src/dcf.c
author etisserant
Thu, 20 Mar 2008 15:27:58 +0100
changeset 427 6deafe46484f
parent 378 d2abf6c8c27b
child 474 09c8c4b6c7df
permissions -rw-r--r--
Endianization fix in emcy.c
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
     1
/*
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
     2
  This file is part of CanFestival, a library implementing CanOpen
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
     3
  Stack.
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
     4
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
     5
  Copyright (C): Edouard TISSERANT and Francis DUPIN
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
     6
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
     7
  See COPYING file for copyrights details.
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
     8
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
     9
  This library is free software; you can redistribute it and/or
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    10
  modify it under the terms of the GNU Lesser General Public
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    11
  License as published by the Free Software Foundation; either
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    12
  version 2.1 of the License, or (at your option) any later version.
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    13
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    14
  This library is distributed in the hope that it will be useful,
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    15
  but WITHOUT ANY WARRANTY; without even the implied warranty of
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    16
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    17
  Lesser General Public License for more details.
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    18
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    19
  You should have received a copy of the GNU Lesser General Public
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    20
  License along with this library; if not, write to the Free Software
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    21
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    22
  USA
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    23
*/
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    24
210
6b5a4c21e061 Manual and Documentation finish
nico
parents: 208
diff changeset
    25
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    26
/**
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    27
** @file   dcf.c
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    28
** @author Edouard TISSERANT and Francis DUPIN
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    29
** @date   Mon Jun  4 17:06:12 2007
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    30
**
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    31
** @brief EXEMPLE OF SOMMARY
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    32
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    33
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    34
*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
    35
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
    36
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 368
diff changeset
    37
#include "data.h"
200
930be51ddc24 Big Endian fixes.
etisserant
parents: 191
diff changeset
    38
#include "sysdep.h"
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    39
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    40
extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    41
                               UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
204
44ce74232ccb Some fixes for visual studio C compiler compatiblity.
etisserant
parents: 202
diff changeset
    42
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    43
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    44
static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    45
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    46
/**
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    47
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    48
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    49
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    50
** @param nodeId
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    51
*/
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    52
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    53
{
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    54
  UNS32 abortCode;
191
1e6e3d261b8f CleanUp and minor fixes
etisserant
parents: 178
diff changeset
    55
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    56
  if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    57
    {
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    58
      MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    59
      MSG_WAR(0x2A02, "server node : ", nodeId);
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    60
    }
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    61
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    62
  closeSDOtransfer(d, nodeId, SDO_CLIENT);
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    63
  send_consise_dcf_loop(d,nodeId);
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    64
}
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    65
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    66
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    67
/**
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    68
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    69
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    70
** @param d
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    71
** @param nodeId
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    72
**
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
    73
** @return
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 207
diff changeset
    74
*/
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    75
UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    76
{
361
2220813498f2 Added FastScan support to the LSS services.
groke6
parents: 353
diff changeset
    77
  UNS8 szData;
320
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    78
  /* Fetch DCF OD entry, if not already done */
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    79
  if(!d->dcf_odentry)
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    80
  {
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    81
    UNS32 errorCode;
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    82
    ODCallback_t *Callback;
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    83
    d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    84
    /* If DCF entry do not exist... Nothing to do.*/
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    85
    if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
f82e758840bd Some fixes suggested by Luis Jim?nez, plus some minor enhancements in DCF.
etisserant
parents: 251
diff changeset
    86
  }
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
    87
361
2220813498f2 Added FastScan support to the LSS services.
groke6
parents: 353
diff changeset
    88
  szData = d->dcf_odentry->pSubindex[nodeId].size;
2220813498f2 Added FastScan support to the LSS services.
groke6
parents: 353
diff changeset
    89
  
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    90
  /* if the entry for the nodeId is not empty. */
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    91
  if(szData!=0){
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    92
  	/* if the entry for the nodeId is already been processing, quit.*/
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    93
  	if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    94
  	
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    95
  	d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    96
  	d->dcf_request++;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    97
  	if(d->dcf_request==1)
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    98
  		send_consise_dcf_loop(d,nodeId);
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
    99
  	return 1;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   100
  }
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   101
  
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   102
  DCF_finish:
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   103
  return 0;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   104
}
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
   105
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   106
static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   107
{
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   108
  /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   109
  //while (nodeId < d->dcf_odentry->bSubCount){
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   110
  while (d->dcf_request>0){
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   111
  	if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){   	 
368
7b51757bfc81 changed order of declaration/initialization of variables to prevent some warnings
etisserant
parents: 361
diff changeset
   112
        UNS8* dcfend;
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   113
  		UNS32 nb_entries;
368
7b51757bfc81 changed order of declaration/initialization of variables to prevent some warnings
etisserant
parents: 361
diff changeset
   114
  		UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   115
      	 
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   116
   		{
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   117
	   		UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   118
   			dcfend = dcf + szData;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   119
	   		if (!d->dcf_cursor){
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   120
    	  		d->dcf_cursor = (UNS8*)dcf + 4;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   121
       			d->dcf_entries_count = 0;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   122
   			}
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   123
   			nb_entries = UNS32_LE(*((UNS32*)dcf));
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   124
   		}
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   125
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   126
    	/* condition on consise DCF string for NodeID, if big enough */
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   127
    	if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   128
    	
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   129
        	UNS16 target_Index;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   130
        	UNS8 target_Subindex;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   131
        	UNS32 target_Size;
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   132
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   133
        	/* pointer to the DCF string for NodeID */
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   134
        	target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   135
        	target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   136
        	target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   137
	
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   138
    	    _writeNetworkDict(d, /* CO_Data* d*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   139
                                nodeId, /* UNS8 nodeId*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   140
                                target_Index, /* UNS16 index*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   141
                                target_Subindex, /* UNS8 subindex*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   142
                                target_Size, /* UNS8 count*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   143
                                0, /* UNS8 dataType*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   144
                                d->dcf_cursor,/* void *data*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   145
                                CheckSDOAndContinue,/* SDOCallback_t
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   146
                                                      Callback*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 212
diff changeset
   147
                                0); /* no endianize*/
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   148
        	/* Push d->dcf_cursor to the end of data*/
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   149
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   150
        	d->dcf_cursor += target_Size;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   151
        	d->dcf_entries_count++;
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   152
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   153
        	/* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   154
        	return;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   155
      	}
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   156
      	else
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   157
      	{
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   158
      		/* We have finished with the dcf entry. Change the flag, decrement the request
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   159
      		 *  and execute the bootup callback. */
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   160
      		d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   161
      		d->dcf_request--;
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 368
diff changeset
   162
      		(*d->post_SlaveBootup)(d, nodeId);
349
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   163
      	}
1e6dd4ef46b9 fixed the DCF-LSS conflict
groke6
parents: 320
diff changeset
   164
 	}
353
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   165
 	
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   166
   	/* Check the next element*/
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   167
   	nodeId=(nodeId+1) % d->dcf_odentry->bSubCount;
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   168
   	if(nodeId==d->dcf_odentry->bSubCount)nodeId=1;
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   169
   	d->dcf_cursor = NULL;
ee08ce0366a7 fixed a bug in consise_dcf_loop() in dcf.c
groke6
parents: 349
diff changeset
   170
207
b6572d0336c3 First doxygen implementation
nico
parents: 204
diff changeset
   171
  }
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 368
diff changeset
   172
178
01d81faa3350 Add concise DCF support
greg
parents:
diff changeset
   173
}