14 <ul> |
14 <ul> |
15 <li><a href="files.html"><span>File List</span></a></li> |
15 <li><a href="files.html"><span>File List</span></a></li> |
16 <li><a href="globals.html"><span>Globals</span></a></li> |
16 <li><a href="globals.html"><span>Globals</span></a></li> |
17 </ul></div> |
17 </ul></div> |
18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c</h1><a href="dcf_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> |
18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c</h1><a href="dcf_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> |
19 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
19 <a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span> |
20 <a name="l00003"></a>00003 <span class="comment"></span> |
20 <a name="l00003"></a>00003 <span class="comment"> Stack.</span> |
21 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
21 <a name="l00004"></a>00004 <span class="comment"></span> |
22 <a name="l00005"></a>00005 <span class="comment"></span> |
22 <a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
23 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
23 <a name="l00006"></a>00006 <span class="comment"></span> |
24 <a name="l00007"></a>00007 <span class="comment"></span> |
24 <a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span> |
25 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
25 <a name="l00008"></a>00008 <span class="comment"></span> |
26 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
26 <a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span> |
27 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
27 <a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span> |
28 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
28 <a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span> |
29 <a name="l00012"></a>00012 <span class="comment"></span> |
29 <a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span> |
30 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
30 <a name="l00013"></a>00013 <span class="comment"></span> |
31 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
31 <a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span> |
32 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
32 <a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
33 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
33 <a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
34 <a name="l00017"></a>00017 <span class="comment"></span> |
34 <a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span> |
35 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
35 <a name="l00018"></a>00018 <span class="comment"></span> |
36 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
36 <a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span> |
37 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
37 <a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span> |
38 <a name="l00021"></a>00021 <span class="comment">*/</span> |
38 <a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span> |
39 <a name="l00022"></a>00022 |
39 <a name="l00022"></a>00022 <span class="comment"> USA</span> |
40 <a name="l00023"></a>00023 <span class="preprocessor">#include "objacces.h"</span> |
40 <a name="l00023"></a>00023 <span class="comment">*/</span> |
41 <a name="l00024"></a>00024 <span class="preprocessor">#include "sdo.h"</span> |
41 <a name="l00024"></a>00024 |
42 <a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span> |
42 <a name="l00025"></a>00025 |
43 <a name="l00026"></a>00026 <span class="preprocessor">#include "sysdep.h"</span> |
43 <a name="l00035"></a>00035 <span class="preprocessor">#include "objacces.h"</span> |
44 <a name="l00027"></a>00027 |
44 <a name="l00036"></a>00036 <span class="preprocessor">#include "sdo.h"</span> |
45 <a name="l00028"></a>00028 |
45 <a name="l00037"></a>00037 <span class="preprocessor">#include "dcf.h"</span> |
46 <a name="l00029"></a>00029 |
46 <a name="l00038"></a>00038 <span class="preprocessor">#include "sysdep.h"</span> |
47 <a name="l00030"></a>00030 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, |
47 <a name="l00039"></a>00039 |
48 <a name="l00031"></a>00031 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize); |
48 <a name="l00040"></a>00040 |
49 <a name="l00032"></a>00032 |
49 <a name="l00054"></a>00054 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, |
50 <a name="l00033"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00033</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>; |
50 <a name="l00055"></a>00055 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize); |
51 <a name="l00034"></a>00034 |
51 <a name="l00056"></a>00056 |
52 <a name="l00035"></a>00035 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
52 <a name="l00057"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00057</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>; |
