39

<a name="l00032"></a>00032 <span class="preprocessor">#include "states.h"</span>

    40

<a name="l00033"></a>00033 <span class="preprocessor">#include "def.h"</span>

    41

<a name="l00034"></a>00034 <span class="preprocessor">#include "dcf.h"</span>

    42

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

    43

<a name="l00036"></a>00036 

    44

<a name="l00044"></a>00044 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, 

    45

<a name="l00045"></a>00045         s_state_communication *newCommunicationState);

    46

<a name="l00046"></a>00046         

    47

<a name="l00054"></a><a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">00054</a> e_nodeState <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(CO_Data* d)

    48

<a name="l00055"></a>00055 {

    49

<a name="l00056"></a>00056   <span class="keywordflow">return</span> d-&gt;nodeState;

    50

<a name="l00057"></a>00057 }

    51

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

    52

<a name="l00065"></a><a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">00065</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(CO_Data* d, Message *m)

    53

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

    54

<a name="l00067"></a>00067          <span class="keywordflow">switch</span>(m-&gt;cob_id.w &gt;&gt; 7)

    55

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

    56

<a name="l00069"></a>00069                 <span class="keywordflow">case</span> SYNC:

    57

<a name="l00070"></a>00070                         <span class="keywordflow">if</span>(d-&gt;CurrentCommunicationState.csSYNC)

    58

<a name="l00071"></a>00071                                 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m);

    59

<a name="l00072"></a>00072                         <span class="keywordflow">break</span>;

    60

<a name="l00074"></a>00074                 <span class="keywordflow">case</span> PDO1tx:

    61

<a name="l00075"></a>00075                 <span class="keywordflow">case</span> PDO1rx:

    62

<a name="l00076"></a>00076                 <span class="keywordflow">case</span> PDO2tx:

    63

<a name="l00077"></a>00077                 <span class="keywordflow">case</span> PDO2rx:

    64

<a name="l00078"></a>00078                 <span class="keywordflow">case</span> PDO3tx:

    65

<a name="l00079"></a>00079                 <span class="keywordflow">case</span> PDO3rx:

    66

<a name="l00080"></a>00080                 <span class="keywordflow">case</span> PDO4tx:

    67

<a name="l00081"></a>00081                 <span class="keywordflow">case</span> PDO4rx:

    68

<a name="l00082"></a>00082                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csPDO)

    69

<a name="l00083"></a>00083                                 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m);

    70

<a name="l00084"></a>00084                         <span class="keywordflow">break</span>;

    71

<a name="l00085"></a>00085                 <span class="keywordflow">case</span> SDOtx:

    72

<a name="l00086"></a>00086                 <span class="keywordflow">case</span> SDOrx:

    73

<a name="l00087"></a>00087                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csSDO)

    74

<a name="l00088"></a>00088                                 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m);

    75

<a name="l00089"></a>00089                         <span class="keywordflow">break</span>;

    76

<a name="l00090"></a>00090                 <span class="keywordflow">case</span> NODE_GUARD:

    77

<a name="l00091"></a>00091                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csHeartbeat)

    78

<a name="l00092"></a>00092                                 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m);

    79

<a name="l00093"></a>00093                         <span class="keywordflow">break</span>;

    80

<a name="l00094"></a>00094                 <span class="keywordflow">case</span> NMT:

    81

<a name="l00095"></a>00095                         <span class="keywordflow">if</span> (*(d-&gt;iam_a_slave))

    82

<a name="l00096"></a>00096                         {

    83

<a name="l00097"></a>00097                                 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m);

    84

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

    85

<a name="l00099"></a>00099         }

    86

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

    87

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

    88

<a name="l00102"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00102</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>

    89

<a name="l00103"></a>00103 <span class="preprocessor">        if(newCommunicationState-&gt;CommType &amp;&amp; !d-&gt;CurrentCommunicationState.CommType){\</span>

    90

<a name="l00104"></a>00104 <span class="preprocessor">                MSG_WAR(0x9999,#FuncStart, 9999);\</span>

    91

<a name="l00105"></a>00105 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 1;\</span>

    92

<a name="l00106"></a>00106 <span class="preprocessor">                FuncStart;\</span>

    93

<a name="l00107"></a>00107 <span class="preprocessor">        }else if(!newCommunicationState-&gt;CommType &amp;&amp; d-&gt;CurrentCommunicationState.CommType){\</span>

    94

<a name="l00108"></a>00108 <span class="preprocessor">                MSG_WAR(0x9999,#FuncStop, 9999);\</span>

    95

<a name="l00109"></a>00109 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 0;\</span>

