doc/doxygen/html/states_8c-source.html
author nico
Mon, 04 Jun 2007 17:59:50 +0200
changeset 207 b6572d0336c3
child 210 6b5a4c21e061
permissions -rw-r--r--
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/states.c Source File</title>
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    <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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<div class="tabs">
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    <li><a href="files.html"><span>File&nbsp;List</span></a></li>
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    <li><a href="globals.html"><span>Globals</span></a></li>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/states.c</h1><a href="states_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022 
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<a name="l00023"></a>00023 <span class="preprocessor">#include "states.h"</span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "def.h"</span>
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<a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span>
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<a name="l00026"></a>00026 <span class="preprocessor">#include "nmtSlave.h"</span>
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<a name="l00027"></a>00027 
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<a name="l00028"></a>00028 <span class="comment">/* Prototypes for internals functions */</span>
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<a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, 
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<a name="l00030"></a>00030         s_state_communication *newCommunicationState);
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<a name="l00031"></a>00031         
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<a name="l00032"></a>00032 <span class="comment">/*****************************************************************************/</span>
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<a name="l00033"></a><a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">00033</a> e_nodeState <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(CO_Data* d)
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<a name="l00034"></a>00034 {
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<a name="l00035"></a>00035   <span class="keywordflow">return</span> d-&gt;nodeState;
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<a name="l00036"></a>00036 }
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<a name="l00037"></a>00037 
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<a name="l00038"></a>00038 <span class="comment">/*****************************************************************************/</span>
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<a name="l00039"></a><a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">00039</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(CO_Data* d, Message *m)
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<a name="l00040"></a>00040 {
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<a name="l00041"></a>00041          <span class="keywordflow">switch</span>(m-&gt;cob_id.w &gt;&gt; 7)
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<a name="l00042"></a>00042         {
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<a name="l00043"></a>00043                 <span class="keywordflow">case</span> SYNC:
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<a name="l00044"></a>00044                         <span class="keywordflow">if</span>(d-&gt;CurrentCommunicationState.csSYNC)
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<a name="l00045"></a>00045                                 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m);
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<a name="l00046"></a>00046                         <span class="keywordflow">break</span>;
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<a name="l00047"></a>00047                 <span class="comment">/* case TIME_STAMP: */</span>
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<a name="l00048"></a>00048                 <span class="keywordflow">case</span> PDO1tx:
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<a name="l00049"></a>00049                 <span class="keywordflow">case</span> PDO1rx:
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<a name="l00050"></a>00050                 <span class="keywordflow">case</span> PDO2tx:
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<a name="l00051"></a>00051                 <span class="keywordflow">case</span> PDO2rx:
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<a name="l00052"></a>00052                 <span class="keywordflow">case</span> PDO3tx:
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<a name="l00053"></a>00053                 <span class="keywordflow">case</span> PDO3rx:
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<a name="l00054"></a>00054                 <span class="keywordflow">case</span> PDO4tx:
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<a name="l00055"></a>00055                 <span class="keywordflow">case</span> PDO4rx:
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<a name="l00056"></a>00056                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csPDO)
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<a name="l00057"></a>00057                                 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m);
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<a name="l00058"></a>00058                         <span class="keywordflow">break</span>;
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<a name="l00059"></a>00059                 <span class="keywordflow">case</span> SDOtx:
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<a name="l00060"></a>00060                 <span class="keywordflow">case</span> SDOrx:
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<a name="l00061"></a>00061                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csSDO)
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<a name="l00062"></a>00062                                 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m);
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<a name="l00063"></a>00063                         <span class="keywordflow">break</span>;
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<a name="l00064"></a>00064                 <span class="keywordflow">case</span> NODE_GUARD:
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<a name="l00065"></a>00065                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csHeartbeat)
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<a name="l00066"></a>00066                                 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m);
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<a name="l00067"></a>00067                         <span class="keywordflow">break</span>;
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<a name="l00068"></a>00068                 <span class="keywordflow">case</span> NMT:
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<a name="l00069"></a>00069                         <span class="keywordflow">if</span> (*(d-&gt;iam_a_slave))
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<a name="l00070"></a>00070                         {
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<a name="l00071"></a>00071                                 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m);
