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#include "dcf.h"
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#include "sysdep.h"
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const indextable *ptrTable;
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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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{
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UNS32 abortCode;
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if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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{
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MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
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MSG_WAR(0x2A02, "server node : ", nodeId);
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}
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closeSDOtransfer(d, nodeId, SDO_CLIENT);
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decompo_dcf(d,nodeId);
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}
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UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
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{
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UNS32 errorCode;
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UNS16 target_Index;
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UNS8 target_Subindex;
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UNS32 target_Size;
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UNS32 res;
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ODCallback_t *Callback;
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ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
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if (errorCode != OD_SUCCESSFUL)
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{
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return errorCode;
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}
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/*Loop on all Nodes supported in DCF subindexes*/
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while (nodeId < ptrTable->bSubCount){
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UNS32 nb_targets;
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UNS8 szData = ptrTable->pSubindex[nodeId].size;
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void* dcfend;
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{
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void* dcf = *((void**)ptrTable->pSubindex[nodeId].pObject);
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dcfend = dcf + szData;
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if (!d->dcf_cursor) {
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d->dcf_cursor = dcf + 4;
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d->dcf_count_targets = 0;
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}
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nb_targets = UNS32_LE(*((UNS32*)dcf));
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}
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// condition on consise DCF string for NodeID, if big enough
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if(d->dcf_cursor + 7 < dcfend && d->dcf_count_targets < nb_targets)
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{
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// pointer to the DCF string for NodeID
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target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
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target_Subindex = *((UNS8*)(d->dcf_cursor++));
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target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
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/*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/
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res = writeNetworkDictCallBack(d, /*CO_Data* d*/
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nodeId, /*UNS8 nodeId*/
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target_Index, /*UNS16 index*/
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target_Subindex, /*UNS8 subindex*/
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target_Size, /*UNS8 count*/
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0, /*UNS8 dataType*/
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d->dcf_cursor,/*void *data*/
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CheckSDOAndContinue); /*SDOCallback_t Callback*/
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/*Push d->dcf_cursor to the end of data*/
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d->dcf_cursor += target_Size;
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d->dcf_count_targets++;
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return ;
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}
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nodeId++;
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d->dcf_cursor = NULL;
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}
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/* Switch Master to preOperational state */
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(*d->preOperational)();
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}
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