    96

<a name="l00110"></a>00110 <span class="preprocessor">                FuncStop;\</span>

    97

<a name="l00111"></a>00111 <span class="preprocessor">        }</span>

    98

<a name="l00112"></a><a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">00112</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span>

    99

<a name="l00113"></a>00113 <span class="preprocessor"></span>

   100

<a name="l00120"></a><a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">00120</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, s_state_communication *newCommunicationState)

   101

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

   102

<a name="l00122"></a>00122         <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))

   103

<a name="l00123"></a>00123         <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))

   104

<a name="l00124"></a>00124         <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))

   105

<a name="l00125"></a>00125 <span class="comment">/*      StartOrStop(Emergency,,) */</span>

   106

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

   107

<a name="l00127"></a>00127         <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))

   108

<a name="l00128"></a>00128 }

   109

<a name="l00129"></a>00129 

   110

<a name="l00138"></a><a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">00138</a> UNS8 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(CO_Data* d, e_nodeState newState)

   111

<a name="l00139"></a>00139 {

   112

<a name="l00140"></a>00140         UNS16 wIndex = 0x1F22;

   113

<a name="l00141"></a>00141         <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;

   114

<a name="l00142"></a>00142         ODCallback_t *Callback;

   115

<a name="l00143"></a>00143         UNS32 errorCode;

   116

<a name="l00144"></a>00144         <span class="keywordflow">while</span>(newState != d-&gt;nodeState){

   117

<a name="l00145"></a>00145                 <span class="keywordflow">switch</span>( newState ){

   118

<a name="l00146"></a>00146                         <span class="keywordflow">case</span> Initialisation:

   119

<a name="l00147"></a>00147                         {

   120

<a name="l00148"></a>00148                                 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};

   121

<a name="l00150"></a>00150                                 d-&gt;nodeState = Initialisation;

   122

<a name="l00151"></a>00151                                 newState = Pre_operational;

   123

<a name="l00152"></a>00152                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);

   124

<a name="l00154"></a>00154                                 (*d-&gt;initialisation)();

   125

<a name="l00155"></a>00155                                 

   126

<a name="l00156"></a>00156                         }

   127

<a name="l00157"></a>00157                         <span class="keywordflow">break</span>;

   128

<a name="l00158"></a>00158                                                                 

   129

<a name="l00159"></a>00159                         <span class="keywordflow">case</span> Pre_operational:

   130

<a name="l00160"></a>00160                         {

   131

<a name="l00161"></a>00161                                 

   132

<a name="l00162"></a>00162                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};

   133

<a name="l00163"></a>00163                                 d-&gt;nodeState = Pre_operational;

   134

<a name="l00164"></a>00164                                 newState = Pre_operational;

   135

<a name="l00165"></a>00165                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);

   136

<a name="l00166"></a>00166                                 <span class="keywordflow">if</span> (!(*(d-&gt;iam_a_slave)))

   137

<a name="l00167"></a>00167                                 {

   138

<a name="l00168"></a>00168                                         ptrTable =(*d-&gt;scanIndexOD)(wIndex, &amp;errorCode, &amp;Callback);

   139

<a name="l00169"></a>00169                                         

   140

<a name="l00170"></a>00170                                         <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)

   141

<a name="l00171"></a>00171                                                 {

   142

<a name="l00172"></a>00172                                                         (*d-&gt;preOperational)();

   143

<a name="l00173"></a>00173                                                 }

   144

<a name="l00174"></a>00174                                         <span class="keywordflow">else</span>

   145

<a name="l00175"></a>00175                                                 {

   146

<a name="l00176"></a>00176                                                         UNS32 res;

   147

<a name="l00177"></a>00177                                                         res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01);

   148

<a name="l00178"></a>00178                                                 }                               

   149

<a name="l00179"></a>00179                                 }

   150

<a name="l00180"></a>00180                                 <span class="keywordflow">else</span> 

   151

<a name="l00181"></a>00181                                 {

   152

<a name="l00182"></a>00182                                         (*d-&gt;preOperational)();

   153

<a name="l00183"></a>00183                                 }

   154

<a name="l00184"></a>00184                         }

   155

<a name="l00185"></a>00185                         <span class="keywordflow">break</span>;

   156

<a name="l00186"></a>00186                                                                 

   157

<a name="l00187"></a>00187                         <span class="keywordflow">case</span> Operational:

   158

<a name="l00188"></a>00188                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;

   159

<a name="l00189"></a>00189                         {

   160

<a name="l00190"></a>00190                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};

