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22 <h1>lifegrd.c</h1><a href="lifegrd_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> |
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23 <a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span> |
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24 <a name="l00003"></a>00003 <span class="comment"> Stack.</span> |
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25 <a name="l00004"></a>00004 <span class="comment"></span> |
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26 <a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
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27 <a name="l00006"></a>00006 <span class="comment"></span> |
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28 <a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span> |
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29 <a name="l00008"></a>00008 <span class="comment"></span> |
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30 <a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span> |
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31 <a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span> |
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32 <a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span> |
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33 <a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span> |
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34 <a name="l00013"></a>00013 <span class="comment"></span> |
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35 <a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span> |
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36 <a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
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37 <a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
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38 <a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span> |
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39 <a name="l00018"></a>00018 <span class="comment"></span> |
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40 <a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span> |
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41 <a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span> |
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42 <a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span> |
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43 <a name="l00022"></a>00022 <span class="comment"> USA</span> |
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44 <a name="l00023"></a>00023 <span class="comment">*/</span> |
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45 <a name="l00024"></a>00024 |
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46 <a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="data_8h.html">data.h</a>></span> |
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47 <a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="lifegrd_8h.html">lifegrd.h</a>"</span> |
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48 <a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
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49 <a name="l00038"></a>00038 |
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50 <a name="l00039"></a>00039 |
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51 <a name="l00040"></a>00040 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>); |
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52 <a name="l00041"></a>00041 |
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53 <a name="l00042"></a>00042 |
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54 <a name="l00043"></a>00043 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>); |
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55 <a name="l00044"></a>00044 |
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56 <a name="l00045"></a>00045 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="lifegrd_8c.html#e80d1f6da5bdaca8aada0aa50812c18a">OnHearbeatProducerUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> unsused_bSubindex); |
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57 <a name="l00046"></a>00046 |
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58 <a name="l00055"></a><a class="code" href="lifegrd_8h.html#efc37a2f9a8c56f18d7569bfb0f02554">00055</a> <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> <a class="code" href="lifegrd_8c.html#efc37a2f9a8c56f18d7569bfb0f02554">getNodeState</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId) |
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59 <a name="l00056"></a>00056 { |
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60 <a name="l00057"></a>00057 <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> networkNodeState = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId]; |
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61 <a name="l00058"></a>00058 <span class="keywordflow">return</span> networkNodeState; |
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62 <a name="l00059"></a>00059 } |
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63 <a name="l00060"></a>00060 |
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64 <a name="l00067"></a><a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">00067</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>) |
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65 <a name="l00068"></a>00068 { |
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66 <a name="l00069"></a>00069 <span class="comment">/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/</span> |
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67 <a name="l00070"></a>00070 |
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68 <a name="l00072"></a>00072 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a>)((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)( ((<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[<span class="keywordtype">id</span>]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x00FF0000) >> (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)16 )); |
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69 <a name="l00073"></a>00073 } |
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70 <a name="l00074"></a>00074 |
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71 <a name="l00081"></a><a class="code" href="lifegrd_8h.html#5b34a311b7b97bb79db8e729c2dcbf36">00081</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#5b34a311b7b97bb79db8e729c2dcbf36">proceedNODE_GUARD</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a>* m ) |
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72 <a name="l00082"></a>00082 { |
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73 <a name="l00083"></a>00083 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) <a class="code" href="objdictdef_8h.html#3e3c82e6e0cea9c7a22de58000db6c07">GET_NODE_ID</a>((*m)); |
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74 <a name="l00084"></a>00084 |
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75 <a name="l00085"></a>00085 <span class="keywordflow">if</span>((m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 1) ) |
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76 <a name="l00090"></a>00090 { |
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77 <a name="l00097"></a>00097 <span class="keywordflow">if</span> (nodeId == *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> ) |
