|
207
|
1 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
|
|
2 |
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
|
|
|
3 |
<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/states.c Source File</title>
|
|
|
4 |
<link href="doxygen.css" rel="stylesheet" type="text/css">
|
|
|
5 |
<link href="tabs.css" rel="stylesheet" type="text/css">
|
|
|
6 |
</head><body>
|
|
|
7 |
<!-- Generated by Doxygen 1.5.1 -->
|
|
|
8 |
<div class="tabs">
|
|
|
9 |
<ul>
|
|
|
10 |
<li><a href="main.html"><span>Main Page</span></a></li>
|
|
|
11 |
<li id="current"><a href="files.html"><span>Files</span></a></li>
|
|
|
12 |
</ul></div>
|
|
|
13 |
<div class="tabs">
|
|
|
14 |
<ul>
|
|
|
15 |
<li><a href="files.html"><span>File List</span></a></li>
|
|
|
16 |
<li><a href="globals.html"><span>Globals</span></a></li>
|
|
|
17 |
</ul></div>
|
|
|
18 |
<h1>/home/epimerde/documents/tc11/CanFestival-3/src/states.c</h1><a href="states_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>
|
|
|
19 |
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
|
|
|
20 |
<a name="l00003"></a>00003 <span class="comment"></span>
|
|
|
21 |
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
|
|
|
22 |
<a name="l00005"></a>00005 <span class="comment"></span>
|
|
|
23 |
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
|
|
|
24 |
<a name="l00007"></a>00007 <span class="comment"></span>
|
|
|
25 |
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
|
|
|
26 |
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
|
|
|
27 |
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
|
|
|
28 |
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
|
|
|
29 |
<a name="l00012"></a>00012 <span class="comment"></span>
|
|
|
30 |
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
|
|
|
31 |
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
|
|
|
32 |
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
|
|
|
33 |
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
|
|
|
34 |
<a name="l00017"></a>00017 <span class="comment"></span>
|
|
|
35 |
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
|
|
|
36 |
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
|
|
|
37 |
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
|
|
|
38 |
<a name="l00021"></a>00021 <span class="comment">*/</span>
|
|
|
39 |
<a name="l00022"></a>00022
|
|
|
40 |
<a name="l00023"></a>00023 <span class="preprocessor">#include "states.h"</span>
|
|
|
41 |
<a name="l00024"></a>00024 <span class="preprocessor">#include "def.h"</span>
|
|
|
42 |
<a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span>
|
|
|
43 |
<a name="l00026"></a>00026 <span class="preprocessor">#include "nmtSlave.h"</span>
|
|
|
44 |
<a name="l00027"></a>00027
|
|
|
45 |
<a name="l00028"></a>00028 <span class="comment">/* Prototypes for internals functions */</span>
|
|
|
46 |
<a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d,
|
|
|
47 |
<a name="l00030"></a>00030 s_state_communication *newCommunicationState);
|
|
|
48 |
<a name="l00031"></a>00031
|
|
|
49 |
<a name="l00032"></a>00032 <span class="comment">/*****************************************************************************/</span>
|
|
|
50 |
<a name="l00033"></a><a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">00033</a> e_nodeState <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(CO_Data* d)
|
|
|
51 |
<a name="l00034"></a>00034 {
|
|
|
52 |
<a name="l00035"></a>00035 <span class="keywordflow">return</span> d->nodeState;
|
|
|
53 |
<a name="l00036"></a>00036 }
|
|
|
54 |
<a name="l00037"></a>00037
|
|
|
55 |
<a name="l00038"></a>00038 <span class="comment">/*****************************************************************************/</span>
|
|
|
56 |
<a name="l00039"></a><a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">00039</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(CO_Data* d, Message *m)
|
|
|
57 |
<a name="l00040"></a>00040 {
|
|
|
58 |
<a name="l00041"></a>00041 <span class="keywordflow">switch</span>(m->cob_id.w >> 7)
|
|
|
59 |
<a name="l00042"></a>00042 {
|
|
|
60 |