53 <a name="l00036"></a>00036 { |
53 <a name="l00058"></a>00058 |
54 <a name="l00037"></a>00037 UNS32 abortCode; |
54 <a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
55 <a name="l00038"></a>00038 |
55 <a name="l00066"></a>00066 { |
56 <a name="l00039"></a>00039 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != SDO_FINISHED) |
56 <a name="l00067"></a>00067 UNS32 abortCode; |
57 <a name="l00040"></a>00040 { |
57 <a name="l00068"></a>00068 |
58 <a name="l00041"></a>00041 MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode); |
58 <a name="l00069"></a>00069 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != SDO_FINISHED) |
59 <a name="l00042"></a>00042 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId); |
59 <a name="l00070"></a>00070 { |
60 <a name="l00043"></a>00043 } |
60 <a name="l00071"></a>00071 MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode); |
61 <a name="l00044"></a>00044 |
61 <a name="l00072"></a>00072 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId); |
62 <a name="l00045"></a>00045 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT); |
62 <a name="l00073"></a>00073 } |
63 <a name="l00046"></a>00046 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId); |
63 <a name="l00074"></a>00074 |
64 <a name="l00047"></a>00047 } |
64 <a name="l00075"></a>00075 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT); |
65 <a name="l00048"></a>00048 |
65 <a name="l00076"></a>00076 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId); |
66 <a name="l00049"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00049</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId) |
66 <a name="l00077"></a>00077 } |
67 <a name="l00050"></a>00050 { |
67 <a name="l00078"></a>00078 |
68 <a name="l00051"></a>00051 UNS32 errorCode; |
68 <a name="l00087"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00087</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId) |
69 <a name="l00052"></a>00052 UNS16 target_Index; |
69 <a name="l00088"></a>00088 { |
70 <a name="l00053"></a>00053 UNS8 target_Subindex; |
70 <a name="l00089"></a>00089 UNS32 errorCode; |
71 <a name="l00054"></a>00054 UNS32 target_Size; |
71 <a name="l00090"></a>00090 UNS16 target_Index; |
72 <a name="l00055"></a>00055 UNS32 res; |
72 <a name="l00091"></a>00091 UNS8 target_Subindex; |
73 <a name="l00056"></a>00056 ODCallback_t *Callback; |
73 <a name="l00092"></a>00092 UNS32 target_Size; |
74 <a name="l00057"></a>00057 |
74 <a name="l00093"></a>00093 UNS32 res; |
75 <a name="l00058"></a>00058 <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback); |
75 <a name="l00094"></a>00094 ODCallback_t *Callback; |
76 <a name="l00059"></a>00059 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL) |
76 <a name="l00095"></a>00095 |
77 <a name="l00060"></a>00060 { |
77 <a name="l00096"></a>00096 <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback); |
78 <a name="l00061"></a>00061 <span class="keywordflow">return</span> errorCode; |
78 <a name="l00097"></a>00097 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL) |
79 <a name="l00062"></a>00062 } |
79 <a name="l00098"></a>00098 { |
80 <a name="l00063"></a>00063 |
80 <a name="l00099"></a>00099 <span class="keywordflow">return</span> errorCode; |
81 <a name="l00064"></a>00064 <span class="comment">/*Loop on all Nodes supported in DCF subindexes*/</span> |
81 <a name="l00100"></a>00100 } |
82 <a name="l00065"></a>00065 <span class="keywordflow">while</span> (nodeId < ptrTable->bSubCount){ |
82 <a name="l00101"></a>00101 |
83 <a name="l00066"></a>00066 UNS32 nb_targets; |
83 <a name="l00103"></a>00103 <span class="keywordflow">while</span> (nodeId < ptrTable->bSubCount){ |
84 <a name="l00067"></a>00067 |
84 <a name="l00104"></a>00104 UNS32 nb_targets; |
85 <a name="l00068"></a>00068 UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].size; |
85 <a name="l00105"></a>00105 |
86 <a name="l00069"></a>00069 UNS8* dcfend; |
86 <a name="l00106"></a>00106 UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].size; |
87 <a name="l00070"></a>00070 |
87 <a name="l00107"></a>00107 UNS8* dcfend; |
88 <a name="l00071"></a>00071 { |
88 <a name="l00108"></a>00108 |
89 <a name="l00072"></a>00072 UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].pObject); |
89 <a name="l00109"></a>00109 { |
90 <a name="l00073"></a>00073 dcfend = dcf + szData; |
90 <a name="l00110"></a>00110 UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].pObject); |
91 <a name="l00074"></a>00074 <span class="keywordflow">if</span> (!d->dcf_cursor) { |
91 <a name="l00111"></a>00111 dcfend = dcf + szData; |
92 <a name="l00075"></a>00075 d->dcf_cursor = (UNS8*)dcf + 4; |
92 <a name="l00112"></a>00112 <span class="keywordflow">if</span> (!d->dcf_cursor){ |
93 <a name="l00076"></a>00076 d->dcf_count_targets = 0; |
93 <a name="l00113"></a>00113 d->dcf_cursor = (UNS8*)dcf + 4; |
