1

/*

     2

  This file is part of CanFestival, a library implementing CanOpen

     3

  Stack.

     4

     5

  Copyright (C): Edouard TISSERANT and Francis DUPIN

     6

     7

  See COPYING file for copyrights details.

     8

     9

  This library is free software; you can redistribute it and/or

    10

  modify it under the terms of the GNU Lesser General Public

    11

  License as published by the Free Software Foundation; either

    12

  version 2.1 of the License, or (at your option) any later version.

    13

    14

  This library is distributed in the hope that it will be useful,

    15

  but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

  Lesser General Public License for more details.

    18

    19

  You should have received a copy of the GNU Lesser General Public

    20

  License along with this library; if not, write to the Free Software

    21

  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307

    22

  USA

    23

*/

    24

    25

    26

/**

    27

** @file   dcf.c

    28

** @author Edouard TISSERANT and Francis DUPIN

    29

** @date   Mon Jun  4 17:06:12 2007

    30

**

    31

** @brief EXEMPLE OF SOMMARY

    32

**

    33

**

    34

*/

    35

    36

    37

#include "data.h"

    38

#include "sysdep.h"

    39

#include "dcf.h"

    40

    41

typedef struct {

    42

    UNS16 Index;

    43

    UNS8 Subindex;

    44

    UNS32 Size;

    45

    UNS8 *Data;

    46

} dcf_entry_t;

    47

    48

void SaveNode(CO_Data* d, UNS8 nodeId);

    49

static UNS8 read_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId);

    50

static UNS8 write_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId);

    51

UNS8 init_consise_dcf(CO_Data* d,UNS8 nodeId);

    52

    53

/**

    54

** @brief Function to be called from post_SlaveBootup

    55

**

    56

** @param d

    57

** @param nodeId

    58

*/

    59

UNS8 check_and_start_node(CO_Data* d, UNS8 nodeId)

    60

{   

    61

    if(d->dcf_status != DCF_STATUS_INIT)

    62

        return 0;

    63

    if((init_consise_dcf(d, nodeId) == 0) || (read_consise_dcf_next_entry(d, nodeId) == 0)){

    64

	    /* Ask slave node to go in operational mode */

    65

        masterSendNMTstateChange (d, nodeId, NMT_Start_Node);

    66

        d->NMTable[nodeId] = Operational;

    67

        return 1;

    68

    }

    69

    d->dcf_status = DCF_STATUS_READ_CHECK;

    70

    return 2;

    71

}

    72

    73

/**

    74

**

    75

**

    76

** @param d

    77

** @param nodeId

    78

*/

    79

static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)

    80

{

    81

    UNS32 abortCode = 0;

    82

    UNS8 buf[4], match = 0, node;

    83

    UNS32 size=4;

    84

    if(d->dcf_status == DCF_STATUS_READ_CHECK){

    85

        // printf("DCF_STATUS_READ_CHECK \n");

    86

        if(getReadResultNetworkDict (d, nodeId, buf, &size, &abortCode) != SDO_FINISHED)

    87

            goto dcferror;

    88

        /* Check if data received match the DCF */

    89

        if(size == d->dcf_size){

    90

            match = 1;

    91

            while(--size)

    92

                if(buf[size] != d->dcf_data[size])

    93

                    match = 0;

    94

        }

    95

        if(match) {

    96

            if(read_consise_dcf_next_entry(d, nodeId) == 0){

    97

                masterSendNMTstateChange (d, nodeId, NMT_Start_Node);

    98

                d->NMTable[nodeId] = Operational;

    99

                d->dcf_status = DCF_STATUS_INIT;

   100

                /* Look for other nodes waiting to be started */

   101

                for(node = 0 ; node<NMT_MAX_NODE_ID ; node++){

   102

                    if(d->NMTable[node] != Initialisation)

   103

                        continue;

   104

                    if(check_and_start_node(d, node) == 2)

