34 <a name="l00017"></a>00017 <span class="comment"></span> |
34 <a name="l00017"></a>00017 <span class="comment"></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">You should have received a copy of the GNU Lesser General Public</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">License along with this library; if not, write to the Free Software</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">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
38 <a name="l00021"></a>00021 <span class="comment">*/</span> |
38 <a name="l00021"></a>00021 <span class="comment">*/</span> |
39 <a name="l00022"></a>00022 |
39 <a name="l00032"></a>00032 <span class="preprocessor">#include "states.h"</span> |
40 <a name="l00023"></a>00023 <span class="preprocessor">#include "states.h"</span> |
40 <a name="l00033"></a>00033 <span class="preprocessor">#include "def.h"</span> |
41 <a name="l00024"></a>00024 <span class="preprocessor">#include "def.h"</span> |
41 <a name="l00034"></a>00034 <span class="preprocessor">#include "dcf.h"</span> |
42 <a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span> |
42 <a name="l00035"></a>00035 <span class="preprocessor">#include "nmtSlave.h"</span> |
43 <a name="l00026"></a>00026 <span class="preprocessor">#include "nmtSlave.h"</span> |
43 <a name="l00036"></a>00036 |
44 <a name="l00027"></a>00027 |
44 <a name="l00044"></a>00044 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, |
45 <a name="l00028"></a>00028 <span class="comment">/* Prototypes for internals functions */</span> |
45 <a name="l00045"></a>00045 s_state_communication *newCommunicationState); |
46 <a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, |
46 <a name="l00046"></a>00046 |
47 <a name="l00030"></a>00030 s_state_communication *newCommunicationState); |
47 <a name="l00054"></a><a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">00054</a> e_nodeState <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(CO_Data* d) |
48 <a name="l00031"></a>00031 |
48 <a name="l00055"></a>00055 { |
49 <a name="l00032"></a>00032 <span class="comment">/*****************************************************************************/</span> |
49 <a name="l00056"></a>00056 <span class="keywordflow">return</span> d->nodeState; |
50 <a name="l00033"></a><a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">00033</a> e_nodeState <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(CO_Data* d) |
50 <a name="l00057"></a>00057 } |
51 <a name="l00034"></a>00034 { |
51 <a name="l00058"></a>00058 |
52 <a name="l00035"></a>00035 <span class="keywordflow">return</span> d->nodeState; |
52 <a name="l00065"></a><a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">00065</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(CO_Data* d, Message *m) |
53 <a name="l00036"></a>00036 } |
53 <a name="l00066"></a>00066 { |
54 <a name="l00037"></a>00037 |
54 <a name="l00067"></a>00067 <span class="keywordflow">switch</span>(m->cob_id.w >> 7) |
55 <a name="l00038"></a>00038 <span class="comment">/*****************************************************************************/</span> |
55 <a name="l00068"></a>00068 { |
56 <a name="l00039"></a><a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">00039</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(CO_Data* d, Message *m) |
56 <a name="l00069"></a>00069 <span class="keywordflow">case</span> SYNC: |
57 <a name="l00040"></a>00040 { |
57 <a name="l00070"></a>00070 <span class="keywordflow">if</span>(d->CurrentCommunicationState.csSYNC) |
58 <a name="l00041"></a>00041 <span class="keywordflow">switch</span>(m->cob_id.w >> 7) |
58 <a name="l00071"></a>00071 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m); |
59 <a name="l00042"></a>00042 { |
59 <a name="l00072"></a>00072 <span class="keywordflow">break</span>; |
60 <a name="l00043"></a>00043 <span class="keywordflow">case</span> SYNC: |
60 <a name="l00074"></a>00074 <span class="keywordflow">case</span> PDO1tx: |
61 <a name="l00044"></a>00044 <span class="keywordflow">if</span>(d->CurrentCommunicationState.csSYNC) |
61 <a name="l00075"></a>00075 <span class="keywordflow">case</span> PDO1rx: |
62 <a name="l00045"></a>00045 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m); |
62 <a name="l00076"></a>00076 <span class="keywordflow">case</span> PDO2tx: |
63 <a name="l00046"></a>00046 <span class="keywordflow">break</span>; |
63 <a name="l00077"></a>00077 <span class="keywordflow">case</span> PDO2rx: |
64 <a name="l00047"></a>00047 <span class="comment">/* case TIME_STAMP: */</span> |