<a name="l00043"></a>00043 <span class="keywordflow">case</span> SYNC:
|
|
|
61 |
<a name="l00044"></a>00044 <span class="keywordflow">if</span>(d->CurrentCommunicationState.csSYNC)
|
|
|
62 |
<a name="l00045"></a>00045 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m);
|
|
|
63 |
<a name="l00046"></a>00046 <span class="keywordflow">break</span>;
|
|
|
64 |
<a name="l00047"></a>00047 <span class="comment">/* case TIME_STAMP: */</span>
|
|
|
65 |
<a name="l00048"></a>00048 <span class="keywordflow">case</span> PDO1tx:
|
|
|
66 |
<a name="l00049"></a>00049 <span class="keywordflow">case</span> PDO1rx:
|
|
|
67 |
<a name="l00050"></a>00050 <span class="keywordflow">case</span> PDO2tx:
|
|
|
68 |
<a name="l00051"></a>00051 <span class="keywordflow">case</span> PDO2rx:
|
|
|
69 |
<a name="l00052"></a>00052 <span class="keywordflow">case</span> PDO3tx:
|
|
|
70 |
<a name="l00053"></a>00053 <span class="keywordflow">case</span> PDO3rx:
|
|
|
71 |
<a name="l00054"></a>00054 <span class="keywordflow">case</span> PDO4tx:
|
|
|
72 |
<a name="l00055"></a>00055 <span class="keywordflow">case</span> PDO4rx:
|
|
|
73 |
<a name="l00056"></a>00056 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csPDO)
|
|
|
74 |
<a name="l00057"></a>00057 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m);
|
|
|
75 |
<a name="l00058"></a>00058 <span class="keywordflow">break</span>;
|
|
|
76 |
<a name="l00059"></a>00059 <span class="keywordflow">case</span> SDOtx:
|
|
|
77 |
<a name="l00060"></a>00060 <span class="keywordflow">case</span> SDOrx:
|
|
|
78 |
<a name="l00061"></a>00061 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csSDO)
|
|
|
79 |
<a name="l00062"></a>00062 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m);
|
|
|
80 |
<a name="l00063"></a>00063 <span class="keywordflow">break</span>;
|
|
|
81 |
<a name="l00064"></a>00064 <span class="keywordflow">case</span> NODE_GUARD:
|
|
|
82 |
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csHeartbeat)
|
|
|
83 |
<a name="l00066"></a>00066 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m);
|
|
|
84 |
<a name="l00067"></a>00067 <span class="keywordflow">break</span>;
|
|
|
85 |
<a name="l00068"></a>00068 <span class="keywordflow">case</span> NMT:
|
|
|
86 |
<a name="l00069"></a>00069 <span class="keywordflow">if</span> (*(d->iam_a_slave))
|
|
|
87 |
<a name="l00070"></a>00070 {
|
|
|
88 |
<a name="l00071"></a>00071 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m);
|
|
|
89 |
<a name="l00072"></a>00072 }
|
|
|
90 |
<a name="l00073"></a>00073 }
|
|
|
91 |
<a name="l00074"></a>00074 }
|
|
|
92 |
<a name="l00075"></a>00075
|
|
|
93 |
<a name="l00076"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00076</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>
|
|
|
94 |
<a name="l00077"></a>00077 <span class="preprocessor"> if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\</span>
|
|
|
95 |
<a name="l00078"></a>00078 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStart, 9999);\</span>
|
|
|
96 |
<a name="l00079"></a>00079 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 1;\</span>
|
|
|
97 |
<a name="l00080"></a>00080 <span class="preprocessor"> FuncStart;\</span>
|
|
|
98 |
<a name="l00081"></a>00081 <span class="preprocessor"> }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\</span>
|
|
|
99 |
<a name="l00082"></a>00082 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStop, 9999);\</span>
|
|
|
100 |
<a name="l00083"></a>00083 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 0;\</span>
|
|
|
101 |
<a name="l00084"></a>00084 <span class="preprocessor"> FuncStop;\</span>
|
|
|
102 |
<a name="l00085"></a>00085 <span class="preprocessor"> }</span>
|
|
|
103 |
<a name="l00086"></a><a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">00086</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span>
|
|
|
104 |
<a name="l00087"></a>00087 <span class="preprocessor"></span>
|
|
|
105 |
<a name="l00088"></a>00088 <span class="comment">/*****************************************************************************/</span>
