canfestival: comparison src/sync.c

equal deleted inserted replaced

-:b6572d0336c3
+:05d95c45b388
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
+/*!
+** @file   sync.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date   Tue Jun  5 09:32:32 2007
+**
+** @brief
+**
+**
+*/
 #include "data.h"
 #include "sync.h"
 #include "canfestival.h"
 /* Prototypes for internals functions */
+/*!
+**
+**
+** @param d
+** @param id
+**/
 void SyncAlarm(CO_Data* d, UNS32 id);
 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
 	UNS8 unsused_bSubindex);
+/*!
+**
-/*****************************************************************************/
+**
+** @param d
+** @param id
+**/
 void SyncAlarm(CO_Data* d, UNS32 id)
 {
 	sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
 }
-/*****************************************************************************/
+/*!
-/* This is called when Index 0x1005 is updated.*/
+** This is called when Index 0x1005 is updated.
+**
+** @param d
+** @param unsused_indextable
+** @param unsused_bSubindex
+**
+** @return
+**/
 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
 {
 	startSYNC(d);
 	return 0;
 }
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+**/
 void startSYNC(CO_Data* d)
 {
 	RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
 	RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
 				US_TO_TIMEVAL(*d->Sync_Cycle_Period),
 				US_TO_TIMEVAL(*d->Sync_Cycle_Period));
 	}
 }
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+**/
 void stopSYNC(CO_Data* d)
 {
 	d->syncTimer = DelAlarm(d->syncTimer);
 }
-/*********************************************************************/
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
 {
 Message m;
 UNS8 resultat ;
 resultat = canSend(d->canHandle,&m) ;
 proceedSYNC(d, &m) ;
 return resultat ;
 }
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
 UNS8 proceedSYNC(CO_Data* d, Message *m)
 {
 UNS8 	pdoNum,       /* number of the actual processed pdo-nr. */
 prp_j;
 const UNS8 *     pMappingCount = NULL;      /* count of mapped objects...*/
-/* pointer to the var which is mapped to a pdo */
+/** pointer to the var which is mapped to a pdo */
 /* void *     pMappedAppObject = NULL; */
-/* pointer fo the var which holds the mapping parameter of an mapping entry  */
+/** pointer fo the var which holds the mapping parameter of an mapping entry  */
 UNS32 *    pMappingParameter = NULL;
-/* pointer to the transmissiontype...*/
+/** pointer to the transmissiontype...*/
 UNS8 *     pTransmissionType = NULL;
 UNS32 *    pwCobId = NULL;
 UNS8 dataType;
 UNS16 index;
 MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
 (*d->post_sync)();
-/* only operational state allows PDO transmission */
+/** only operational state allows PDO transmission */
 if( d->nodeState != Operational )
 return 0;
-/* So, the node is in operational state */
+/** So, the node is in operational state */
-/* study all PDO stored in the objects dictionary */
+/** study all PDO stored in the objects dictionary */
 offsetObjdict = d->firstIndex->PDO_TRS;
 lastIndex = d->lastIndex->PDO_TRS;
 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
 switch( status ) {
-case state3:    /* get the PDO transmission type */
+case state3:    /** get the PDO transmission type */
 if (d->objdict[offsetObjdict].bSubCount <= 2) {
 	  MSG_ERR(0x1004, "Subindex 2  not found at index ", 0x1800 + pdoNum);
 	  return 0xFF;
 	}
 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
 status = state4;
 break;
-case state4:	/* check if transmission type is after (this) SYNC */
+case state4:	/** check if transmission type is after (this) SYNC */
-/* The message may not be transmited every SYNC but every n SYNC */
+/** The message may not be transmited every SYNC but every n SYNC */
 if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
 (++d->count_sync[pdoNum] == *pTransmissionType) ) {
 	d->count_sync[pdoNum] = 0;
 	MSG_WAR(0x3007, "  PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
 	status = state5;
 	offsetObjdict++;
 	offsetObjdictMap++;
 	status = state11;
 	break;
 }
-case state5:	/* get PDO CobId */
+case state5:	/** get PDO CobId */
 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
 	MSG_WAR(0x3009, "  PDO CobId is : ", *pwCobId);
 	status = state7;
 	break;
-case state7:  /* get mapped objects number to transmit with this PDO */
+case state7:  /** get mapped objects number to transmit with this PDO */
 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
 	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
 	status = state8;
-case state8:	/* get mapping parameters */
+case state8:	/** get mapping parameters */
 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
 	MSG_WAR(0x300F, "  got mapping parameter : ", *pMappingParameter);
 	MSG_WAR(0x3050, "    at index : ", 0x1A00 + pdoNum);
 	MSG_WAR(0x3051, "    sub-index : ", prp_j + 1);
 	status = state9;
-case state9:	/* get data to transmit */
+case state9:	/** get data to transmit */
 	{
 	  UNS8 ByteSize;
 	  UNS8 tmp[]= {0,0,0,0,0,0,0,0};
 	  index = (UNS16)((*pMappingParameter) >> 16);
 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
 	  Size = (UNS8)(*pMappingParameter); /* Size in bits */
 	  ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
 	  objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
-	  /* copy bit per bit in little endian*/
+	  /** copy bit per bit in little endian*/
 	  CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
 	}
 if( objDict != OD_SUCCESSFUL ){
 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
 return 0xFF;
 	d->process_var.count = 1 + ((offset - 1) >> 3);
 	prp_j++;
 	status = state10;
 	break;
-case state10:	/* loop to get all the data to transmit */
+case state10:	/** loop to get all the data to transmit */
 if( prp_j < *pMappingCount ){
 	MSG_WAR(0x3014, "  next variable mapped : ", prp_j);
 	status = state8;
 	break;
 }

changeset 208	05d95c45b388
parent 204	44ce74232ccb
child 215	f49e5a6b7804