   105

                        break;

   106

                }

   107

            }

   108

        }

   109

        else { /* Data received does not match : start rewriting all */

   110

            if((init_consise_dcf(d, nodeId) == 0) || (write_consise_dcf_next_entry(d, nodeId) == 0))

   111

                goto dcferror;                

   112

            d->dcf_status = DCF_STATUS_WRITE;

   113

        }

   114

    }

   115

    else if(d->dcf_status == DCF_STATUS_WRITE){

   116

        // printf("DCF_STATUS_WRITE \n");

   117

        if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)

   118

            goto dcferror;

   119

        if(write_consise_dcf_next_entry(d, nodeId) == 0){

   120

            SaveNode(d, nodeId);

   121

            d->dcf_status = DCF_STATUS_SAVED;

   122

        }

   123

    }

   124

    else if(d->dcf_status == DCF_STATUS_SAVED){

   125

        // printf("DCF_STATUS_SAVED \n");

   126

        if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)

   127

            goto dcferror;

   128

        masterSendNMTstateChange (d, nodeId, NMT_Reset_Node);

   129

        d->dcf_status = DCF_STATUS_INIT;

   130

        d->NMTable[nodeId] = Unknown_state;

   131

    }

   132

    return;

   133

dcferror:

   134

    MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);

   135

    MSG_WAR(0x2A02, "server node : ", nodeId);

   136

    d->NMTable[nodeId] = Unknown_state;

   137

}

   138

   139

/**

   140

**

   141

**

   142

** @param d

   143

** @param nodeId

   144

**

   145

** @return

   146

*/

   147

UNS8 init_consise_dcf(CO_Data* d,UNS8 nodeId)

   148

{

   149

    /* Fetch DCF OD entry */

   150

    UNS32 errorCode;

   151

    ODCallback_t *Callback;

   152

    d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);

   153

    /* If DCF entry do not exist... Nothing to do.*/

   154

    if (errorCode != OD_SUCCESSFUL) goto DCF_finish;

   155

    /* Fix DCF table overflow */

   156

    if(nodeId > d->dcf_odentry->bSubCount) goto DCF_finish;

   157

    /* If DCF empty... Nothing to do */

   158

    if(! d->dcf_odentry->pSubindex[nodeId].size) goto DCF_finish;

   159

    UNS8* dcf = (UNS8*)d->dcf_odentry->pSubindex[nodeId].pObject;

   160

    // printf("%.2x %.2x %.2x %.2x\n",dcf[0],dcf[1],dcf[2],dcf[3]);

   161

    d->dcf_cursor = dcf + 4;

   162

    d->dcf_entries_count = 0;

   163

    d->dcf_status = DCF_STATUS_INIT;

   164

    return 1;

   165

    DCF_finish:

   166

    return 0;

   167

}

   168

   169

UNS8 get_next_DCF_data(CO_Data* d, dcf_entry_t *dcf_entry, UNS8 nodeId)

   170

{

   171

  UNS8* dcfend;

   172

  UNS32 nb_entries;

   173

  UNS32 szData;

   174

  if(!d->dcf_odentry)

   175

     return 0;

   176

  if(nodeId > d->dcf_odentry->bSubCount)

   177

     return 0;

   178

  szData = d->dcf_odentry->pSubindex[nodeId].size;

   179

  UNS8* dcf = (UNS8*)d->dcf_odentry->pSubindex[nodeId].pObject;

   180

  nb_entries = UNS32_LE(*((UNS32*)dcf));

   181

  dcfend = dcf + szData;

   182

  if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){

   183

    /* DCF data may not be 32/16b aligned, 

   184

    * we cannot directly dereference d->dcf_cursor 

   185

    * as UNS16 or UNS32 

   186

    * Do it byte per byte taking care on endianess*/

   187

#ifdef CANOPEN_BIG_ENDIAN

   188

    dcf_entry->Index = *(d->dcf_cursor++) << 8 | 

   189

     	               *(d->dcf_cursor++);

