src/dcf.c
author greg
Wed, 16 Sep 2009 15:16:19 +0200
changeset 588 ee181b4f177b
parent 587 c175351a6994
child 609 c59dce78bbad
permissions -rw-r--r--
Replace macro functions for setODentry and getODentry
(prevent compilation errors with visual studio c++ compiler)
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/*
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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   dcf.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Mon Jun  4 17:06:12 2007
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**
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** @brief EXEMPLE OF SOMMARY
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**
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**
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*/
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#include "data.h"
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#include "sysdep.h"
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extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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                               UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
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/* Seek to next NodeID's DCF */
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#define SEEK_NEXT_DCF() \
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   	nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \
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   	if(nodeId==0) nodeId=1; \
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   	d->dcf_cursor = NULL;
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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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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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{
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  UNS32 abortCode = 0;
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  if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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    {
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      MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
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      MSG_WAR(0x2A02, "server node : ", nodeId);
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    }
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  closeSDOtransfer(d, nodeId, SDO_CLIENT);
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  /* Timedout ? */
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  if(abortCode == SDOABT_TIMED_OUT){
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    /* Node may not be ready, try another one */
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    /* Warning, this might leed to endless attempts */
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    /* if node does never answer */
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	SEEK_NEXT_DCF()
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  }
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  send_consise_dcf_loop(d,nodeId);
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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 nodeId
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**
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** @return
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*/
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UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
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{
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  UNS32 szData;
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  /* Fetch DCF OD entry, if not already done */
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  if(!d->dcf_odentry)
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  {
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    UNS32 errorCode;
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    ODCallback_t *Callback;
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    d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
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    /* If DCF entry do not exist... Nothing to do.*/
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    if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
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  }
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  szData = d->dcf_odentry->pSubindex[nodeId].size;
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  /* if the entry for the nodeId is not empty. */
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  if(szData!=0){
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  	/* if the entry for the nodeId is already been processing, quit.*/
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  	if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
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  	d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
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  	d->dcf_request++;
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  	if(d->dcf_request==1)
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  		send_consise_dcf_loop(d,nodeId);
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  	return 1;
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  }
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  DCF_finish:
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  return 0;
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}
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static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
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{
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  /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
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  //while (nodeId < d->dcf_odentry->bSubCount){
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  while (d->dcf_request>0){
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  	if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){   	 
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        UNS8* dcfend;
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  		UNS32 nb_entries;
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  		UNS32 szData = d->dcf_odentry->pSubindex[nodeId].size;
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   		{
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	   		UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
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   			dcfend = dcf + szData;
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	   		if (!d->dcf_cursor){
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    	  		d->dcf_cursor = (UNS8*)dcf + 4;
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       			d->dcf_entries_count = 0;
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   			}
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   			nb_entries = UNS32_LE(*((UNS32*)dcf));
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   		}
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    	/* condition on consise DCF string for NodeID, if big enough */
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    	if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
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        	UNS16 target_Index;
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        	UNS8 target_Subindex;
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        	UNS32 target_Size;
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			/* DCF data may not be 32/16b aligned, 
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			 * we cannot directly dereference d->dcf_cursor 
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			 * as UNS16 or UNS32 
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			 * Do it byte per byte taking care on endianess*/
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#ifdef CANOPEN_BIG_ENDIAN
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        	target_Index = *(d->dcf_cursor++) << 8 | 
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        	               *(d->dcf_cursor++);
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#else
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        	memcpy(&target_Index, d->dcf_cursor,2);
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        	d->dcf_cursor+=2;
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#endif
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        	target_Subindex = *(d->dcf_cursor++);
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#ifdef CANOPEN_BIG_ENDIAN
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        	target_Size = *(d->dcf_cursor++) << 24 | 
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        	              *(d->dcf_cursor++) << 16 | 
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        	              *(d->dcf_cursor++) << 8 | 
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        	              *(d->dcf_cursor++);
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#else
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        	memcpy(&target_Size, d->dcf_cursor,4);
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        	d->dcf_cursor+=4;
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#endif
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    	    _writeNetworkDict(d, /* CO_Data* d*/
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                                nodeId, /* UNS8 nodeId*/
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                                target_Index, /* UNS16 index*/
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                                target_Subindex, /* UNS8 subindex*/
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                                (UNS8)target_Size, /* UNS8 count*/
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                                0, /* UNS8 dataType*/
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                                d->dcf_cursor,/* void *data*/
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                                CheckSDOAndContinue,/* SDOCallback_t
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                                                      Callback*/
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                                0); /* no endianize*/
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        	/* Push d->dcf_cursor to the end of data*/
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        	d->dcf_cursor += target_Size;
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        	d->dcf_entries_count++;
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        	/* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
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        	return;
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      	}
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      	else
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      	{
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      		/* We have finished with the dcf entry. Change the flag, decrement the request
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      		 *  and execute the bootup callback. */
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      		d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
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      		d->dcf_request--;
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      		(*d->post_SlaveBootup)(d, nodeId);
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      	}
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 	}
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	SEEK_NEXT_DCF()
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  }
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}