64 <a name="l00078"></a>00078 <span class="keywordflow">case</span> PDO3tx: |
65 <a name="l00048"></a>00048 <span class="keywordflow">case</span> PDO1tx: |
65 <a name="l00079"></a>00079 <span class="keywordflow">case</span> PDO3rx: |
66 <a name="l00049"></a>00049 <span class="keywordflow">case</span> PDO1rx: |
66 <a name="l00080"></a>00080 <span class="keywordflow">case</span> PDO4tx: |
67 <a name="l00050"></a>00050 <span class="keywordflow">case</span> PDO2tx: |
67 <a name="l00081"></a>00081 <span class="keywordflow">case</span> PDO4rx: |
68 <a name="l00051"></a>00051 <span class="keywordflow">case</span> PDO2rx: |
68 <a name="l00082"></a>00082 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csPDO) |
69 <a name="l00052"></a>00052 <span class="keywordflow">case</span> PDO3tx: |
69 <a name="l00083"></a>00083 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m); |
70 <a name="l00053"></a>00053 <span class="keywordflow">case</span> PDO3rx: |
70 <a name="l00084"></a>00084 <span class="keywordflow">break</span>; |
71 <a name="l00054"></a>00054 <span class="keywordflow">case</span> PDO4tx: |
71 <a name="l00085"></a>00085 <span class="keywordflow">case</span> SDOtx: |
72 <a name="l00055"></a>00055 <span class="keywordflow">case</span> PDO4rx: |
72 <a name="l00086"></a>00086 <span class="keywordflow">case</span> SDOrx: |
73 <a name="l00056"></a>00056 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csPDO) |
73 <a name="l00087"></a>00087 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csSDO) |
74 <a name="l00057"></a>00057 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m); |
74 <a name="l00088"></a>00088 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m); |
75 <a name="l00058"></a>00058 <span class="keywordflow">break</span>; |
75 <a name="l00089"></a>00089 <span class="keywordflow">break</span>; |
76 <a name="l00059"></a>00059 <span class="keywordflow">case</span> SDOtx: |
76 <a name="l00090"></a>00090 <span class="keywordflow">case</span> NODE_GUARD: |
77 <a name="l00060"></a>00060 <span class="keywordflow">case</span> SDOrx: |
77 <a name="l00091"></a>00091 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csHeartbeat) |
78 <a name="l00061"></a>00061 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csSDO) |
78 <a name="l00092"></a>00092 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m); |
79 <a name="l00062"></a>00062 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m); |
79 <a name="l00093"></a>00093 <span class="keywordflow">break</span>; |
80 <a name="l00063"></a>00063 <span class="keywordflow">break</span>; |
80 <a name="l00094"></a>00094 <span class="keywordflow">case</span> NMT: |
81 <a name="l00064"></a>00064 <span class="keywordflow">case</span> NODE_GUARD: |
81 <a name="l00095"></a>00095 <span class="keywordflow">if</span> (*(d->iam_a_slave)) |
82 <a name="l00065"></a>00065 <span class="keywordflow">if</span> (d->CurrentCommunicationState.csHeartbeat) |
82 <a name="l00096"></a>00096 { |
83 <a name="l00066"></a>00066 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m); |
83 <a name="l00097"></a>00097 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m); |
84 <a name="l00067"></a>00067 <span class="keywordflow">break</span>; |
84 <a name="l00098"></a>00098 } |
85 <a name="l00068"></a>00068 <span class="keywordflow">case</span> NMT: |
85 <a name="l00099"></a>00099 } |
86 <a name="l00069"></a>00069 <span class="keywordflow">if</span> (*(d->iam_a_slave)) |
86 <a name="l00100"></a>00100 } |
87 <a name="l00070"></a>00070 { |
87 <a name="l00101"></a>00101 |
88 <a name="l00071"></a>00071 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m); |
88 <a name="l00102"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00102</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span> |
89 <a name="l00072"></a>00072 } |
89 <a name="l00103"></a>00103 <span class="preprocessor"> if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\</span> |
90 <a name="l00073"></a>00073 } |
90 <a name="l00104"></a>00104 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStart, 9999);\</span> |
91 <a name="l00074"></a>00074 } |
91 <a name="l00105"></a>00105 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 1;\</span> |
92 <a name="l00075"></a>00075 |
92 <a name="l00106"></a>00106 <span class="preprocessor"> FuncStart;\</span> |
93 <a name="l00076"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00076</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span> |
93 <a name="l00107"></a>00107 <span class="preprocessor"> }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\</span> |
