author | lbessard |
Wed, 13 Jun 2007 10:28:25 +0200 | |
changeset 220 | b7fb826c66d9 |
parent 217 | 94c3f89bc3cc |
child 235 | f812bf6b7237 |
permissions | -rw-r--r-- |
0 | 1 |
/* |
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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 sync.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 "data.h" |
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#include "sync.h" |
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#include "canfestival.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 id |
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**/ |
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void SyncAlarm(CO_Data* d, UNS32 id); |
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, |
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UNS8 unsused_bSubindex); |
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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 SyncAlarm(CO_Data* d, UNS32 id) |
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{ |
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sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ; |
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} |
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/*! |
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** This is called when Index 0x1005 is updated. |
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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 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
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{ |
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startSYNC(d); |
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return 0; |
0 | 73 |
} |
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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 startSYNC(CO_Data* d) |
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{ |
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RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate); |
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RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate); |
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if(d->syncTimer != TIMER_NONE){ |
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stopSYNC(d); |
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} |
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if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period) |
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{ |
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d->syncTimer = SetAlarm( |
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d, |
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0 /*No id needed*/, |
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&SyncAlarm, |
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US_TO_TIMEVAL(*d->Sync_Cycle_Period), |
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US_TO_TIMEVAL(*d->Sync_Cycle_Period)); |
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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 stopSYNC(CO_Data* d) |
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{ |
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d->syncTimer = DelAlarm(d->syncTimer); |
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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 cob_id |
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** |
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** @return |
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**/ |
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UNS8 sendSYNC(CO_Data* d, UNS32 cob_id) |
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{ |
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Message m; |
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UNS8 resultat ; |
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MSG_WAR(0x3001, "sendSYNC ", 0); |
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m.cob_id.w = cob_id ; |
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m.rtr = NOT_A_REQUEST; |
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m.len = 0; |
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resultat = canSend(d->canHandle,&m) ; |
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proceedSYNC(d, &m) ; |
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return resultat ; |
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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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** @return |
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**/ |
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UNS8 proceedSYNC(CO_Data* d, Message *m) |
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{ |
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UNS8 pdoNum, /* number of the actual processed pdo-nr. */ |
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prp_j; |
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const UNS8 * pMappingCount = NULL; /* count of mapped objects...*/ |
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/* pointer to the var which is mapped to a pdo */ |
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/* void * pMappedAppObject = NULL; */ |
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/* pointer fo the var which holds the mapping parameter of an mapping entry */ |
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UNS32 * pMappingParameter = NULL; |
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/* pointer to the transmissiontype...*/ |
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UNS8 * pTransmissionType = NULL; |
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UNS32 * pwCobId = NULL; |
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UNS8 dataType; |
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UNS16 index; |
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UNS8 subIndex; |
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UNS8 offset; |
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UNS8 status; |
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UNS8 Size; |
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UNS32 objDict; |
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UNS16 offsetObjdict; |
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UNS16 offsetObjdictMap; |
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UNS16 lastIndex; |
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status = state3; |
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pdoNum = 0x00; |
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prp_j = 0x00; |
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offset = 0x00; |
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MSG_WAR(0x3002, "SYNC received. Proceed. ", 0); |
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153
1c1ad874fe8f
Post_sync have to be called even if in pre-op state. Fixed.
etisserant
parents:
149
diff
changeset
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(*d->post_sync)(); |
1c1ad874fe8f
Post_sync have to be called even if in pre-op state. Fixed.