94 <a name="l00077"></a>00077 } |
94 <a name="l00114"></a>00114 d->dcf_count_targets = 0; |
95 <a name="l00078"></a>00078 nb_targets = UNS32_LE(*((UNS32*)dcf)); |
95 <a name="l00115"></a>00115 } |
96 <a name="l00079"></a>00079 } |
96 <a name="l00116"></a>00116 nb_targets = UNS32_LE(*((UNS32*)dcf)); |
97 <a name="l00080"></a>00080 |
97 <a name="l00117"></a>00117 } |
98 <a name="l00081"></a>00081 <span class="comment">// condition on consise DCF string for NodeID, if big enough</span> |
98 <a name="l00118"></a>00118 |
99 <a name="l00082"></a>00082 <span class="keywordflow">if</span>((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets) |
99 <a name="l00120"></a>00120 <span class="keywordflow">if</span>((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets) |
100 <a name="l00083"></a>00083 { |
100 <a name="l00121"></a>00121 { |
101 <a name="l00084"></a>00084 <span class="comment">// pointer to the DCF string for NodeID</span> |
101 <a name="l00123"></a>00123 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2; |
102 <a name="l00085"></a>00085 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2; |
102 <a name="l00124"></a>00124 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++)); |
103 <a name="l00086"></a>00086 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++)); |
103 <a name="l00125"></a>00125 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4; |
104 <a name="l00087"></a>00087 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4; |
104 <a name="l00126"></a>00126 |
105 <a name="l00088"></a>00088 |
105 <a name="l00127"></a>00127 <span class="comment">/* printf("Master : ConfigureSlaveNode %2.2x (Concise</span> |
106 <a name="l00089"></a>00089 <span class="comment">/*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/</span> |
106 <a name="l00128"></a>00128 <span class="comment"> DCF)\n",nodeId);*/</span> |
107 <a name="l00090"></a>00090 res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d, <span class="comment">/*CO_Data* d*/</span> |
107 <a name="l00129"></a>00129 res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d, |
108 <a name="l00091"></a>00091 nodeId, <span class="comment">/*UNS8 nodeId*/</span> |
108 <a name="l00130"></a>00130 nodeId, |
109 <a name="l00092"></a>00092 target_Index, <span class="comment">/*UNS16 index*/</span> |
109 <a name="l00131"></a>00131 target_Index, |
110 <a name="l00093"></a>00093 target_Subindex, <span class="comment">/*UNS8 subindex*/</span> |
110 <a name="l00132"></a>00132 target_Subindex, |
111 <a name="l00094"></a>00094 target_Size, <span class="comment">/*UNS8 count*/</span> |
111 <a name="l00133"></a>00133 target_Size, |
112 <a name="l00095"></a>00095 0, <span class="comment">/*UNS8 dataType*/</span> |
112 <a name="l00134"></a>00134 0, |
113 <a name="l00096"></a>00096 d->dcf_cursor,<span class="comment">/*void *data*/</span> |
113 <a name="l00135"></a>00135 d->dcf_cursor, |
114 <a name="l00097"></a>00097 CheckSDOAndContinue,<span class="comment">/*SDOCallback_t Callback*/</span> |
114 <a name="l00136"></a>00136 CheckSDOAndContinue, |
115 <a name="l00098"></a>00098 0); <span class="comment">/* no endianize */</span> |
115 <a name="l00138"></a>00138 0); |
116 <a name="l00099"></a>00099 <span class="comment">/*Push d->dcf_cursor to the end of data*/</span> |
116 <a name="l00141"></a>00141 d->dcf_cursor += target_Size; |
117 <a name="l00100"></a>00100 |
117 <a name="l00142"></a>00142 d->dcf_count_targets++; |
118 <a name="l00101"></a>00101 d->dcf_cursor += target_Size; |
118 <a name="l00143"></a>00143 |
119 <a name="l00102"></a>00102 d->dcf_count_targets++; |
119 <a name="l00144"></a>00144 return ; |
120 <a name="l00103"></a>00103 |
120 <a name="l00145"></a>00145 } |
121 <a name="l00104"></a>00104 return ; |
121 <a name="l00146"></a>00146 nodeId++; |
122 <a name="l00105"></a>00105 } |
122 <a name="l00147"></a>00147 d->dcf_cursor = NULL; |
123 <a name="l00106"></a>00106 nodeId++; |
123 <a name="l00148"></a>00148 } |
124 <a name="l00107"></a>00107 d->dcf_cursor = NULL; |
124 <a name="l00150"></a>00150 (*d->preOperational)(); |
125 <a name="l00108"></a>00108 } |
125 <a name="l00151"></a>00151 |
126 <a name="l00109"></a>00109 <span class="comment">/* Switch Master to preOperational state */</span> |
126 <a name="l00152"></a>00152 } |
127 <a name="l00110"></a>00110 (*d->preOperational)(); |
127 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by |
128 <a name="l00111"></a>00111 |
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129 <a name="l00112"></a>00112 } |
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130 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by |
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132 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
129 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
133 </body> |
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131 </html> |