|
|
|
106 |
<a name="l00089"></a><a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">00089</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, s_state_communication *newCommunicationState)
|
|
|
107 |
<a name="l00090"></a>00090 {
|
|
|
108 |
<a name="l00091"></a>00091 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">resetSDO</a>(d))
|
|
|
109 |
<a name="l00092"></a>00092 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSYNC, <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d), <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d))
|
|
|
110 |
<a name="l00093"></a>00093 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csHeartbeat, <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d), <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d))
|
|
|
111 |
<a name="l00094"></a>00094 <span class="comment">/* StartOrStop(Emergency,,) */</span>
|
|
|
112 |
<a name="l00095"></a>00095 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csPDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>)
|
|
|
113 |
<a name="l00096"></a>00096 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csBoot_Up, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(d))
|
|
|
114 |
<a name="l00097"></a>00097 }
|
|
|
115 |
<a name="l00098"></a>00098
|
|
|
116 |
<a name="l00099"></a>00099 <span class="comment">/*****************************************************************************/</span>
|
|
|
117 |
<a name="l00100"></a><a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">00100</a> UNS8 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(CO_Data* d, e_nodeState newState)
|
|
|
118 |
<a name="l00101"></a>00101 {
|
|
|
119 |
<a name="l00102"></a>00102 UNS16 wIndex = 0x1F22;
|
|
|
120 |
<a name="l00103"></a>00103 <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
|
|
|
121 |
<a name="l00104"></a>00104 ODCallback_t *Callback;
|
|
|
122 |
<a name="l00105"></a>00105 UNS32 errorCode;
|
|
|
123 |
<a name="l00106"></a>00106 <span class="keywordflow">while</span>(newState != d->nodeState){
|
|
|
124 |
<a name="l00107"></a>00107 <span class="keywordflow">switch</span>( newState ){
|
|
|
125 |
<a name="l00108"></a>00108 <span class="keywordflow">case</span> Initialisation:
|
|
|
126 |
<a name="l00109"></a>00109 {
|
|
|
127 |
<a name="l00110"></a>00110 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
|
|
|
128 |
<a name="l00111"></a>00111 <span class="comment">/* This will force a second loop for the state switch */</span>
|
|
|
129 |
<a name="l00112"></a>00112 d->nodeState = Initialisation;
|
|
|
130 |
<a name="l00113"></a>00113 newState = Pre_operational;
|
|
|
131 |
<a name="l00114"></a>00114 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState);
|
|
|
132 |
<a name="l00115"></a>00115 <span class="comment">/* call user app related state func. */</span>
|
|
|
133 |
<a name="l00116"></a>00116 (*d->initialisation)();
|
|
|
134 |
<a name="l00117"></a>00117
|
|
|
135 |
<a name="l00118"></a>00118 }
|
|
|
136 |
<a name="l00119"></a>00119 <span class="keywordflow">break</span>;
|
|
|
137 |
<a name="l00120"></a>00120
|
|
|
138 |
<a name="l00121"></a>00121 <span class="keywordflow">case</span> Pre_operational:
|
|
|
139 |
<a name="l00122"></a>00122 {
|
|
|
140 |
<a name="l00123"></a>00123
|
|
|
141 |
<a name="l00124"></a>00124 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
|
|
|
142 |
<a name="l00125"></a>00125 d->nodeState = Pre_operational;
|
|
|
143 |
<a name="l00126"></a>00126 newState = Pre_operational;
|
|
|
144 |
<a name="l00127"></a>00127 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState);
|
|
|
145 |
<a name="l00128"></a>00128 <span class="keywordflow">if</span> (!(*(d->iam_a_slave)))
|
|
|
146 |
<a name="l00129"></a>00129 {
|
|
|
147 |
<a name="l00130"></a>00130 ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
|
|
|
148 |
<a name="l00131"></a>00131
|
|
|
149 |
<a name="l00132"></a>00132 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
|
|
|
150 |
<a name="l00133"></a>00133 {
|
|
|
151 |
<a name="l00134"></a>00134 (*d->preOperational)();
|
|
|
152 |