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<a name="l00072"></a>00072                         }
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<a name="l00073"></a>00073         }
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<a name="l00074"></a>00074 }
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<a name="l00075"></a>00075 
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<a name="l00076"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00076</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>
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<a name="l00077"></a>00077 <span class="preprocessor">        if(newCommunicationState-&gt;CommType &amp;&amp; !d-&gt;CurrentCommunicationState.CommType){\</span>
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<a name="l00078"></a>00078 <span class="preprocessor">                MSG_WAR(0x9999,#FuncStart, 9999);\</span>
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<a name="l00079"></a>00079 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 1;\</span>
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<a name="l00080"></a>00080 <span class="preprocessor">                FuncStart;\</span>
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<a name="l00081"></a>00081 <span class="preprocessor">        }else if(!newCommunicationState-&gt;CommType &amp;&amp; d-&gt;CurrentCommunicationState.CommType){\</span>
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<a name="l00082"></a>00082 <span class="preprocessor">                MSG_WAR(0x9999,#FuncStop, 9999);\</span>
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<a name="l00083"></a>00083 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 0;\</span>
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<a name="l00084"></a>00084 <span class="preprocessor">                FuncStop;\</span>
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<a name="l00085"></a>00085 <span class="preprocessor">        }</span>
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<a name="l00086"></a><a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">00086</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span>
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<a name="l00087"></a>00087 <span class="preprocessor"></span>        
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<a name="l00088"></a>00088 <span class="comment">/*****************************************************************************/</span>
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<a name="l00089"></a><a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">00089</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, s_state_communication *newCommunicationState)
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<a name="l00090"></a>00090 {
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<a name="l00091"></a>00091         <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))
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<a name="l00092"></a>00092         <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))
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<a name="l00093"></a>00093         <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))
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<a name="l00094"></a>00094 <span class="comment">/*      StartOrStop(Emergency,,) */</span>
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<a name="l00095"></a>00095         <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>)
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<a name="l00096"></a>00096         <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))
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<a name="l00097"></a>00097 }
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<a name="l00098"></a>00098 
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<a name="l00099"></a>00099 <span class="comment">/*****************************************************************************/</span>
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<a name="l00100"></a><a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">00100</a> UNS8 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(CO_Data* d, e_nodeState newState)
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<a name="l00101"></a>00101 {
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<a name="l00102"></a>00102         UNS16 wIndex = 0x1F22;
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<a name="l00103"></a>00103         <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
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<a name="l00104"></a>00104         ODCallback_t *Callback;
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<a name="l00105"></a>00105         UNS32 errorCode;
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<a name="l00106"></a>00106         <span class="keywordflow">while</span>(newState != d-&gt;nodeState){
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<a name="l00107"></a>00107                 <span class="keywordflow">switch</span>( newState ){
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<a name="l00108"></a>00108                         <span class="keywordflow">case</span> Initialisation:
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<a name="l00109"></a>00109                         {
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<a name="l00110"></a>00110                                 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
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<a name="l00111"></a>00111                                 <span class="comment">/* This will force a second loop for the state switch */</span>
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<a name="l00112"></a>00112                                 d-&gt;nodeState = Initialisation;
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<a name="l00113"></a>00113                                 newState = Pre_operational;
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<a name="l00114"></a>00114                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
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<a name="l00115"></a>00115                                 <span class="comment">/* call user app related state func. */</span>
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<a name="l00116"></a>00116                                 (*d-&gt;initialisation)();
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<a name="l00117"></a>00117                                 
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<a name="l00118"></a>00118                         }
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<a name="l00119"></a>00119                         <span class="keywordflow">break</span>;
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<a name="l00120"></a>00120                                                                 
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<a name="l00121"></a>00121                         <span class="keywordflow">case</span> Pre_operational:
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<a name="l00122"></a>00122                         {
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<a name="l00123"></a>00123                                 
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<a name="l00124"></a>00124                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
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<a name="l00125"></a>00125                                 d-&gt;nodeState = Pre_operational;
