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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c Source File</title>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c</h1><a href="lifegrd_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 Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022
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<a name="l00023"></a>00023 <span class="preprocessor">#include <data.h></span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "lifegrd.h"</span>
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42 |
<a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
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43 |
<a name="l00026"></a>00026
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<a name="l00027"></a>00027 <span class="comment">/* Prototypes for internals functions */</span>
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45 |
<a name="l00028"></a>00028 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
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<a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
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47 |
<a name="l00030"></a>00030 UNS32 <a class="code" href="lifegrd_8c.html#ec7b3543d04cf7d7098b27fba2510696">OnHearbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex);
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48 |
<a name="l00031"></a>00031
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49 |
<a name="l00032"></a>00032 <span class="comment">/*****************************************************************************/</span>
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50 |
<a name="l00033"></a><a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">00033</a> e_nodeState <a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">getNodeState</a> (CO_Data* d, UNS8 nodeId)
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<a name="l00034"></a>00034 {
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<a name="l00035"></a>00035 e_nodeState networkNodeState = d->NMTable[nodeId];
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<a name="l00036"></a>00036 <span class="keywordflow">return</span> networkNodeState;
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<a name="l00037"></a>00037 }
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<a name="l00038"></a>00038
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<a name="l00039"></a>00039 <span class="comment">/*****************************************************************************/</span>
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<a name="l00040"></a>00040 <span class="comment">/* The Consumer Timer Callback */</span>
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<a name="l00041"></a><a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">00041</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
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<a name="l00042"></a>00042 {
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<a name="l00043"></a>00043 <span class="comment">/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/</span>
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<a name="l00044"></a>00044
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<a name="l00045"></a>00045 <span class="comment">/* call heartbeat error with NodeId */</span>
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<a name="l00046"></a>00046 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[<span class="keywordtype">id</span>]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
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<a name="l00047"></a>00047 }
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65 |
<a name="l00048"></a>00048
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<a name="l00049"></a>00049 <span class="comment">/*****************************************************************************/</span>
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67 |
<a name="l00050"></a><a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">00050</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(CO_Data* d, Message* m )
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68 |
<a name="l00051"></a>00051 {
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69 |
<a name="l00052"></a>00052 UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
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70 |
<a name="l00053"></a>00053
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71 |
<a name="l00054"></a>00054 <span class="keywordflow">if</span>((m->rtr == 1) ) <span class="comment">/* Notice that only the master can have sent this node guarding request */</span>
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72 |
<a name="l00055"></a>00055 { <span class="comment">/* Receiving a NMT NodeGuarding (request of the state by the master) */</span>
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73 |
<a name="l00056"></a>00056 <span class="comment">/* only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */</span>
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<a name="l00057"></a>00057 <span class="keywordflow">if</span> (nodeId == *d->bDeviceNodeId )
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75 |
<a name="l00058"></a>00058 {
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76 |
<a name="l00059"></a>00059 Message msg;
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77 |
<a name="l00060"></a>00060 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
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78 |
<a name="l00061"></a>00061 msg.len = (UNS8)0x01;
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79 |
<a name="l00062"></a>00062 msg.rtr = 0;
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80 |
<a name="l00063"></a>00063 msg.data[0] = d->nodeState;
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81 |
<a name="l00064"></a>00064 <span class="keywordflow">if</span> (d->toggle)
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82 |
<a name="l00065"></a>00065 {
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83 |
<a name="l00066"></a>00066 msg.data[0] |= 0x80 ;
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84 |
<a name="l00067"></a>00067 d->toggle = 0 ;
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85 |
<a name="l00068"></a>00068 }
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86 |
<a name="l00069"></a>00069 <span class="keywordflow">else</span>
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87 |
<a name="l00070"></a>00070 d->toggle = 1 ;
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88 |
<a name="l00071"></a>00071 <span class="comment">/* send the nodeguard response. */</span>
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89 |
<a name="l00072"></a>00072 MSG_WAR(0x3130, <span class="stringliteral">"Sending NMT Nodeguard to master, state: "</span>, d->nodeState);
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90 |
<a name="l00073"></a>00073 canSend(d->canHandle,&msg );
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<a name="l00074"></a>00074 }