<a name="l00135"></a>00135 }
|
|
|
153 |
<a name="l00136"></a>00136 <span class="keywordflow">else</span>
|
|
|
154 |
<a name="l00137"></a>00137 {
|
|
|
155 |
<a name="l00138"></a>00138 UNS32 res;
|
|
|
156 |
<a name="l00139"></a>00139 res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01);
|
|
|
157 |
<a name="l00140"></a>00140 }
|
|
|
158 |
<a name="l00141"></a>00141 }
|
|
|
159 |
<a name="l00142"></a>00142 <span class="keywordflow">else</span>
|
|
|
160 |
<a name="l00143"></a>00143 {
|
|
|
161 |
<a name="l00144"></a>00144 (*d->preOperational)();
|
|
|
162 |
<a name="l00145"></a>00145 }
|
|
|
163 |
<a name="l00146"></a>00146 }
|
|
|
164 |
<a name="l00147"></a>00147 <span class="keywordflow">break</span>;
|
|
|
165 |
<a name="l00148"></a>00148
|
|
|
166 |
<a name="l00149"></a>00149 <span class="keywordflow">case</span> Operational:
|
|
|
167 |
<a name="l00150"></a>00150 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
|
|
|
168 |
<a name="l00151"></a>00151 {
|
|
|
169 |
<a name="l00152"></a>00152 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
|
|
|
170 |
<a name="l00153"></a>00153 d->nodeState = Operational;
|
|
|
171 |
<a name="l00154"></a>00154 newState = Operational;
|
|
|
172 |
<a name="l00155"></a>00155 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState);
|
|
|
173 |
<a name="l00156"></a>00156 (*d->operational)();
|
|
|
174 |
<a name="l00157"></a>00157 }
|
|
|
175 |
<a name="l00158"></a>00158 <span class="keywordflow">break</span>;
|
|
|
176 |
<a name="l00159"></a>00159
|
|
|
177 |
<a name="l00160"></a>00160 <span class="keywordflow">case</span> Stopped:
|
|
|
178 |
<a name="l00161"></a>00161 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
|
|
|
179 |
<a name="l00162"></a>00162 {
|
|
|
180 |
<a name="l00163"></a>00163 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
|
|
|
181 |
<a name="l00164"></a>00164 d->nodeState = Stopped;
|
|
|
182 |
<a name="l00165"></a>00165 newState = Stopped;
|
|
|
183 |
<a name="l00166"></a>00166 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState);
|
|
|
184 |
<a name="l00167"></a>00167 (*d->stopped)();
|
|
|
185 |
<a name="l00168"></a>00168 }
|
|
|
186 |
<a name="l00169"></a>00169 <span class="keywordflow">break</span>;
|
|
|
187 |
<a name="l00170"></a>00170
|
|
|
188 |
<a name="l00171"></a>00171 <span class="keywordflow">default</span>:
|
|
|
189 |
<a name="l00172"></a>00172 <span class="keywordflow">return</span> 0xFF;
|
|
|
190 |
<a name="l00173"></a>00173 }<span class="comment">/* end switch case */</span>
|
|
|
191 |
<a name="l00174"></a>00174
|
|
|
192 |
<a name="l00175"></a>00175 }
|
|
|
193 |
<a name="l00176"></a>00176 <span class="keywordflow">return</span> 0;
|
|
|
194 |
<a name="l00177"></a>00177 }
|
|
|
195 |
<a name="l00178"></a>00178
|
|
|
196 |
<a name="l00179"></a>00179 <span class="comment">/*****************************************************************************/</span>
|
|
|
197 |
<a name="l00180"></a><a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">00180</a> UNS8 <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(CO_Data* d)
|
|
|
198 |
<a name="l00181"></a>00181 {
|
|
|
199 |
<a name="l00182"></a>00182 <span class="keywordflow">return</span> *d->bDeviceNodeId;
|
|
|
200 |
<a name="l00183"></a>00183 }
|
|
|
201 |
<a name="l00184"></a>00184
|
|
|
202 |
<a name="l00185"></a>00185 <span class="comment">/*****************************************************************************/</span>
|
|
|
203 |
<a name="l00186"></a><a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">00186</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(CO_Data* d, UNS8 nodeId)
|
|
|
204 |
<a name="l00187"></a>00187 {
|
|
|
205 |
<a name="l00188"></a>00188 UNS16 offset = d->firstIndex->SDO_SVR;
|
|
|
206 |
<a name="l00189"></a>00189 <span class="keywordflow">if</span>(offset){
|
|
|
207 |
<a name="l00190"></a>00190 <span class="comment">/* cob_id_client = 0x600 + nodeId; */</span>
|
|
|
208 |
<a name="l00191"></a>00191 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
|
|
|
209 |
