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/*

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This file is part of CanFestival, a library implementing CanOpen 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  USA

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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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const indextable *ptrTable;

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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)

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{

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	UNS32 res;

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	UNS8 line;

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	UNS8 err;

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	UNS16 Index;

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	UNS8 SubIndex;

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	UNS32 abortCode;

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	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)

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		printf("Master : Failed in initializing slave %2.2x, AbortCode :%4.4x \n", nodeId, abortCode);

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	closeSDOtransfer(d, nodeId, SDO_CLIENT);

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	res = decompo_dcf(d,nodeId);

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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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		void* target_data = NULL;

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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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	  		void* dcfend;

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		  	{

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			  	void* dcf = *((void**)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 = dcf + 4;

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					d->dcf_count_targets = 0;

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				}

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	#ifdef CANOPEN_BIG_ENDIAN

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				nb_targets = ((UNS8*)d->dcf++) | ((UNS8*)d->dcf++) << 8 | ((UNS8*)d->dcf++) << 16 | ((UNS8*)d->dcf++) << 24;

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	#else

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				nb_targets = *((UNS32*)dcf);

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	#endif

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		  	}

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			// condition on consise DCF string for NodeID, if big enough

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			if(d->dcf_cursor + 7 < 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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	#ifdef CANOPEN_BIG_ENDIAN

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				target_Index = ((UNS8*)d->dcf_cursor++) | ((UNS8*)d->dcf_cursor++) << 8;

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				target_Subindex = ((UNS8*)d->dcf_cursor++);

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				target_Size = ((UNS8*)d->dcf_cursor++) | ((UNS8*)d->dcf_cursor++) << 8 | ((UNS8*)d->dcf_cursor++) << 16 | ((UNS8*)d->dcf_cursor++) << 24;

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	#else

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				target_Index = *((UNS16*)(d->dcf_cursor)); d->dcf_cursor += 2;

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				target_Subindex = *((UNS8*)(d->dcf_cursor++));

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				target_Size = *((UNS32*)(d->dcf_cursor)); d->dcf_cursor += 4;

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	#endif

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					printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);

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					res = writeNetworkDictCallBack(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 Callback*/					

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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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}