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78 <a name="l00098"></a>00098 { |
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79 <a name="l00099"></a>00099 <a class="code" href="structMessage.html">Message</a> msg; |
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80 <a name="l00100"></a>00100 msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> + 0x700; |
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81 <a name="l00101"></a>00101 msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x01; |
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82 <a name="l00102"></a>00102 msg.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0; |
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83 <a name="l00103"></a>00103 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>; |
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84 <a name="l00104"></a>00104 <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a>) |
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85 <a name="l00105"></a>00105 { |
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86 <a name="l00106"></a>00106 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] |= 0x80 ; |
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87 <a name="l00107"></a>00107 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 0 ; |
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88 <a name="l00108"></a>00108 } |
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89 <a name="l00109"></a>00109 <span class="keywordflow">else</span> |
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90 <a name="l00110"></a>00110 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 1 ; |
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91 <a name="l00111"></a>00111 <span class="comment">/* send the nodeguard response. */</span> |
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92 <a name="l00112"></a>00112 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3130, <span class="stringliteral">"Sending NMT Nodeguard to master, state: "</span>, <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>); |
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93 <a name="l00113"></a>00113 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&msg ); |
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94 <a name="l00114"></a>00114 } |
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95 <a name="l00115"></a>00115 |
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96 <a name="l00116"></a>00116 }<span class="keywordflow">else</span>{ <span class="comment">/* Not a request CAN */</span> |
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97 <a name="l00117"></a>00117 |
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98 <a name="l00118"></a>00118 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3110, <span class="stringliteral">"Received NMT nodeId : "</span>, nodeId); |
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99 <a name="l00119"></a>00119 <span class="comment">/* the slave's state receievd is stored in the NMTable */</span> |
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100 <a name="l00120"></a>00120 <span class="comment">/* The state is stored on 7 bit */</span> |
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101 <a name="l00121"></a>00121 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] = (<a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a>) ((*m).data[0] & 0x7F) ; |
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102 <a name="l00122"></a>00122 |
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103 <a name="l00123"></a>00123 <span class="comment">/* Boot-Up frame reception */</span> |
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104 <a name="l00124"></a>00124 <span class="keywordflow">if</span> ( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>) |
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105 <a name="l00125"></a>00125 { |
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106 <a name="l00126"></a>00126 <span class="comment">/*</span> |
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107 <a name="l00127"></a>00127 <span class="comment"> ** The device send the boot-up message (Initialisation)</span> |
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108 <a name="l00128"></a>00128 <span class="comment"> ** to indicate the master that it is entered in</span> |
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109 <a name="l00129"></a>00129 <span class="comment"> ** pre_operational mode</span> |
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110 <a name="l00130"></a>00130 <span class="comment"> ** Because the device enter automaticaly in pre_operational</span> |
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111 <a name="l00131"></a>00131 <span class="comment"> ** mode,</span> |
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112 <a name="l00132"></a>00132 <span class="comment"> ** the pre_operational mode is stored</span> |
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113 <a name="l00133"></a>00133 <span class="comment"> ** NMTable[bus_id][nodeId] = Pre_operational</span> |
|
114 <a name="l00134"></a>00134 <span class="comment"> */</span> |
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115 <a name="l00135"></a>00135 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3100, <span class="stringliteral">"The NMT is a bootup from node : "</span>, nodeId); |
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116 <a name="l00136"></a>00136 } |
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117 <a name="l00137"></a>00137 |
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118 <a name="l00138"></a>00138 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] != <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a> ) { |
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119 <a name="l00139"></a>00139 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index, ConsummerHeartBeat_nodeId ; |
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120 <a name="l00140"></a>00140 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ ) |
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121 <a name="l00141"></a>00141 { |
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122 <a name="l00142"></a>00142 ConsummerHeartBeat_nodeId = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)( ((<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[index]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x00FF0000) >> (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)16 ); |
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123 <a name="l00143"></a>00143 if ( nodeId == ConsummerHeartBeat_nodeId ) |
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124 <a name="l00144"></a>00144 { |
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125 <a name="l00145"></a>00145 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = ( (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[index]) & (UNS32)0x0000FFFF ) ; |
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126 <a name="l00146"></a>00146 <span class="comment">/* Renew alarm for next heartbeat. */</span> |
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127 <a name="l00147"></a>00147 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index]); |
