src/states.c
author greg
Sat, 08 Dec 2007 15:01:14 +0100
changeset 329 7717252e3ed9
parent 320 f82e758840bd
child 343 118c1cabd0b0
permissions -rw-r--r--
Changes to compile for win32
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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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/*!
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** @file   states.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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#include "states.h"
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#include "def.h"
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#include "dcf.h"
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#include "nmtSlave.h"
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#include "emcy.h"
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/** Prototypes for internals functions */
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param newCommunicationState                                                                    
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**/     
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void switchCommunicationState(CO_Data* d, 
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	s_state_communication *newCommunicationState);
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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**                                                                                                 
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** @return                                                                                         
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**/    
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e_nodeState getState(CO_Data* d)
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{
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  return d->nodeState;
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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 m                                                                                        
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**/  
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void canDispatch(CO_Data* d, Message *m)
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{
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	 switch(m->cob_id.w >> 7)
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	{
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		case SYNC:		/* can be a SYNC or a EMCY message */
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			if(m->cob_id.w == 0x080)	/* SYNC */
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			{
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				if(d->CurrentCommunicationState.csSYNC)
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					proceedSYNC(d);
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			} else 		/* EMCY */
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				if(d->CurrentCommunicationState.csEmergency)
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					proceedEMCY(d,m);
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			break;
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		/* case TIME_STAMP: */
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		case PDO1tx:
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		case PDO1rx:
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		case PDO2tx:
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		case PDO2rx:
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		case PDO3tx:
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		case PDO3rx:
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		case PDO4tx:
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		case PDO4rx:
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			if (d->CurrentCommunicationState.csPDO)
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				proceedPDO(d,m);
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			break;
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		case SDOtx:
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		case SDOrx:
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			if (d->CurrentCommunicationState.csSDO)
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				proceedSDO(d,m);
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			break;
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		case NODE_GUARD:
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			if (d->CurrentCommunicationState.csHeartbeat)
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				proceedNODE_GUARD(d,m);
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			break;
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		case NMT:
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			if (*(d->iam_a_slave))
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			{
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				proceedNMTstateChange(d,m);
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			}
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	}
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}
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#define StartOrStop(CommType, FuncStart, FuncStop) \
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	if(newCommunicationState->CommType && d->CurrentCommunicationState.CommType == 0){\
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		MSG_WAR(0x9999,#FuncStart, 9999);\
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		d->CurrentCommunicationState.CommType = 1;\
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		FuncStart;\
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	}else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType == 1){\
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		MSG_WAR(0x9999,#FuncStop, 9999);\
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		d->CurrentCommunicationState.CommType = 0;\
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		FuncStop;\
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	}
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#define None
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param newCommunicationState                                                                    
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**/  	
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void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
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{
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	StartOrStop(csSDO,	None,		resetSDO(d))
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	StartOrStop(csSYNC,	startSYNC(d),		stopSYNC(d))
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	StartOrStop(csHeartbeat,	heartbeatInit(d),	heartbeatStop(d))
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	StartOrStop(csEmergency,	emergencyInit(d),	emergencyStop(d)) 
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	StartOrStop(csPDO,	PDOInit(d),	PDOStop(d))
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	StartOrStop(csBoot_Up,	None,	slaveSendBootUp(d))
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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 newState                                                                                 
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**                                                                                                 
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** @return                                                                                         
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**/  
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UNS8 setState(CO_Data* d, e_nodeState newState)
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{
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	while(newState != d->nodeState){
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		switch( newState ){
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			case Initialisation:
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			{
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				s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
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				/* This will force a second loop for the state switch */
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				d->nodeState = Initialisation;
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				newState = Pre_operational;
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				switchCommunicationState(d, &newCommunicationState);
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				/* call user app related state func. */
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				(*d->initialisation)();
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			}
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			break;
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			case Pre_operational:
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			{
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				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
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				d->nodeState = Pre_operational;
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				newState = Pre_operational;
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				switchCommunicationState(d, &newCommunicationState);
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				if (!(*(d->iam_a_slave)))
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				{
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					send_consise_dcf(d,0x01);
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                    /*(*d->preOperational)() will be called once dcf sent */
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				}
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				else 
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				{
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					(*d->preOperational)();
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				}
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			}
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			break;
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			case Operational:
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			if(d->nodeState == Initialisation) return 0xFF;
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			{
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				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
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				d->nodeState = Operational;
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				newState = Operational;
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				switchCommunicationState(d, &newCommunicationState);
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				(*d->operational)();
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			}
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			break;
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			case Stopped:
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			if(d->nodeState == Initialisation) return 0xFF;
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			{
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				s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
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				d->nodeState = Stopped;
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				newState = Stopped;
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				switchCommunicationState(d, &newCommunicationState);
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				(*d->stopped)();
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			}
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			break;
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			default:
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				return 0xFF;
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		}/* end switch case */
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	}
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	return 0;
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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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**                                                                                                 
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** @return                                                                                         
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**/ 
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UNS8 getNodeId(CO_Data* d)
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{
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  return *d->bDeviceNodeId;
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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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void setNodeId(CO_Data* d, UNS8 nodeId)
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{
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  UNS16 offset = d->firstIndex->SDO_SVR;
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  if(offset){
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    /* Adjust COB-ID Client->Server (rx) only id already set to default value*/
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    if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + *d->bDeviceNodeId){
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      /* cob_id_client = 0x600 + nodeId; */
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      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
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    }
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    /* Adjust COB-ID Server -> Client (tx) only id already set to default value*/
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    if(*(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + *d->bDeviceNodeId){
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      /* cob_id_server = 0x580 + nodeId; */
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      *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
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    }
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  }
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  /* 
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   	Initialize the server(s) SDO parameters
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  	Remember that only one SDO server is allowed, defined at index 0x1200	
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  	Initialize the client(s) SDO parameters 	
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  	Nothing to initialize (no default values required by the DS 401)	
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  	Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 
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  */
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  {
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    UNS8 i = 0;
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    UNS16 offset = d->firstIndex->PDO_RCV;
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    UNS16 lastIndex = d->lastIndex->PDO_RCV;
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    UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
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    if( offset ) while( (offset <= lastIndex) && (i < 4)) {
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      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
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	      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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      i ++;
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      offset ++;
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    }
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  }
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  /* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */
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  {
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    UNS8 i = 0;
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    UNS16 offset = d->firstIndex->PDO_TRS;
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    UNS16 lastIndex = d->lastIndex->PDO_TRS;
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    UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
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    i = 0;
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    if( offset ) while ((offset <= lastIndex) && (i < 4)) {
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      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
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	      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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      i ++;
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      offset ++;
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    }
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  }
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  /* Update EMCY COB-ID if already set to default*/
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  if(*d->error_cobid == *d->bDeviceNodeId + 0x80)
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    *d->error_cobid = nodeId + 0x80;
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  /* bDeviceNodeId is defined in the object dictionary. */
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  *d->bDeviceNodeId = nodeId;
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}
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void _initialisation(){}
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void _preOperational(){}
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void _operational(){}
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void _stopped(){}