94 <a name="l00077"></a>00077 <span class="preprocessor"> if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\</span> |
94 <a name="l00108"></a>00108 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStop, 9999);\</span> |
95 <a name="l00078"></a>00078 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStart, 9999);\</span> |
95 <a name="l00109"></a>00109 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 0;\</span> |
96 <a name="l00079"></a>00079 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 1;\</span> |
96 <a name="l00110"></a>00110 <span class="preprocessor"> FuncStop;\</span> |
97 <a name="l00080"></a>00080 <span class="preprocessor"> FuncStart;\</span> |
97 <a name="l00111"></a>00111 <span class="preprocessor"> }</span> |
98 <a name="l00081"></a>00081 <span class="preprocessor"> }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\</span> |
98 <a name="l00112"></a><a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">00112</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span> |
99 <a name="l00082"></a>00082 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStop, 9999);\</span> |
99 <a name="l00113"></a>00113 <span class="preprocessor"></span> |
100 <a name="l00083"></a>00083 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 0;\</span> |
100 <a name="l00120"></a><a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">00120</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, s_state_communication *newCommunicationState) |
101 <a name="l00084"></a>00084 <span class="preprocessor"> FuncStop;\</span> |
101 <a name="l00121"></a>00121 { |
102 <a name="l00085"></a>00085 <span class="preprocessor"> }</span> |
102 <a name="l00122"></a>00122 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">resetSDO</a>(d)) |
103 <a name="l00086"></a><a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">00086</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span> |
103 <a name="l00123"></a>00123 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSYNC, <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d), <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d)) |
104 <a name="l00087"></a>00087 <span class="preprocessor"></span> |
104 <a name="l00124"></a>00124 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csHeartbeat, <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d), <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d)) |
105 <a name="l00088"></a>00088 <span class="comment">/*****************************************************************************/</span> |
105 <a name="l00125"></a>00125 <span class="comment">/* StartOrStop(Emergency,,) */</span> |
106 <a name="l00089"></a><a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">00089</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, s_state_communication *newCommunicationState) |
106 <a name="l00126"></a>00126 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csPDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>) |
107 <a name="l00090"></a>00090 { |
107 <a name="l00127"></a>00127 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csBoot_Up, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(d)) |
108 <a name="l00091"></a>00091 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">resetSDO</a>(d)) |
108 <a name="l00128"></a>00128 } |
109 <a name="l00092"></a>00092 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csSYNC, <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d), <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d)) |
109 <a name="l00129"></a>00129 |
110 <a name="l00093"></a>00093 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csHeartbeat, <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d), <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d)) |
110 <a name="l00138"></a><a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">00138</a> UNS8 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(CO_Data* d, e_nodeState newState) |
111 <a name="l00094"></a>00094 <span class="comment">/* StartOrStop(Emergency,,) */</span> |
111 <a name="l00139"></a>00139 { |
112 <a name="l00095"></a>00095 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csPDO, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>) |
112 <a name="l00140"></a>00140 UNS16 wIndex = 0x1F22; |
113 <a name="l00096"></a>00096 <a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">StartOrStop</a>(csBoot_Up, <a class="code" href="states_8c.html#f4e8bc2d192090ff502229b33c24a389">None</a>, <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(d)) |