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128 <a name="l00148"></a>00148 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index] = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, &<a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(time), 0); |
|
129 <a name="l00149"></a>00149 } |
|
130 <a name="l00150"></a>00150 } |
|
131 <a name="l00151"></a>00151 } |
|
132 <a name="l00152"></a>00152 } |
|
133 <a name="l00153"></a>00153 } |
|
134 <a name="l00154"></a>00154 |
|
135 <a name="l00161"></a><a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">00161</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>) |
|
136 <a name="l00162"></a>00162 { |
|
137 <a name="l00163"></a>00163 <span class="keywordflow">if</span>(*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a>) |
|
138 <a name="l00164"></a>00164 { |
|
139 <a name="l00165"></a>00165 <a class="code" href="structMessage.html">Message</a> msg; |
|
140 <a name="l00166"></a>00166 <span class="comment">/* Time expired, the heartbeat must be sent immediately</span> |
|
141 <a name="l00167"></a>00167 <span class="comment"> ** generate the correct node-id: this is done by the offset 1792</span> |
|
142 <a name="l00168"></a>00168 <span class="comment"> ** (decimal) and additionaly</span> |
|
143 <a name="l00169"></a>00169 <span class="comment"> ** the node-id of this device.</span> |
|
144 <a name="l00170"></a>00170 <span class="comment"> */</span> |
|
145 <a name="l00171"></a>00171 |
|
146 <a name="l00172"></a>00172 msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> + 0x700; |
|
147 <a name="l00173"></a>00173 msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x01; |
|
148 <a name="l00174"></a>00174 msg.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0; |
|
149 <a name="l00175"></a>00175 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>; <span class="comment">/* No toggle for heartbeat !*/</span> |
|
150 <a name="l00176"></a>00176 <span class="comment">/* send the heartbeat */</span> |
|
151 <a name="l00177"></a>00177 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3130, <span class="stringliteral">"Producing heartbeat: "</span>, <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>); |
|
152 <a name="l00178"></a>00178 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&msg ); |
|
153 <a name="l00179"></a>00179 |
|
154 <a name="l00180"></a>00180 }<span class="keywordflow">else</span>{ |
|
155 <a name="l00181"></a>00181 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a>); |
|
156 <a name="l00182"></a>00182 } |
|
157 <a name="l00183"></a>00183 } |
|
158 <a name="l00184"></a>00184 |
|
159 <a name="l00194"></a><a class="code" href="lifegrd_8c.html#9b31f862dd95cc430757f30a0306205b">00194</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="lifegrd_8c.html#9b31f862dd95cc430757f30a0306205b">OnHeartbeatProducerUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> unsused_bSubindex) |
|
160 <a name="l00195"></a>00195 { |
|
161 <a name="l00196"></a>00196 <a class="code" href="lifegrd_8c.html#007b1f27fd9f0d6814498093f424f82e">heartbeatStop</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>); |
|
162 <a name="l00197"></a>00197 <a class="code" href="lifegrd_8c.html#03fbd3b6910b8058535d3e94242cb80e">heartbeatInit</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>); |
|
163 <a name="l00198"></a>00198 <span class="keywordflow">return</span> 0; |
|
164 <a name="l00199"></a>00199 } |
|
165 <a name="l00200"></a>00200 |
|
166 <a name="l00206"></a><a class="code" href="lifegrd_8h.html#03fbd3b6910b8058535d3e94242cb80e">00206</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#03fbd3b6910b8058535d3e94242cb80e">heartbeatInit</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>) |
|
167 <a name="l00207"></a>00207 { |
|
168 <a name="l00208"></a>00208 |
|
169 <a name="l00209"></a>00209 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index; <span class="comment">/* Index to scan the table of heartbeat consumers */</span> |
|
170 <a name="l00210"></a>00210 <a class="code" href="objacces_8c.html#9a512a966532e40f35d3a4201bf54ead">RegisterSetODentryCallBack</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0x1017, 0x00, &<a class="code" href="lifegrd_8c.html#9b31f862dd95cc430757f30a0306205b">OnHeartbeatProducerUpdate</a>); |
|
171 <a name="l00211"></a>00211 |
|
172 <a name="l00212"></a>00212 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 0; |
|
173 <a name="l00213"></a>00213 |
|
174 <a name="l00214"></a>00214 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ ) |
|
175 <a name="l00215"></a>00215 { |
|
176 <a name="l00216"></a>00216 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>) ( (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[index]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x0000FFFF ) ; |
|
177 <a name="l00217"></a>00217 <span class="comment">/* MSG_WAR(0x3121, "should_time : ", should_time ) ; */</span> |
|
178 <a name="l00218"></a>00218 if ( time ) |
|
179 <a name="l00219"></a>00219 { |
|
180 <a name="l00220"></a>00220 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index] = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, &<a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(time), 0); |
|
181 <a name="l00221"></a>00221 } |
|
182 <a name="l00222"></a>00222 } |
|
183 <a name="l00223"></a>00223 |
|
184 <a name="l00224"></a>00224 <span class="keywordflow">if</span> ( *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a> ) |
|
185 <a name="l00225"></a>00225 { |
|
186 <a name="l00226"></a>00226 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a>; |
|
187 <a name="l00227"></a>00227 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0, &<a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(time), <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(time)); |
|
188 <a name="l00228"></a>00228 } |
|
189 <a name="l00229"></a>00229 } |
|
190 <a name="l00230"></a>00230 |
|
191 <a name="l00236"></a><a class="code" href="lifegrd_8h.html#007b1f27fd9f0d6814498093f424f82e">00236</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#007b1f27fd9f0d6814498093f424f82e">heartbeatStop</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>) |
|
192 <a name="l00237"></a>00237 { |
|
193 <a name="l00238"></a>00238 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index; |
|
194 <a name="l00239"></a>00239 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ ) |
|
195 <a name="l00240"></a>00240 { |
|
196 <a name="l00241"></a>00241 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index + 1] = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index + 1]);; |
|
197 <a name="l00242"></a>00242 } |
|
198 <a name="l00243"></a>00243 |
|
199 <a name="l00244"></a>00244 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a>);; |
|
200 <a name="l00245"></a>00245 } |
|
201 <a name="l00246"></a>00246 |
|
202 <a name="l00252"></a><a class="code" href="lifegrd_8h.html#9f9eaba98473f87f91bb8bc9654a0351">00252</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#9f9eaba98473f87f91bb8bc9654a0351">_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> heartbeatID){} |
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203 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
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204 <a href="http://www.doxygen.org/index.html"> |
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205 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
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206 </body> |
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207 </html> |
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