etisserant
parents:
149
diff
changeset
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/* only operational state allows PDO transmission */ |
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if( d->nodeState != Operational ) |
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return 0; |
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/* So, the node is in operational state */ |
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/* study all PDO stored in the objects dictionary */ |
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offsetObjdict = d->firstIndex->PDO_TRS; |
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lastIndex = d->lastIndex->PDO_TRS; |
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offsetObjdictMap = d->firstIndex->PDO_TRS_MAP; |
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if(offsetObjdict) while( offsetObjdict <= lastIndex) { |
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switch( status ) { |
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case state3: /* get the PDO transmission type */ |
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if (d->objdict[offsetObjdict].bSubCount <= 2) { |
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MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum); |
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return 0xFF; |
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} |
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217
94c3f89bc3cc
Fixed compile error because of missed type casting in certain compiler (http://www.iar.se/). Thanks to Raphael Studer
etisserant
parents:
215
diff
changeset
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pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject; |
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MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum); |
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status = state4; |
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break; |
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case state4: /* check if transmission type is after (this) SYNC */ |
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/* The message may not be transmited every SYNC but every n SYNC */ |
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if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) && |
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(++d->count_sync[pdoNum] == *pTransmissionType) ) { |
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d->count_sync[pdoNum] = 0; |
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MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType); |
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status = state5; |
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break; |
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} |
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else { |
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MSG_WAR(0x3008, " Not on synchro or not at this SYNC. Trans type : ", |
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*pTransmissionType); |
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pdoNum++; |
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offsetObjdict++; |
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offsetObjdictMap++; |
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status = state11; |
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break; |
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} |
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case state5: /* get PDO CobId */ |
217
94c3f89bc3cc
Fixed compile error because of missed type casting in certain compiler (http://www.iar.se/). Thanks to Raphael Studer
etisserant
parents:
215
diff
changeset
|
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pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject; |
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MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId); |
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status = state7; |
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break; |
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case state7: /* get mapped objects number to transmit with this PDO */ |
217
94c3f89bc3cc
Fixed compile error because of missed type casting in certain compiler (http://www.iar.se/). Thanks to Raphael Studer
etisserant
parents:
215
diff
changeset
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pMappingCount = (UNS8*) d->objdict[offsetObjdictMap].pSubindex[0].pObject; |
0 | 224 |
MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount ); |
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status = state8; |
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215 | 226 |
case state8: /* get mapping parameters */ |
217
94c3f89bc3cc
Fixed compile error because of missed type casting in certain compiler (http://www.iar.se/). Thanks to Raphael Studer
etisserant
parents:
215
diff
changeset
|
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pMappingParameter = (UNS32*) d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject; |
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MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter); |
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MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum); |
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MSG_WAR(0x3051, " sub-index : ", prp_j + 1); |
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status = state9; |
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215 | 233 |
case state9: /* get data to transmit */ |
204
44ce74232ccb
Some fixes for visual studio C compiler compatiblity.
etisserant
parents:
201
diff
changeset
|
234 |
{ |
201 | 235 |
UNS8 ByteSize; |
236 |
UNS8 tmp[]= {0,0,0,0,0,0,0,0}; |
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204
44ce74232ccb
Some fixes for visual studio C compiler compatiblity.
etisserant
parents:
201
diff
changeset
|
237 |
index = (UNS16)((*pMappingParameter) >> 16); |
44ce74232ccb
Some fixes for visual studio C compiler compatiblity.
etisserant
parents:
201
diff
changeset
|
238 |
subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF); |
201 | 239 |
Size = (UNS8)(*pMappingParameter); /* Size in bits */ |
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ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */ |
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objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ); |
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215 | 242 |
/* copy bit per bit in little endian*/ |
201 | 243 |
CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0); |
204
44ce74232ccb
Some fixes for visual studio C compiler compatiblity.
etisserant
parents:
201
diff
changeset
|
244 |
} |
0 | 245 |
if( objDict != OD_SUCCESSFUL ){ |
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MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter)); |
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return 0xFF; |
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} |
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249 |
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201 | 250 |
offset += Size ; |
251 |
d->process_var.count = 1 + ((offset - 1) >> 3); |
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0 | 252 |
prp_j++; |
253 |
status = state10; |
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break; |
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255 |
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215 | 256 |
case state10: /* loop to get all the data to transmit */ |
0 | 257 |
if( prp_j < *pMappingCount ){ |
258 |
MSG_WAR(0x3014, " next variable mapped : ", prp_j); |
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status = state8; |
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break; |
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} |
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else { |
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MSG_WAR(0x3015, " End scan mapped variable", 0); |
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PDOmGR( d, *pwCobId ); |
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MSG_WAR(0x3016, " End of this pdo. Should have been sent", 0); |
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pdoNum++; |
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offsetObjdict++; |
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offsetObjdictMap++; |
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offset = 0x00; |
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prp_j = 0x00; |
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status = state11; |
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break; |
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} |
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274 |
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275 |
case state11: |
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MSG_WAR(0x3017, "next pdo index : ", pdoNum); |
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status = state3; |
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break; |
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279 |
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280 |
default: |
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281 |
MSG_ERR(0x1019,"Unknown state has been reached : %d",status); |
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282 |
return 0xFF; |
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71 | 283 |
}/* end switch case */ |
0 | 284 |
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71 | 285 |
}/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */ |
0 | 286 |
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287 |
(*d->post_TPDO)(); |
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288 |
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289 |
return 0; |
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290 |
} |
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291 |
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292 |
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149 | 293 |
void _post_sync(){} |
294 |
void _post_TPDO(){} |