113 <a name="l00141"></a>00141 <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>; |
114 <a name="l00097"></a>00097 } |
114 <a name="l00142"></a>00142 ODCallback_t *Callback; |
115 <a name="l00098"></a>00098 |
115 <a name="l00143"></a>00143 UNS32 errorCode; |
116 <a name="l00099"></a>00099 <span class="comment">/*****************************************************************************/</span> |
116 <a name="l00144"></a>00144 <span class="keywordflow">while</span>(newState != d->nodeState){ |
117 <a name="l00100"></a><a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">00100</a> UNS8 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(CO_Data* d, e_nodeState newState) |
117 <a name="l00145"></a>00145 <span class="keywordflow">switch</span>( newState ){ |
118 <a name="l00101"></a>00101 { |
118 <a name="l00146"></a>00146 <span class="keywordflow">case</span> Initialisation: |
119 <a name="l00102"></a>00102 UNS16 wIndex = 0x1F22; |
119 <a name="l00147"></a>00147 { |
120 <a name="l00103"></a>00103 <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>; |
120 <a name="l00148"></a>00148 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0}; |
121 <a name="l00104"></a>00104 ODCallback_t *Callback; |
121 <a name="l00150"></a>00150 d->nodeState = Initialisation; |
122 <a name="l00105"></a>00105 UNS32 errorCode; |
122 <a name="l00151"></a>00151 newState = Pre_operational; |
123 <a name="l00106"></a>00106 <span class="keywordflow">while</span>(newState != d->nodeState){ |
123 <a name="l00152"></a>00152 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
124 <a name="l00107"></a>00107 <span class="keywordflow">switch</span>( newState ){ |
124 <a name="l00154"></a>00154 (*d->initialisation)(); |
125 <a name="l00108"></a>00108 <span class="keywordflow">case</span> Initialisation: |
125 <a name="l00155"></a>00155 |
126 <a name="l00109"></a>00109 { |
126 <a name="l00156"></a>00156 } |
127 <a name="l00110"></a>00110 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0}; |
127 <a name="l00157"></a>00157 <span class="keywordflow">break</span>; |
128 <a name="l00111"></a>00111 <span class="comment">/* This will force a second loop for the state switch */</span> |
128 <a name="l00158"></a>00158 |
129 <a name="l00112"></a>00112 d->nodeState = Initialisation; |
129 <a name="l00159"></a>00159 <span class="keywordflow">case</span> Pre_operational: |
130 <a name="l00113"></a>00113 newState = Pre_operational; |
130 <a name="l00160"></a>00160 { |
131 <a name="l00114"></a>00114 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
131 <a name="l00161"></a>00161 |
132 <a name="l00115"></a>00115 <span class="comment">/* call user app related state func. */</span> |
132 <a name="l00162"></a>00162 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0}; |
133 <a name="l00116"></a>00116 (*d->initialisation)(); |
133 <a name="l00163"></a>00163 d->nodeState = Pre_operational; |
134 <a name="l00117"></a>00117 |
134 <a name="l00164"></a>00164 newState = Pre_operational; |
135 <a name="l00118"></a>00118 } |
135 <a name="l00165"></a>00165 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
136 <a name="l00119"></a>00119 <span class="keywordflow">break</span>; |
136 <a name="l00166"></a>00166 <span class="keywordflow">if</span> (!(*(d->iam_a_slave))) |
137 <a name="l00120"></a>00120 |
137 <a name="l00167"></a>00167 { |
138 <a name="l00121"></a>00121 <span class="keywordflow">case</span> Pre_operational: |
138 <a name="l00168"></a>00168 ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback); |
139 <a name="l00122"></a>00122 { |
139 <a name="l00169"></a>00169 |
140 <a name="l00123"></a>00123 |
140 <a name="l00170"></a>00170 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL) |
141 <a name="l00124"></a>00124 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0}; |
141 <a name="l00171"></a>00171 { |
142 <a name="l00125"></a>00125 d->nodeState = Pre_operational; |
142 <a name="l00172"></a>00172 (*d->preOperational)(); |
143 <a name="l00126"></a>00126 newState = Pre_operational; |
143 <a name="l00173"></a>00173 } |
144 <a name="l00127"></a>00127 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
144 <a name="l00174"></a>00174 <span class="keywordflow">else</span> |
145 <a name="l00128"></a>00128 <span class="keywordflow">if</span> (!(*(d->iam_a_slave))) |
145 <a name="l00175"></a>00175 { |
146 <a name="l00129"></a>00129 { |
146 <a name="l00176"></a>00176 UNS32 res; |
147 <a name="l00130"></a>00130 ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback); |