<a name="l00192"></a>00192 <span class="comment">/* cob_id_server = 0x580 + nodeId; */</span>
|
|
|
210 |
<a name="l00193"></a>00193 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
|
|
|
211 |
<a name="l00194"></a>00194 <span class="comment">/* node Id client. As we do not know the value, we put the node Id Server */</span>
|
|
|
212 |
<a name="l00195"></a>00195 <span class="comment">/* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */</span>
|
|
|
213 |
<a name="l00196"></a>00196 }
|
|
|
214 |
<a name="l00197"></a>00197
|
|
|
215 |
<a name="l00198"></a>00198 <span class="comment">/* ** Initialize the server(s) SDO parameters */</span>
|
|
|
216 |
<a name="l00199"></a>00199 <span class="comment">/* Remember that only one SDO server is allowed, defined at index 0x1200 */</span>
|
|
|
217 |
<a name="l00200"></a>00200
|
|
|
218 |
<a name="l00201"></a>00201 <span class="comment">/* ** Initialize the client(s) SDO parameters */</span>
|
|
|
219 |
<a name="l00202"></a>00202 <span class="comment">/* Nothing to initialize (no default values required by the DS 401) */</span>
|
|
|
220 |
<a name="l00203"></a>00203 <span class="comment">/* ** Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 */</span>
|
|
|
221 |
<a name="l00204"></a>00204 {
|
|
|
222 |
<a name="l00205"></a>00205 UNS8 i = 0;
|
|
|
223 |
<a name="l00206"></a>00206 UNS16 offset = d->firstIndex->PDO_RCV;
|
|
|
224 |
<a name="l00207"></a>00207 UNS16 lastIndex = d->lastIndex->PDO_RCV;
|
|
|
225 |
<a name="l00208"></a>00208 UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
|
|
|
226 |
<a name="l00209"></a>00209 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset <= lastIndex) && (i < 4)) {
|
|
|
227 |
<a name="l00210"></a>00210 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span>
|
|
|
228 |
<a name="l00211"></a>00211 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
|
|
|
229 |
<a name="l00212"></a>00212 i ++;
|
|
|
230 |
<a name="l00213"></a>00213 offset ++;
|
|
|
231 |
<a name="l00214"></a>00214 }
|
|
|
232 |
<a name="l00215"></a>00215 }
|
|
|
233 |
<a name="l00216"></a>00216 <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>
|
|
|
234 |
<a name="l00217"></a>00217 {
|
|
|
235 |
<a name="l00218"></a>00218 UNS8 i = 0;
|
|
|
236 |
<a name="l00219"></a>00219 UNS16 offset = d->firstIndex->PDO_TRS;
|
|
|
237 |
<a name="l00220"></a>00220 UNS16 lastIndex = d->lastIndex->PDO_TRS;
|
|
|
238 |
<a name="l00221"></a>00221 UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
|
|
|
239 |
<a name="l00222"></a>00222 i = 0;
|
|
|
240 |
<a name="l00223"></a>00223 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset <= lastIndex) && (i < 4)) {
|
|
|
241 |
<a name="l00224"></a>00224 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span>
|
|
|
242 |
<a name="l00225"></a>00225 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
|
|
|
243 |
<a name="l00226"></a>00226 i ++;
|
|
|
244 |
<a name="l00227"></a>00227 offset ++;
|
|
|
245 |
<a name="l00228"></a>00228 }
|
|
|
246 |
<a name="l00229"></a>00229 }
|
|
|
247 |
<a name="l00230"></a>00230 <span class="comment">/* bDeviceNodeId is defined in the object dictionary. */</span>
|
|
|
248 |
<a name="l00231"></a>00231 *d->bDeviceNodeId = nodeId;
|
|
|
249 |
<a name="l00232"></a>00232 }
|
|
|
250 |
<a name="l00233"></a>00233
|
|
|
251 |
<a name="l00234"></a><a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">00234</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){}
|
|
|
252 |
<a name="l00235"></a><a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){}
|
|
|
253 |
<a name="l00236"></a><a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">00236</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){}
|
|
|
254 |
<a name="l00237"></a><a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">00237</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){}
|
|
|
255 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:27 2007 for CanFestival by
|
|
|
256 |
<a href="http://www.doxygen.org/index.html">
|
|
|
257 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
258 |
</body>
|
|
|
259 |
</html>
|