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<a name="l00126"></a>00126                                 newState = Pre_operational;
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<a name="l00127"></a>00127                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
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<a name="l00128"></a>00128                                 <span class="keywordflow">if</span> (!(*(d-&gt;iam_a_slave)))
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<a name="l00129"></a>00129                                 {
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<a name="l00130"></a>00130                                         ptrTable =(*d-&gt;scanIndexOD)(wIndex, &amp;errorCode, &amp;Callback);
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<a name="l00131"></a>00131                                         
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<a name="l00132"></a>00132                                         <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
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<a name="l00133"></a>00133                                                 {
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<a name="l00134"></a>00134                                                         (*d-&gt;preOperational)();
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<a name="l00135"></a>00135                                                 }
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<a name="l00136"></a>00136                                         <span class="keywordflow">else</span>
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<a name="l00137"></a>00137                                                 {
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<a name="l00138"></a>00138                                                         UNS32 res;
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<a name="l00139"></a>00139                                                         res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01);
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<a name="l00140"></a>00140                                                 }                               
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<a name="l00141"></a>00141                                 }
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<a name="l00142"></a>00142                                 <span class="keywordflow">else</span> 
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<a name="l00143"></a>00143                                 {
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<a name="l00144"></a>00144                                         (*d-&gt;preOperational)();
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<a name="l00145"></a>00145                                 }
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<a name="l00146"></a>00146                         }
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<a name="l00147"></a>00147                         <span class="keywordflow">break</span>;
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<a name="l00148"></a>00148                                                                 
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<a name="l00149"></a>00149                         <span class="keywordflow">case</span> Operational:
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<a name="l00150"></a>00150                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
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<a name="l00151"></a>00151                         {
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<a name="l00152"></a>00152                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
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<a name="l00153"></a>00153                                 d-&gt;nodeState = Operational;
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<a name="l00154"></a>00154                                 newState = Operational;
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<a name="l00155"></a>00155                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
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<a name="l00156"></a>00156                                 (*d-&gt;operational)();
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<a name="l00157"></a>00157                         }
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<a name="l00158"></a>00158                         <span class="keywordflow">break</span>;
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<a name="l00159"></a>00159                                                 
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<a name="l00160"></a>00160                         <span class="keywordflow">case</span> Stopped:
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<a name="l00161"></a>00161                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
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<a name="l00162"></a>00162                         {
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<a name="l00163"></a>00163                                 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
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<a name="l00164"></a>00164                                 d-&gt;nodeState = Stopped;
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<a name="l00165"></a>00165                                 newState = Stopped;
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<a name="l00166"></a>00166                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
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<a name="l00167"></a>00167                                 (*d-&gt;stopped)();
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<a name="l00168"></a>00168                         }
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<a name="l00169"></a>00169                         <span class="keywordflow">break</span>;
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<a name="l00170"></a>00170                         
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<a name="l00171"></a>00171                         <span class="keywordflow">default</span>:
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<a name="l00172"></a>00172                                 <span class="keywordflow">return</span> 0xFF;
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<a name="l00173"></a>00173                 }<span class="comment">/* end switch case */</span>
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<a name="l00174"></a>00174         
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<a name="l00175"></a>00175         }
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<a name="l00176"></a>00176         <span class="keywordflow">return</span> 0;
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<a name="l00177"></a>00177 }
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   195
<a name="l00178"></a>00178 
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<a name="l00179"></a>00179 <span class="comment">/*****************************************************************************/</span>
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   197
<a name="l00180"></a><a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">00180</a> UNS8 <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(CO_Data* d)
