19

<a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>

    20

<a name="l00003"></a>00003 <span class="comment">  Stack.</span>

    21

<a name="l00004"></a>00004 <span class="comment"></span>

    22

<a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>

    23

<a name="l00006"></a>00006 <span class="comment"></span>

    24

<a name="l00007"></a>00007 <span class="comment">  See COPYING file for copyrights details.</span>

    25

<a name="l00008"></a>00008 <span class="comment"></span>

    26

<a name="l00009"></a>00009 <span class="comment">  This library is free software; you can redistribute it and/or</span>

    27

<a name="l00010"></a>00010 <span class="comment">  modify it under the terms of the GNU Lesser General Public</span>

    28

<a name="l00011"></a>00011 <span class="comment">  License as published by the Free Software Foundation; either</span>

    29

<a name="l00012"></a>00012 <span class="comment">  version 2.1 of the License, or (at your option) any later version.</span>

    30

<a name="l00013"></a>00013 <span class="comment"></span>

    31

<a name="l00014"></a>00014 <span class="comment">  This library is distributed in the hope that it will be useful,</span>

    32

<a name="l00015"></a>00015 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>

    33

<a name="l00016"></a>00016 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>

    34

<a name="l00017"></a>00017 <span class="comment">  Lesser General Public License for more details.</span>

    35

<a name="l00018"></a>00018 <span class="comment"></span>

    36

<a name="l00019"></a>00019 <span class="comment">  You should have received a copy of the GNU Lesser General Public</span>

    37

<a name="l00020"></a>00020 <span class="comment">  License along with this library; if not, write to the Free Software</span>

    38

<a name="l00021"></a>00021 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307</span>

    39

<a name="l00022"></a>00022 <span class="comment">  USA</span>

    40

<a name="l00023"></a>00023 <span class="comment">*/</span>

    41

<a name="l00024"></a>00024 

    42

<a name="l00025"></a>00025 

    43

<a name="l00035"></a>00035 <span class="preprocessor">#include "objacces.h"</span>

    44

<a name="l00036"></a>00036 <span class="preprocessor">#include "sdo.h"</span>

    45

<a name="l00037"></a>00037 <span class="preprocessor">#include "dcf.h"</span>

    46

<a name="l00038"></a>00038 <span class="preprocessor">#include "sysdep.h"</span>

    47

<a name="l00039"></a>00039 

    48

<a name="l00040"></a>00040 

    49

<a name="l00054"></a>00054 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,

    50

<a name="l00055"></a>00055                                UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);

    51

<a name="l00056"></a>00056 

    52

<a name="l00057"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00057</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;

    53

<a name="l00058"></a>00058 

    54

<a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)

    55

<a name="l00066"></a>00066 {

    56

<a name="l00067"></a>00067   UNS32 abortCode;

    57

<a name="l00068"></a>00068 

    58

<a name="l00069"></a>00069   <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &amp;abortCode) != SDO_FINISHED)

    59

<a name="l00070"></a>00070     {

    60

<a name="l00071"></a>00071       MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode);

    61

<a name="l00072"></a>00072       MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId);

    62

<a name="l00073"></a>00073     }

    63

<a name="l00074"></a>00074 

    64

<a name="l00075"></a>00075   <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT);

    65

<a name="l00076"></a>00076   <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId);

    66

<a name="l00077"></a>00077 }

    67

<a name="l00078"></a>00078 

    68

<a name="l00087"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00087</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId)

    69

<a name="l00088"></a>00088 {

    70

<a name="l00089"></a>00089   UNS32 errorCode;

    71

<a name="l00090"></a>00090   UNS16 target_Index;

    72

<a name="l00091"></a>00091   UNS8 target_Subindex;

    73

<a name="l00092"></a>00092   UNS32 target_Size;

    74

<a name="l00093"></a>00093   UNS32 res;

    75

<a name="l00094"></a>00094   ODCallback_t *Callback;

    76

<a name="l00095"></a>00095 

    77

<a name="l00096"></a>00096   <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d-&gt;scanIndexOD)(0x1F22, &amp;errorCode, &amp;Callback);