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92 |
<a name="l00075"></a>00075
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<a name="l00076"></a>00076 }<span class="keywordflow">else</span>{ <span class="comment">/* Not a request CAN */</span>
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94 |
<a name="l00077"></a>00077
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95 |
<a name="l00078"></a>00078 MSG_WAR(0x3110, <span class="stringliteral">"Received NMT nodeId : "</span>, nodeId);
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96 |
<a name="l00079"></a>00079 <span class="comment">/* the slave's state receievd is stored in the NMTable */</span>
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97 |
<a name="l00080"></a>00080 <span class="comment">/* The state is stored on 7 bit */</span>
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98 |
<a name="l00081"></a>00081 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
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99 |
<a name="l00082"></a>00082
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100 |
<a name="l00083"></a>00083 <span class="comment">/* Boot-Up frame reception */</span>
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101 |
<a name="l00084"></a>00084 <span class="keywordflow">if</span> ( d->NMTable[nodeId] == Initialisation)
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<a name="l00085"></a>00085 {
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103 |
<a name="l00086"></a>00086 <span class="comment">/* The device send the boot-up message (Initialisation) */</span>
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104 |
<a name="l00087"></a>00087 <span class="comment">/* to indicate the master that it is entered in pre_operational mode */</span>
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105 |
<a name="l00088"></a>00088 <span class="comment">/* Because the device enter automaticaly in pre_operational mode, */</span>
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106 |
<a name="l00089"></a>00089 <span class="comment">/* the pre_operational mode is stored */</span>
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107 |
<a name="l00090"></a>00090 <span class="comment">/* NMTable[bus_id][nodeId] = Pre_operational; */</span>
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108 |
<a name="l00091"></a>00091 MSG_WAR(0x3100, <span class="stringliteral">"The NMT is a bootup from node : "</span>, nodeId);
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109 |
<a name="l00092"></a>00092 }
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110 |
<a name="l00093"></a>00093
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111 |
<a name="l00094"></a>00094 <span class="keywordflow">if</span>( d->NMTable[nodeId] != Unknown_state ) {
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112 |
<a name="l00095"></a>00095 UNS8 index, ConsummerHeartBeat_nodeId ;
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113 |
<a name="l00096"></a>00096 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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114 |
<a name="l00097"></a>00097 {
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115 |
<a name="l00098"></a>00098 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
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116 |
<a name="l00099"></a>00099 if ( nodeId == ConsummerHeartBeat_nodeId )
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117 |
<a name="l00100"></a>00100 {
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118 |
<a name="l00101"></a>00101 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
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119 |
<a name="l00102"></a>00102 <span class="comment">/* Renew alarm for next heartbeat. */</span>
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120 |
<a name="l00103"></a>00103 <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ConsumerHeartBeatTimers[index]);
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121 |
<a name="l00104"></a>00104 d->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
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122 |
<a name="l00105"></a>00105 }
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123 |
<a name="l00106"></a>00106 }
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124 |
<a name="l00107"></a>00107 }
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125 |
<a name="l00108"></a>00108 }
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126 |
<a name="l00109"></a>00109 }
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127 |
<a name="l00110"></a>00110
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128 |
<a name="l00111"></a>00111 <span class="comment">/*****************************************************************************/</span>
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129 |
<a name="l00112"></a>00112 <span class="comment">/* The Consumer Timer Callback */</span>
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130 |
<a name="l00113"></a><a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">00113</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
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131 |
<a name="l00114"></a>00114 {
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132 |
<a name="l00115"></a>00115 <span class="keywordflow">if</span>(*d->ProducerHeartBeatTime)
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133 |
<a name="l00116"></a>00116 {
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134 |
<a name="l00117"></a>00117 Message msg;
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135 |
<a name="l00118"></a>00118 <span class="comment">/* Time expired, the heartbeat must be sent immediately</span>
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136 |
<a name="l00119"></a>00119 <span class="comment"> * generate the correct node-id: this is done by the offset 1792</span>
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137 |
<a name="l00120"></a>00120 <span class="comment"> * (decimal) and additionaly</span>
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138 |
<a name="l00121"></a>00121 <span class="comment"> * the node-id of this device.</span>
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139 |
<a name="l00122"></a>00122 <span class="comment"> */</span>
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140 |
<a name="l00123"></a>00123
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141 |
<a name="l00124"></a>00124 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
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142 |
<a name="l00125"></a>00125 msg.len = (UNS8)0x01;
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143 |
<a name="l00126"></a>00126 msg.rtr = 0;
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144 |
<a name="l00127"></a>00127 msg.data[0] = d->nodeState; <span class="comment">/* No toggle for heartbeat !*/</span>
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145 |
<a name="l00128"></a>00128 <span class="comment">/* send the heartbeat */</span>
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146 |
