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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 <data.h>
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#include "lifegrd.h"
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e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
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{
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e_nodeState networkNodeState = d->NMTable[nodeId];
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return networkNodeState;
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}
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// The Consumer Timer Callback
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void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
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{
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//MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);
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// call heartbeat error with NodeId
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(*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
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}
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/* Retourne le node-id */
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void proceedNODE_GUARD(CO_Data* d, Message* m )
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{
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UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
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if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
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{ // Receiving a NMT NodeGuarding (request of the state by the master)
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// only answer to the NMT NodeGuarding request, the master is not checked (not implemented)
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if (nodeId == *d->bDeviceNodeId )
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{
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Message msg;
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msg.cob_id.w = *d->bDeviceNodeId + 0x700;
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msg.len = (UNS8)0x01;
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msg.rtr = 0;
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msg.data[0] = d->nodeState;
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if (d->toggle)
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{
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msg.data[0] |= 0x80 ;
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d->toggle = 0 ;
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}
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else
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d->toggle = 1 ;
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// send the nodeguard response.
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MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
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(*d->canSend)(&msg );
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}
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}else{ // Not a request CAN
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MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
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/* the slave's state receievd is stored in the NMTable */
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// The state is stored on 7 bit
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d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
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/* Boot-Up frame reception */
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if ( d->NMTable[nodeId] == Initialisation)
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{
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// The device send the boot-up message (Initialisation)
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// to indicate the master that it is entered in pre_operational mode
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// Because the device enter automaticaly in pre_operational mode,
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// the pre_operational mode is stored
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// NMTable[bus_id][nodeId] = Pre_operational;
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MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
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}
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if( d->NMTable[nodeId] != Unknown_state ) {
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UNS8 index, ConsummerHeartBeat_nodeId ;
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for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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{
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ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
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if ( nodeId == ConsummerHeartBeat_nodeId )
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{
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TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
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// Renew alarm for next heartbeat.
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DelAlarm(d->ConsumerHeartBeatTimers[index]);
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d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
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}
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}
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}
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}
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}
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// The Consumer Timer Callback
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void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
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{
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if(*d->ProducerHeartBeatTime)
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{
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Message msg;
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// Time expired, the heartbeat must be sent immediately
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// generate the correct node-id: this is done by the offset 1792
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// (decimal) and additionaly
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// the node-id of this device.
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msg.cob_id.w = *d->bDeviceNodeId + 0x700;
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msg.len = (UNS8)0x01;
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msg.rtr = 0;
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msg.data[0] = d->nodeState; // No toggle for heartbeat !
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// send the heartbeat
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MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
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(*d->canSend)(&msg );
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}else{
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d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
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}
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}
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void heartbeatInit(CO_Data* d)
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{
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UNS8 index; // Index to scan the table of heartbeat consumers
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d->toggle = 0;
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for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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{
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TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
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//MSG_WAR(0x3121, "should_time : ", should_time ) ;
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if ( time )
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{
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d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
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}
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}
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if ( *d->ProducerHeartBeatTime )
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{
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TIMEVAL time = *d->ProducerHeartBeatTime;
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d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
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}
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}
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void heartbeatStop(CO_Data* d)
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{
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UNS8 index;
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for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
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{
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d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
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}
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d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
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}
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