src/dcf.c
author etisserant
Sun, 30 Sep 2007 22:37:35 +0200
changeset 293 62152872b90d
parent 251 cab66ef3e68e
child 320 f82e758840bd
permissions -rw-r--r--
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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/**
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** @file   dcf.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Mon Jun  4 17:06:12 2007
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**
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** @brief EXEMPLE OF SOMMARY
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**
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**
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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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extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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                               UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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const indextable *ptrTable;
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/**
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**
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**
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** @param d
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** @param nodeId
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*/
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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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/**
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**
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**
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** @param d
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** @param nodeId
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**
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** @return
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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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    UNS8* dcfend;
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    {
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      UNS8* dcf = *((UNS8**)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 = (UNS8*)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((UNS8*)d->dcf_cursor + 7 < (UNS8*)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*)((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
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          DCF)\n",nodeId);*/
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        res = _writeNetworkDict(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
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                                                      Callback*/
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                                0); /* no endianize*/
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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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}