147 <a name="l00177"></a>00177 res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01); |
148 <a name="l00131"></a>00131 |
148 <a name="l00178"></a>00178 } |
149 <a name="l00132"></a>00132 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL) |
149 <a name="l00179"></a>00179 } |
150 <a name="l00133"></a>00133 { |
150 <a name="l00180"></a>00180 <span class="keywordflow">else</span> |
151 <a name="l00134"></a>00134 (*d->preOperational)(); |
151 <a name="l00181"></a>00181 { |
152 <a name="l00135"></a>00135 } |
152 <a name="l00182"></a>00182 (*d->preOperational)(); |
153 <a name="l00136"></a>00136 <span class="keywordflow">else</span> |
153 <a name="l00183"></a>00183 } |
154 <a name="l00137"></a>00137 { |
154 <a name="l00184"></a>00184 } |
155 <a name="l00138"></a>00138 UNS32 res; |
155 <a name="l00185"></a>00185 <span class="keywordflow">break</span>; |
156 <a name="l00139"></a>00139 res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01); |
156 <a name="l00186"></a>00186 |
157 <a name="l00140"></a>00140 } |
157 <a name="l00187"></a>00187 <span class="keywordflow">case</span> Operational: |
158 <a name="l00141"></a>00141 } |
158 <a name="l00188"></a>00188 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF; |
159 <a name="l00142"></a>00142 <span class="keywordflow">else</span> |
159 <a name="l00189"></a>00189 { |
160 <a name="l00143"></a>00143 { |
160 <a name="l00190"></a>00190 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1}; |
161 <a name="l00144"></a>00144 (*d->preOperational)(); |
161 <a name="l00191"></a>00191 d->nodeState = Operational; |
162 <a name="l00145"></a>00145 } |
162 <a name="l00192"></a>00192 newState = Operational; |
163 <a name="l00146"></a>00146 } |
163 <a name="l00193"></a>00193 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
164 <a name="l00147"></a>00147 <span class="keywordflow">break</span>; |
164 <a name="l00194"></a>00194 (*d->operational)(); |
165 <a name="l00148"></a>00148 |
165 <a name="l00195"></a>00195 } |
166 <a name="l00149"></a>00149 <span class="keywordflow">case</span> Operational: |
166 <a name="l00196"></a>00196 <span class="keywordflow">break</span>; |
167 <a name="l00150"></a>00150 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF; |
167 <a name="l00197"></a>00197 |
168 <a name="l00151"></a>00151 { |
168 <a name="l00198"></a>00198 <span class="keywordflow">case</span> Stopped: |
169 <a name="l00152"></a>00152 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1}; |
169 <a name="l00199"></a>00199 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF; |
170 <a name="l00153"></a>00153 d->nodeState = Operational; |
170 <a name="l00200"></a>00200 { |
171 <a name="l00154"></a>00154 newState = Operational; |
171 <a name="l00201"></a>00201 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0}; |
172 <a name="l00155"></a>00155 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
172 <a name="l00202"></a>00202 d->nodeState = Stopped; |
173 <a name="l00156"></a>00156 (*d->operational)(); |
173 <a name="l00203"></a>00203 newState = Stopped; |
174 <a name="l00157"></a>00157 } |
174 <a name="l00204"></a>00204 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
175 <a name="l00158"></a>00158 <span class="keywordflow">break</span>; |
175 <a name="l00205"></a>00205 (*d->stopped)(); |
176 <a name="l00159"></a>00159 |
176 <a name="l00206"></a>00206 } |
177 <a name="l00160"></a>00160 <span class="keywordflow">case</span> Stopped: |
177 <a name="l00207"></a>00207 <span class="keywordflow">break</span>; |
178 <a name="l00161"></a>00161 <span class="keywordflow">if</span>(d->nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF; |
178 <a name="l00208"></a>00208 |
179 <a name="l00162"></a>00162 { |
179 <a name="l00209"></a>00209 <span class="keywordflow">default</span>: |
180 <a name="l00163"></a>00163 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0}; |
180 <a name="l00210"></a>00210 <span class="keywordflow">return</span> 0xFF; |
181 <a name="l00164"></a>00164 d->nodeState = Stopped; |
181 <a name="l00211"></a>00211 } |
182 <a name="l00165"></a>00165 newState = Stopped; |
182 <a name="l00213"></a>00213 } |
183 <a name="l00166"></a>00166 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &newCommunicationState); |
183 <a name="l00214"></a>00214 <span class="keywordflow">return</span> 0; |
184 <a name="l00167"></a>00167 (*d->stopped)(); |
184 <a name="l00215"></a>00215 } |
185 <a name="l00168"></a>00168 } |
185 <a name="l00216"></a>00216 |
186 <a name="l00169"></a>00169 <span class="keywordflow">break</span>; |