   161

<a name="l00191"></a>00191                                 d-&gt;nodeState = Operational;

   162

<a name="l00192"></a>00192                                 newState = Operational;

   163

<a name="l00193"></a>00193                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);

   164

<a name="l00194"></a>00194                                 (*d-&gt;operational)();

   165

<a name="l00195"></a>00195                         }

   166

<a name="l00196"></a>00196                         <span class="keywordflow">break</span>;

   167

<a name="l00197"></a>00197                                                 

   168

<a name="l00198"></a>00198                         <span class="keywordflow">case</span> Stopped:

   169

<a name="l00199"></a>00199                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;

   170

<a name="l00200"></a>00200                         {

   171

<a name="l00201"></a>00201                                 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};

   172

<a name="l00202"></a>00202                                 d-&gt;nodeState = Stopped;

   173

<a name="l00203"></a>00203                                 newState = Stopped;

   174

<a name="l00204"></a>00204                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);

   175

<a name="l00205"></a>00205                                 (*d-&gt;stopped)();

   176

<a name="l00206"></a>00206                         }

   177

<a name="l00207"></a>00207                         <span class="keywordflow">break</span>;

   178

<a name="l00208"></a>00208                         

   179

<a name="l00209"></a>00209                         <span class="keywordflow">default</span>:

   180

<a name="l00210"></a>00210                                 <span class="keywordflow">return</span> 0xFF;

   181

<a name="l00211"></a>00211                 }

   182

<a name="l00213"></a>00213         }

   183

<a name="l00214"></a>00214         <span class="keywordflow">return</span> 0;

   184

<a name="l00215"></a>00215 }

   185

<a name="l00216"></a>00216 

   186

<a name="l00224"></a><a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">00224</a> UNS8 <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(CO_Data* d)

   187

<a name="l00225"></a>00225 {

   188

<a name="l00226"></a>00226   <span class="keywordflow">return</span> *d-&gt;bDeviceNodeId;

   189

<a name="l00227"></a>00227 }

   190

<a name="l00228"></a>00228 

   191

<a name="l00235"></a><a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(CO_Data* d, UNS8 nodeId)

   192

<a name="l00236"></a>00236 {

   193

<a name="l00237"></a>00237   UNS16 offset = d-&gt;firstIndex-&gt;SDO_SVR;

   194

<a name="l00238"></a>00238   <span class="keywordflow">if</span>(offset){

   195

<a name="l00240"></a>00240       *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;

   196

<a name="l00242"></a>00242       *(UNS32*)d-&gt;objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;

   197

<a name="l00245"></a>00245   }

   198

<a name="l00246"></a>00246 

   199

<a name="l00255"></a>00255   {

   200

<a name="l00256"></a>00256     UNS8 i = 0;

   201

<a name="l00257"></a>00257     UNS16 offset = d-&gt;firstIndex-&gt;PDO_RCV;

   202

<a name="l00258"></a>00258     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;

   203

<a name="l00259"></a>00259     UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};

   204

<a name="l00260"></a>00260     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {

   205

<a name="l00261"></a>00261       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>

   206

<a name="l00262"></a>00262               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;

   207

<a name="l00263"></a>00263       i ++;

   208

<a name="l00264"></a>00264       offset ++;

   209

<a name="l00265"></a>00265     }

   210

<a name="l00266"></a>00266   }

   211

<a name="l00267"></a>00267   <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>

   212

<a name="l00268"></a>00268   {

   213

<a name="l00269"></a>00269     UNS8 i = 0;

   214

<a name="l00270"></a>00270     UNS16 offset = d-&gt;firstIndex-&gt;PDO_TRS;

   215

<a name="l00271"></a>00271     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;

   216

<a name="l00272"></a>00272     UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};

   217

<a name="l00273"></a>00273     i = 0;

   218

<a name="l00274"></a>00274     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {

   219

<a name="l00275"></a>00275       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>

   220

<a name="l00276"></a>00276               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;

   221

<a name="l00277"></a>00277       i ++;

   222

<a name="l00278"></a>00278       offset ++;

   223

<a name="l00279"></a>00279     }

   224

<a name="l00280"></a>00280   }

   225

<a name="l00282"></a>00282   *d-&gt;bDeviceNodeId = nodeId;

   226

<a name="l00283"></a>00283 }

   227

<a name="l00284"></a>00284 

   228

<a name="l00285"></a><a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">00285</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){}

   229

<a name="l00286"></a><a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">00286</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){}

   230

<a name="l00287"></a><a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">00287</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){}

   231

<a name="l00288"></a><a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">00288</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){}

   232

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