author | lbessard |
Thu, 28 Aug 2008 14:28:41 +0200 | |
changeset 513 | f0343a7457b8 |
parent 478 | 4306e851d95c |
child 587 | c175351a6994 |
permissions | -rw-r--r-- |
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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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UNS8 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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UNS8 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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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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d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
368
diff
changeset
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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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d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
368
diff
changeset
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} |