186 <a name="l00224"></a><a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">00224</a> UNS8 <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(CO_Data* d) |
187 <a name="l00170"></a>00170 |
187 <a name="l00225"></a>00225 { |
188 <a name="l00171"></a>00171 <span class="keywordflow">default</span>: |
188 <a name="l00226"></a>00226 <span class="keywordflow">return</span> *d->bDeviceNodeId; |
189 <a name="l00172"></a>00172 <span class="keywordflow">return</span> 0xFF; |
189 <a name="l00227"></a>00227 } |
190 <a name="l00173"></a>00173 }<span class="comment">/* end switch case */</span> |
190 <a name="l00228"></a>00228 |
191 <a name="l00174"></a>00174 |
191 <a name="l00235"></a><a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(CO_Data* d, UNS8 nodeId) |
192 <a name="l00175"></a>00175 } |
192 <a name="l00236"></a>00236 { |
193 <a name="l00176"></a>00176 <span class="keywordflow">return</span> 0; |
193 <a name="l00237"></a>00237 UNS16 offset = d->firstIndex->SDO_SVR; |
194 <a name="l00177"></a>00177 } |
194 <a name="l00238"></a>00238 <span class="keywordflow">if</span>(offset){ |
195 <a name="l00178"></a>00178 |
195 <a name="l00240"></a>00240 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId; |
196 <a name="l00179"></a>00179 <span class="comment">/*****************************************************************************/</span> |
196 <a name="l00242"></a>00242 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId; |
197 <a name="l00180"></a><a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">00180</a> UNS8 <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(CO_Data* d) |
197 <a name="l00245"></a>00245 } |
198 <a name="l00181"></a>00181 { |
198 <a name="l00246"></a>00246 |
199 <a name="l00182"></a>00182 <span class="keywordflow">return</span> *d->bDeviceNodeId; |
199 <a name="l00255"></a>00255 { |
200 <a name="l00183"></a>00183 } |
200 <a name="l00256"></a>00256 UNS8 i = 0; |
201 <a name="l00184"></a>00184 |
201 <a name="l00257"></a>00257 UNS16 offset = d->firstIndex->PDO_RCV; |
202 <a name="l00185"></a>00185 <span class="comment">/*****************************************************************************/</span> |
202 <a name="l00258"></a>00258 UNS16 lastIndex = d->lastIndex->PDO_RCV; |
203 <a name="l00186"></a><a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">00186</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(CO_Data* d, UNS8 nodeId) |
203 <a name="l00259"></a>00259 UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500}; |
204 <a name="l00187"></a>00187 { |
204 <a name="l00260"></a>00260 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset <= lastIndex) && (i < 4)) { |
205 <a name="l00188"></a>00188 UNS16 offset = d->firstIndex->SDO_SVR; |
205 <a name="l00261"></a>00261 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span> |
206 <a name="l00189"></a>00189 <span class="keywordflow">if</span>(offset){ |
206 <a name="l00262"></a>00262 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId; |
207 <a name="l00190"></a>00190 <span class="comment">/* cob_id_client = 0x600 + nodeId; */</span> |
207 <a name="l00263"></a>00263 i ++; |
208 <a name="l00191"></a>00191 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId; |
208 <a name="l00264"></a>00264 offset ++; |
209 <a name="l00192"></a>00192 <span class="comment">/* cob_id_server = 0x580 + nodeId; */</span> |
209 <a name="l00265"></a>00265 } |
210 <a name="l00193"></a>00193 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId; |
210 <a name="l00266"></a>00266 } |
211 <a name="l00194"></a>00194 <span class="comment">/* node Id client. As we do not know the value, we put the node Id Server */</span> |
211 <a name="l00267"></a>00267 <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span> |
212 <a name="l00195"></a>00195 <span class="comment">/* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */</span> |
212 <a name="l00268"></a>00268 { |
213 <a name="l00196"></a>00196 } |
213 <a name="l00269"></a>00269 UNS8 i = 0; |
214 <a name="l00197"></a>00197 |
214 <a name="l00270"></a>00270 UNS16 offset = d->firstIndex->PDO_TRS; |
215 <a name="l00198"></a>00198 <span class="comment">/* ** Initialize the server(s) SDO parameters */</span> |
215 <a name="l00271"></a>00271 UNS16 lastIndex = d->lastIndex->PDO_TRS; |
216 <a name="l00199"></a>00199 <span class="comment">/* Remember that only one SDO server is allowed, defined at index 0x1200 */</span> |
216 <a name="l00272"></a>00272 UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480}; |