<a name="l00129"></a>00129 MSG_WAR(0x3130, <span class="stringliteral">"Producing heartbeat: "</span>, d->nodeState);
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147 |
<a name="l00130"></a>00130 canSend(d->canHandle,&msg );
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148 |
<a name="l00131"></a>00131
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149 |
<a name="l00132"></a>00132 }<span class="keywordflow">else</span>{
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150 |
<a name="l00133"></a>00133 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ProducerHeartBeatTimer);
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151 |
<a name="l00134"></a>00134 }
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152 |
<a name="l00135"></a>00135 }
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153 |
<a name="l00136"></a>00136
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154 |
<a name="l00137"></a>00137 <span class="comment">/*****************************************************************************/</span>
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155 |
<a name="l00138"></a>00138 <span class="comment">/* This is called when Index 0x1017 is updated.*/</span>
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156 |
<a name="l00139"></a><a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">00139</a> UNS32 <a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex)
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157 |
<a name="l00140"></a>00140 {
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158 |
<a name="l00141"></a>00141 <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d);
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159 |
<a name="l00142"></a>00142 <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d);
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160 |
<a name="l00143"></a>00143 <span class="keywordflow">return</span> 0;
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161 |
<a name="l00144"></a>00144 }
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162 |
<a name="l00145"></a>00145 <span class="comment">/*****************************************************************************/</span>
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163 |
<a name="l00146"></a>00146
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164 |
<a name="l00147"></a><a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">00147</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(CO_Data* d)
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165 |
<a name="l00148"></a>00148 {
|
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166 |
<a name="l00149"></a>00149
|
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167 |
<a name="l00150"></a>00150 UNS8 index; <span class="comment">/* Index to scan the table of heartbeat consumers */</span>
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168 |
<a name="l00151"></a>00151 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1017, 0x00, &<a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>);
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169 |
<a name="l00152"></a>00152
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170 |
<a name="l00153"></a>00153 d->toggle = 0;
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171 |
<a name="l00154"></a>00154
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172 |
<a name="l00155"></a>00155 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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173 |
<a name="l00156"></a>00156 {
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174 |
<a name="l00157"></a>00157 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
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175 |
<a name="l00158"></a>00158 <span class="comment">/* MSG_WAR(0x3121, "should_time : ", should_time ) ; */</span>
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176 |
<a name="l00159"></a>00159 if ( time )
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177 |
<a name="l00160"></a>00160 {
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<a name="l00161"></a>00161 d->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
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<a name="l00162"></a>00162 }
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<a name="l00163"></a>00163 }
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<a name="l00164"></a>00164
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<a name="l00165"></a>00165 <span class="keywordflow">if</span> ( *d->ProducerHeartBeatTime )
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<a name="l00166"></a>00166 {
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<a name="l00167"></a>00167 TIMEVAL time = *d->ProducerHeartBeatTime;
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<a name="l00168"></a>00168 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, 0, &<a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
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<a name="l00169"></a>00169 }
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<a name="l00170"></a>00170 }
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<a name="l00171"></a>00171
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<a name="l00172"></a>00172 <span class="comment">/*****************************************************************************/</span>
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<a name="l00173"></a><a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">00173</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(CO_Data* d)
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<a name="l00174"></a>00174 {
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<a name="l00175"></a>00175 UNS8 index;
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<a name="l00176"></a>00176 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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<a name="l00177"></a>00177 {
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<a name="l00178"></a>00178 d->ConsumerHeartBeatTimers[index + 1] = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ConsumerHeartBeatTimers[index + 1]);;
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<a name="l00179"></a>00179 }
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<a name="l00180"></a>00180
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<a name="l00181"></a>00181 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ProducerHeartBeatTimer);;
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<a name="l00182"></a>00182 }
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<a name="l00183"></a>00183
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<a name="l00184"></a><a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">00184</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">_heartbeatError</a>(UNS8 heartbeatID){}
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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</body>
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</html>
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