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/*
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207
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This file is part of CanFestival, a library implementing CanOpen
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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
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USA
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*/
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/*!
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** @file filegrd.c
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** @author Edouard TISSERANT
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** @date Mon Jun 4 17:19:24 2007
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**
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** @brief
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**
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**
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0
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*/
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#include <data.h>
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#include "lifegrd.h"
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#include "canfestival.h"
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0
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207
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/*! Prototypes for internals functions
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**
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**
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** @param d
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** @param id
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**/
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53
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void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
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207
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/*!
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**
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**
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** @param d
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** @param id
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**/
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void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
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/*!
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**
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**
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** @param d
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** @param unsused_indextable
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** @param unsused_bSubindex
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**
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** @return
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**/
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UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
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53
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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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** @return
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**/
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0
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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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**
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**
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** @param d
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** @param id
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**/
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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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/*!
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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 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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207
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if((m->rtr == 1) )
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/*!
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** Notice that only the master can have sent this
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** node guarding request
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*/
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{
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/*!
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** Receiving a NMT NodeGuarding (request of the state by the
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** master)
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** Only answer to the NMT NodeGuarding request, the master is
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** not checked (not implemented)
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*/
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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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canSend(d->canHandle,&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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/*!
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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
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** pre_operational mode
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** Because the device enter automaticaly in pre_operational
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** 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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*/
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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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**
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**
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** @param d
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** @param id
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**/
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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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0
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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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*/
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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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canSend(d->canHandle,&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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/*! This is called when Index 0x1017 is updated.
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**
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**
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** @param d
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** @param unsused_indextable
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** @param unsused_bSubindex
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**
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** @return
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**/
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UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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heartbeatStop(d);
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heartbeatInit(d);
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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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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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RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
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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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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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/*!
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**
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**
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** @param d
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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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/*!
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**
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**
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** @param heartbeatID
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**/
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void _heartbeatError(UNS8 heartbeatID){}
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