217 <a name="l00200"></a>00200 |
217 <a name="l00273"></a>00273 i = 0; |
218 <a name="l00201"></a>00201 <span class="comment">/* ** Initialize the client(s) SDO parameters */</span> |
218 <a name="l00274"></a>00274 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset <= lastIndex) && (i < 4)) { |
219 <a name="l00202"></a>00202 <span class="comment">/* Nothing to initialize (no default values required by the DS 401) */</span> |
219 <a name="l00275"></a>00275 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span> |
220 <a name="l00203"></a>00203 <span class="comment">/* ** Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 */</span> |
220 <a name="l00276"></a>00276 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId; |
221 <a name="l00204"></a>00204 { |
221 <a name="l00277"></a>00277 i ++; |
222 <a name="l00205"></a>00205 UNS8 i = 0; |
222 <a name="l00278"></a>00278 offset ++; |
223 <a name="l00206"></a>00206 UNS16 offset = d->firstIndex->PDO_RCV; |
223 <a name="l00279"></a>00279 } |
224 <a name="l00207"></a>00207 UNS16 lastIndex = d->lastIndex->PDO_RCV; |
224 <a name="l00280"></a>00280 } |
225 <a name="l00208"></a>00208 UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500}; |
225 <a name="l00282"></a>00282 *d->bDeviceNodeId = nodeId; |
226 <a name="l00209"></a>00209 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset <= lastIndex) && (i < 4)) { |
226 <a name="l00283"></a>00283 } |
227 <a name="l00210"></a>00210 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span> |
227 <a name="l00284"></a>00284 |
228 <a name="l00211"></a>00211 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId; |
228 <a name="l00285"></a><a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">00285</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){} |
229 <a name="l00212"></a>00212 i ++; |
229 <a name="l00286"></a><a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">00286</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){} |
230 <a name="l00213"></a>00213 offset ++; |
230 <a name="l00287"></a><a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">00287</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){} |
231 <a name="l00214"></a>00214 } |
231 <a name="l00288"></a><a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">00288</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){} |
232 <a name="l00215"></a>00215 } |
232 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by |
233 <a name="l00216"></a>00216 <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span> |
|
234 <a name="l00217"></a>00217 { |
|
235 <a name="l00218"></a>00218 UNS8 i = 0; |
|
236 <a name="l00219"></a>00219 UNS16 offset = d->firstIndex->PDO_TRS; |
|
237 <a name="l00220"></a>00220 UNS16 lastIndex = d->lastIndex->PDO_TRS; |
|
238 <a name="l00221"></a>00221 UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480}; |
|
239 <a name="l00222"></a>00222 i = 0; |
|
240 <a name="l00223"></a>00223 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset <= lastIndex) && (i < 4)) { |
|
241 <a name="l00224"></a>00224 <span class="comment">//if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)</span> |
|
242 <a name="l00225"></a>00225 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId; |
|
243 <a name="l00226"></a>00226 i ++; |
|
244 <a name="l00227"></a>00227 offset ++; |
|
245 <a name="l00228"></a>00228 } |
|
246 <a name="l00229"></a>00229 } |
|
247 <a name="l00230"></a>00230 <span class="comment">/* bDeviceNodeId is defined in the object dictionary. */</span> |
|
248 <a name="l00231"></a>00231 *d->bDeviceNodeId = nodeId; |
|
249 <a name="l00232"></a>00232 } |
|
250 <a name="l00233"></a>00233 |
|
251 <a name="l00234"></a><a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">00234</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){} |
|
252 <a name="l00235"></a><a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){} |
|
253 <a name="l00236"></a><a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">00236</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){} |
|
254 <a name="l00237"></a><a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">00237</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){} |
|
255 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:27 2007 for CanFestival by |
|
256 <a href="http://www.doxygen.org/index.html"> |
233 <a href="http://www.doxygen.org/index.html"> |
257 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
234 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
258 </body> |
235 </body> |
259 </html> |
236 </html> |