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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #include <data.h> |
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24 #include "lifegrd.h" |
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25 |
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26 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId) |
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27 { |
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28 e_nodeState networkNodeState = d->NMTable[nodeId]; |
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29 return networkNodeState; |
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30 } |
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31 |
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32 // The Consumer Timer Callback |
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33 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
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34 { |
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35 //MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00); |
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36 |
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37 // call heartbeat error with NodeId |
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38 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 )); |
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39 } |
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40 |
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41 /* Retourne le node-id */ |
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42 void proceedNODE_GUARD(CO_Data* d, Message* m ) |
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43 { |
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44 UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
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45 |
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46 if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */ |
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47 { // Receiving a NMT NodeGuarding (request of the state by the master) |
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48 // only answer to the NMT NodeGuarding request, the master is not checked (not implemented) |
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49 if (nodeId == *d->bDeviceNodeId ) |
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50 { |
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51 Message msg; |
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52 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
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53 msg.len = (UNS8)0x01; |
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54 msg.rtr = 0; |
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55 msg.data[0] = d->nodeState; |
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56 if (d->toggle) |
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57 { |
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58 msg.data[0] |= 0x80 ; |
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59 d->toggle = 0 ; |
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60 } |
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61 else |
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62 d->toggle = 1 ; |
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63 // send the nodeguard response. |
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64 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
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65 (*d->canSend)(&msg ); |
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66 } |
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67 |
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68 }else{ // Not a request CAN |
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69 |
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70 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
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71 /* the slave's state receievd is stored in the NMTable */ |
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72 // The state is stored on 7 bit |
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73 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ; |
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74 |
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75 /* Boot-Up frame reception */ |
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76 if ( d->NMTable[nodeId] == Initialisation) |
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77 { |
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78 // The device send the boot-up message (Initialisation) |
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79 // to indicate the master that it is entered in pre_operational mode |
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80 // Because the device enter automaticaly in pre_operational mode, |
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81 // the pre_operational mode is stored |
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82 // NMTable[bus_id][nodeId] = Pre_operational; |
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83 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
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84 } |
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85 |
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86 if( d->NMTable[nodeId] != Unknown_state ) { |
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87 UNS8 index, ConsummerHeartBeat_nodeId ; |
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88 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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89 { |
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90 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
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91 if ( nodeId == ConsummerHeartBeat_nodeId ) |
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92 { |
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93 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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94 // Renew alarm for next heartbeat. |
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95 DelAlarm(d->ConsumerHeartBeatTimers[index]); |
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96 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
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97 } |
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98 } |
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99 } |
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100 } |
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101 } |
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102 |
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103 // The Consumer Timer Callback |
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104 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
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105 { |
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106 if(*d->ProducerHeartBeatTime) |
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107 { |
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108 Message msg; |
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109 // Time expired, the heartbeat must be sent immediately |
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110 // generate the correct node-id: this is done by the offset 1792 |
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111 // (decimal) and additionaly |
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112 // the node-id of this device. |
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113 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
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114 msg.len = (UNS8)0x01; |
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115 msg.rtr = 0; |
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116 msg.data[0] = d->nodeState; // No toggle for heartbeat ! |
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117 // send the heartbeat |
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118 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
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119 (*d->canSend)(&msg ); |
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120 }else{ |
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121 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
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122 } |
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123 } |
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124 |
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125 |
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126 void heartbeatInit(CO_Data* d) |
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127 { |
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128 UNS8 index; // Index to scan the table of heartbeat consumers |
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129 |
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130 d->toggle = 0; |
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131 |
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132 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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133 { |
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134 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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135 //MSG_WAR(0x3121, "should_time : ", should_time ) ; |
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136 if ( time ) |
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137 { |
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138 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
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139 } |
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140 } |
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141 |
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142 if ( *d->ProducerHeartBeatTime ) |
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143 { |
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144 TIMEVAL time = *d->ProducerHeartBeatTime; |
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145 d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time)); |
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146 } |
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147 } |
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148 |
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149 |
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150 void heartbeatStop(CO_Data* d) |
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151 { |
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152 UNS8 index; |
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153 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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154 { |
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155 d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);; |
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156 } |
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157 |
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158 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);; |
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159 } |
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160 |