   190

#else

   191

    memcpy(&dcf_entry->Index, d->dcf_cursor,2);

   192

       	d->dcf_cursor+=2;

   193

#endif

   194

    dcf_entry->Subindex = *(d->dcf_cursor++);

   195

#ifdef CANOPEN_BIG_ENDIAN

   196

    dcf_entry->Size = *(d->dcf_cursor++) << 24 | 

   197

     	              *(d->dcf_cursor++) << 16 | 

   198

        	          *(d->dcf_cursor++) << 8 | 

   199

        	          *(d->dcf_cursor++);

   200

#else

   201

    memcpy(&dcf_entry->Size, d->dcf_cursor,4);

   202

    d->dcf_cursor+=4;

   203

#endif

   204

    d->dcf_data = dcf_entry->Data = d->dcf_cursor;

   205

    d->dcf_size = dcf_entry->Size;

   206

    d->dcf_cursor += dcf_entry->Size;

   207

    d->dcf_entries_count++;

   208

    return 1;

   209

  }

   210

  return 0;

   211

}

   212

   213

static UNS8 write_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId)

   214

{

   215

    UNS8 Ret;

   216

    dcf_entry_t dcf_entry;

   217

    if(!get_next_DCF_data(d, &dcf_entry, nodeId))

   218

        return 0;

   219

    Ret = writeNetworkDictCallBackAI(d, /* CO_Data* d*/

   220

                    nodeId, /* UNS8 nodeId*/

   221

                    dcf_entry.Index, /* UNS16 index*/

   222

                    dcf_entry.Subindex, /* UNS8 subindex*/

   223

                    (UNS8)dcf_entry.Size, /* UNS8 count*/

   224

                    0, /* UNS8 dataType*/

   225

                    dcf_entry.Data,/* void *data*/

   226

                    CheckSDOAndContinue,/* Callback*/

   227

                    0,   /* no endianize*/

   228

                    0); /* no block mode */

   229

    if(Ret)

   230

        MSG_ERR(0x1A02,"Erreur writeNetworkDictCallBackAI",Ret);

   231

    return 1;

   232

}

   233

   234

static UNS8 read_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId)

   235

{

   236

    UNS8 Ret;

   237

    dcf_entry_t dcf_entry;

   238

    if(!get_next_DCF_data(d, &dcf_entry, nodeId))

   239

        return 0;

   240

    Ret = readNetworkDictCallbackAI(d, /* CO_Data* d*/

   241

                   nodeId, /* UNS8 nodeId*/

   242

                   dcf_entry.Index, /* UNS16 index*/

   243

                   dcf_entry.Subindex, /* UNS8 subindex*/

   244

                   0, /* UNS8 dataType*/

   245

                   CheckSDOAndContinue,/* Callback*/

   246

                   0); /* no block mode */

   247

    if(Ret)

   248

        MSG_ERR(0x1A03,"Erreur readNetworkDictCallbackAI",Ret);

   249

    return 1;

   250

}

   251

   252

void SaveNode(CO_Data* d, UNS8 nodeId)

   253

{

   254

    UNS8 Ret;

   255

    UNS32 data=0x65766173;

   256

    Ret = writeNetworkDictCallBackAI(d, /* CO_Data* d*/

   257

                    nodeId, /* UNS8 nodeId*/

   258

                    0x1010, /* UNS16 index*/

   259

                    1, /* UNS8 subindex*/

   260

                    4, /* UNS8 count*/

   261

                    0, /* UNS8 dataType*/

   262

                    (void *)&data,/* void *data*/

   263

                    CheckSDOAndContinue,/* Callback*/

   264

                    0,   /* no endianize*/

   265

                    0); /* no block mode */

   266

    if(Ret)

   267

        MSG_ERR(0x1A04,"Erreur writeNetworkDictCallBackAI",Ret);

   268

}