    78

<a name="l00097"></a>00097   <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)

    79

<a name="l00098"></a>00098     {

    80

<a name="l00099"></a>00099       <span class="keywordflow">return</span> errorCode;

    81

<a name="l00100"></a>00100     }

    82

<a name="l00101"></a>00101 

    83

<a name="l00103"></a>00103   <span class="keywordflow">while</span> (nodeId &lt; ptrTable-&gt;bSubCount){

    84

<a name="l00104"></a>00104     UNS32 nb_targets;

    85

<a name="l00105"></a>00105 

    86

<a name="l00106"></a>00106     UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>-&gt;pSubindex[nodeId].size;

    87

<a name="l00107"></a>00107     UNS8* dcfend;

    88

<a name="l00108"></a>00108 

    89

<a name="l00109"></a>00109     {

    90

<a name="l00110"></a>00110       UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>-&gt;pSubindex[nodeId].pObject);

    91

<a name="l00111"></a>00111       dcfend = dcf + szData;

    92

<a name="l00112"></a>00112       <span class="keywordflow">if</span> (!d-&gt;dcf_cursor){

    93

<a name="l00113"></a>00113         d-&gt;dcf_cursor = (UNS8*)dcf + 4;

    94

<a name="l00114"></a>00114         d-&gt;dcf_count_targets = 0;

    95

<a name="l00115"></a>00115       }

    96

<a name="l00116"></a>00116       nb_targets = UNS32_LE(*((UNS32*)dcf));

    97

<a name="l00117"></a>00117     }

    98

<a name="l00118"></a>00118 

    99

<a name="l00120"></a>00120     <span class="keywordflow">if</span>((UNS8*)d-&gt;dcf_cursor + 7 &lt; (UNS8*)dcfend &amp;&amp; d-&gt;dcf_count_targets &lt; nb_targets)

   100

<a name="l00121"></a>00121       {

   101

<a name="l00123"></a>00123         target_Index = UNS16_LE(*((UNS16*)(d-&gt;dcf_cursor))); d-&gt;dcf_cursor += 2;

   102

<a name="l00124"></a>00124         target_Subindex = *((UNS8*)(((UNS8*)d-&gt;dcf_cursor)++));

   103

<a name="l00125"></a>00125         target_Size = UNS32_LE(*((UNS32*)(d-&gt;dcf_cursor))); d-&gt;dcf_cursor += 4;

   104

<a name="l00126"></a>00126 

   105

<a name="l00127"></a>00127         <span class="comment">/* printf("Master : ConfigureSlaveNode %2.2x (Concise</span>

   106

<a name="l00128"></a>00128 <span class="comment">          DCF)\n",nodeId);*/</span>

   107

<a name="l00129"></a>00129         res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d, 

   108

<a name="l00130"></a>00130                                 nodeId, 

   109

<a name="l00131"></a>00131                                 target_Index, 

   110

<a name="l00132"></a>00132                                 target_Subindex, 

   111

<a name="l00133"></a>00133                                 target_Size, 

   112

<a name="l00134"></a>00134                                 0, 

   113

<a name="l00135"></a>00135                                 d-&gt;dcf_cursor,

   114

<a name="l00136"></a>00136                                 CheckSDOAndContinue,

   115

<a name="l00138"></a>00138                                 0); 

   116

<a name="l00141"></a>00141         d-&gt;dcf_cursor += target_Size;

   117

<a name="l00142"></a>00142         d-&gt;dcf_count_targets++;

   118

<a name="l00143"></a>00143 

   119

<a name="l00144"></a>00144         return ;

   120

<a name="l00145"></a>00145       }

   121

<a name="l00146"></a>00146     nodeId++;

   122

<a name="l00147"></a>00147     d-&gt;dcf_cursor = NULL;

   123

<a name="l00148"></a>00148   }

   124

<a name="l00150"></a>00150   (*d-&gt;preOperational)();

   125

<a name="l00151"></a>00151 

   126

<a name="l00152"></a>00152 }

   127

</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by&nbsp;