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<a name="l00181"></a>00181 {
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<a name="l00182"></a>00182   <span class="keywordflow">return</span> *d-&gt;bDeviceNodeId;
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<a name="l00183"></a>00183 }
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<a name="l00184"></a>00184 
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<a name="l00185"></a>00185 <span class="comment">/*****************************************************************************/</span>
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<a name="l00186"></a><a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">00186</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(CO_Data* d, UNS8 nodeId)
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<a name="l00187"></a>00187 {
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<a name="l00188"></a>00188   UNS16 offset = d-&gt;firstIndex-&gt;SDO_SVR;
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<a name="l00189"></a>00189   <span class="keywordflow">if</span>(offset){
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<a name="l00190"></a>00190       <span class="comment">/* cob_id_client = 0x600 + nodeId; */</span>
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<a name="l00191"></a>00191       *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
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<a name="l00192"></a>00192       <span class="comment">/* cob_id_server = 0x580 + nodeId; */</span>
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<a name="l00193"></a>00193       *(UNS32*)d-&gt;objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
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<a name="l00194"></a>00194       <span class="comment">/* node Id client. As we do not know the value, we put the node Id Server */</span>
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<a name="l00195"></a>00195       <span class="comment">/* *(UNS8*)d-&gt;objdict[offset].pSubindex[3].pObject = nodeId; */</span>
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<a name="l00196"></a>00196   }
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<a name="l00197"></a>00197 
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<a name="l00198"></a>00198   <span class="comment">/* ** Initialize the server(s) SDO parameters */</span>
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<a name="l00199"></a>00199   <span class="comment">/* Remember that only one SDO server is allowed, defined at index 0x1200 */</span>
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<a name="l00200"></a>00200  
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<a name="l00201"></a>00201   <span class="comment">/* ** Initialize the client(s) SDO parameters  */</span>
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<a name="l00202"></a>00202   <span class="comment">/* Nothing to initialize (no default values required by the DS 401) */</span>
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<a name="l00203"></a>00203   <span class="comment">/* ** Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 */</span>
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<a name="l00204"></a>00204   {
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<a name="l00205"></a>00205     UNS8 i = 0;
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<a name="l00206"></a>00206     UNS16 offset = d-&gt;firstIndex-&gt;PDO_RCV;
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<a name="l00207"></a>00207     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;
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<a name="l00208"></a>00208     UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
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<a name="l00209"></a>00209     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
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<a name="l00210"></a>00210       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
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<a name="l00211"></a>00211               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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<a name="l00212"></a>00212       i ++;
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<a name="l00213"></a>00213       offset ++;
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<a name="l00214"></a>00214     }
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<a name="l00215"></a>00215   }
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<a name="l00216"></a>00216   <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>
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<a name="l00217"></a>00217   {
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<a name="l00218"></a>00218     UNS8 i = 0;
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<a name="l00219"></a>00219     UNS16 offset = d-&gt;firstIndex-&gt;PDO_TRS;
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<a name="l00220"></a>00220     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;
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<a name="l00221"></a>00221     UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
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<a name="l00222"></a>00222     i = 0;
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<a name="l00223"></a>00223     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
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<a name="l00224"></a>00224       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
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<a name="l00225"></a>00225               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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<a name="l00226"></a>00226       i ++;
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<a name="l00227"></a>00227       offset ++;
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<a name="l00228"></a>00228     }
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<a name="l00229"></a>00229   }
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<a name="l00230"></a>00230   <span class="comment">/* bDeviceNodeId is defined in the object dictionary. */</span>
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<a name="l00231"></a>00231   *d-&gt;bDeviceNodeId = nodeId;
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<a name="l00232"></a>00232 }
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<a name="l00233"></a>00233 
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<a name="l00234"></a><a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">00234</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){}
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<a name="l00235"></a><a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){}
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<a name="l00236"></a><a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">00236</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){}
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<a name="l00237"></a><a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">00237</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){}
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:27 2007 for CanFestival by&nbsp;
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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</body>
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