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src/dcf.c
changeset 208 05d95c45b388
parent 207 b6572d0336c3
child 210 6b5a4c21e061
equal deleted inserted replaced
207:b6572d0336c3 208:05d95c45b388 
    20   License along with this library; if not, write to the Free Software
 
    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
 
    21   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
 
    22   USA
 
    22   USA
 
    23 */
 
    23 */
 
    24 
    24 
    25 /*!
 
    25 /**
 
    26 ** @file   dcf.c
 
    26 ** @file   dcf.c
 
    27 ** @author Edouard TISSERANT and Francis DUPIN
 
    27 ** @author Edouard TISSERANT and Francis DUPIN
 
    28 ** @date   Mon Jun  4 17:06:12 2007
 
    28 ** @date   Mon Jun  4 17:06:12 2007
 
    29 **
 
    29 **
 
    30 ** @brief
 
    30 ** @brief EXEMPLE OF SOMMARY
 
    31 **
 
    31 **
 
    32 **
 
    32 **
 
    33 */
 
    33 */
 
    34 #include "objacces.h"
 
    34 #include "objacces.h"
 
    35 #include "sdo.h"
 
    35 #include "sdo.h"
 
    36 #include "dcf.h"
 
    36 #include "dcf.h"
 
    37 #include "sysdep.h"
 
    37 #include "sysdep.h"
 
    38 
    38 
    39 
    39 
    40 
    40 /**
 
       
    41 **
 
       
    42 **
 
       
    43 ** @param d fuck fuck fuck
 
       
    44 ** @param nodeId
 
       
    45 ** @param index
 
       
    46 ** @param subIndex
 
       
    47 ** @param count
 
       
    48 ** @param dataType
 
       
    49 ** @param data
 
       
    50 ** @param Callback
 
       
    51 ** @param endianize
 
       
    52 */
 
    41 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
 
    53 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
 
    42                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
 
    54                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
 
    43 
    55 
    44 const indextable *ptrTable;
 
    56 const indextable *ptrTable;
 
    45 
    57 
    46 /*!
 
    58 /**
 
    47 **
 
    59 **
 
    48 **
 
    60 **
 
    49 ** @param d
 
    61 ** @param d
 
    50 ** @param nodeId
 
    62 ** @param nodeId
 
    51 **/
 
    63 */
 
    52 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 
    64 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 
    53 {
 
    65 {
 
    54   UNS32 abortCode;
 
    66   UNS32 abortCode;
 
    55 
    67 
    56   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
 
    68   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
 
    61 
    73 
    62   closeSDOtransfer(d, nodeId, SDO_CLIENT);
 
    74   closeSDOtransfer(d, nodeId, SDO_CLIENT);
 
    63   decompo_dcf(d,nodeId);
 
    75   decompo_dcf(d,nodeId);
 
    64 }
 
    76 }
 
    65 
    77 
    66 /*!
 
    78 /**
 
    67 **
 
    79 **
 
    68 **
 
    80 **
 
    69 ** @param d
 
    81 ** @param d
 
    70 ** @param nodeId
 
    82 ** @param nodeId
 
    71 **
 
    83 **
 
    72 ** @return
 
    84 ** @return
 
    73 **/
 
    85 */
 
    74 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
 
    86 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
 
    75 {
 
    87 {
 
    76   UNS32 errorCode;
 
    88   UNS32 errorCode;
 
    77   UNS16 target_Index;
 
    89   UNS16 target_Index;
 
    78   UNS8 target_Subindex;
 
    90   UNS8 target_Subindex;
 
    84   if (errorCode != OD_SUCCESSFUL)
 
    96   if (errorCode != OD_SUCCESSFUL)
 
    85     {
 
    97     {
 
    86       return errorCode;
 
    98       return errorCode;
 
    87     }
 
    99     }
 
    88 
   100 
    89   /*Loop on all Nodes supported in DCF subindexes*/
 
   101   /** Loop on all Nodes supported in DCF subindexes*/
 
    90   while (nodeId < ptrTable->bSubCount){
 
   102   while (nodeId < ptrTable->bSubCount){
 
    91     UNS32 nb_targets;
 
   103     UNS32 nb_targets;
 
    92 
   104 
    93     UNS8 szData = ptrTable->pSubindex[nodeId].size;
 
   105     UNS8 szData = ptrTable->pSubindex[nodeId].size;
 
    94     UNS8* dcfend;
 
   106     UNS8* dcfend;
 
   101         d->dcf_count_targets = 0;
 
   113         d->dcf_count_targets = 0;
 
   102       }
 
   114       }
 
   103       nb_targets = UNS32_LE(*((UNS32*)dcf));
 
   115       nb_targets = UNS32_LE(*((UNS32*)dcf));
 
   104     }
 
   116     }
 
   105 
   117 
   106     // condition on consise DCF string for NodeID, if big enough
 
   118     /** condition on consise DCF string for NodeID, if big enough */
 
   107     if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
 
   119     if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
 
   108       {
 
   120       {
 
   109         // pointer to the DCF string for NodeID
 
   121         /** pointer to the DCF string for NodeID */
 
   110         target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
 
   122         target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
 
   111         target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
 
   123         target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
 
   112         target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
 
   124         target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
 
   113 
   125 
   114         /*printf("Master : ConfigureSlaveNode %2.2x (Concise
 
   126         /* printf("Master : ConfigureSlaveNode %2.2x (Concise
 
   115           DCF)\n",nodeId);*/
 
   127           DCF)\n",nodeId);*/
 
   116         res = _writeNetworkDict(d, /*CO_Data* d*/
 
   128         res = _writeNetworkDict(d, /** CO_Data* d*/
 
   117                                 nodeId, /*UNS8 nodeId*/
 
   129                                 nodeId, /** UNS8 nodeId*/
 
   118                                 target_Index, /*UNS16 index*/
 
   130                                 target_Index, /** UNS16 index*/
 
   119                                 target_Subindex, /*UNS8 subindex*/
 
   131                                 target_Subindex, /** UNS8 subindex*/
 
   120                                 target_Size, /*UNS8 count*/
 
   132                                 target_Size, /** UNS8 count*/
 
   121                                 0, /*UNS8 dataType*/
 
   133                                 0, /** UNS8 dataType*/
 
   122                                 d->dcf_cursor,/*void *data*/
 
   134                                 d->dcf_cursor,/** void *data*/
 
   123                                 CheckSDOAndContinue,/*SDOCallback_t
 
   135                                 CheckSDOAndContinue,/** SDOCallback_t
 
   124                                                       Callback*/
 
   136                                                       Callback*/
 
   125                                 0); /* no endianize*/
 
   137                                 0); /** no endianize*/
 
   126         /*Push d->dcf_cursor to the end of data*/
 
   138         /** Push d->dcf_cursor to the end of data*/
 
   127 
   139 
   128         d->dcf_cursor += target_Size;
 
   140         d->dcf_cursor += target_Size;
 
   129         d->dcf_count_targets++;
 
   141         d->dcf_count_targets++;
 
   130 
   142 
   131         return ;
 
   143         return ;
 
   132       }
 
   144       }
 
   133     nodeId++;
 
   145     nodeId++;
 
   134     d->dcf_cursor = NULL;
 
   146     d->dcf_cursor = NULL;
 
   135   }
 
   147   }
 
   136   /* Switch Master to preOperational state */
 
   148   /**  Switch Master to preOperational state */
 
   137   (*d->preOperational)();
 
   149   (*d->preOperational)();
 
   138 
   150 
   139 }
 
   151 }
canfestival