34 e_nodeState networkNodeState = d->NMTable[nodeId]; |
34 e_nodeState networkNodeState = d->NMTable[nodeId]; |
35 return networkNodeState; |
35 return networkNodeState; |
36 } |
36 } |
37 |
37 |
38 /*****************************************************************************/ |
38 /*****************************************************************************/ |
39 // The Consumer Timer Callback |
39 /* The Consumer Timer Callback */ |
40 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
40 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
41 { |
41 { |
42 //MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00); |
42 /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/ |
43 |
43 |
44 // call heartbeat error with NodeId |
44 /* call heartbeat error with NodeId */ |
45 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 )); |
45 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 )); |
46 } |
46 } |
47 |
47 |
48 /*****************************************************************************/ |
48 /*****************************************************************************/ |
49 void proceedNODE_GUARD(CO_Data* d, Message* m ) |
49 void proceedNODE_GUARD(CO_Data* d, Message* m ) |
50 { |
50 { |
51 UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
51 UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
52 |
52 |
53 if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */ |
53 if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */ |
54 { // Receiving a NMT NodeGuarding (request of the state by the master) |
54 { /* Receiving a NMT NodeGuarding (request of the state by the master) */ |
55 // only answer to the NMT NodeGuarding request, the master is not checked (not implemented) |
55 /* only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */ |
56 if (nodeId == *d->bDeviceNodeId ) |
56 if (nodeId == *d->bDeviceNodeId ) |
57 { |
57 { |
58 Message msg; |
58 Message msg; |
59 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
59 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
60 msg.len = (UNS8)0x01; |
60 msg.len = (UNS8)0x01; |
65 msg.data[0] |= 0x80 ; |
65 msg.data[0] |= 0x80 ; |
66 d->toggle = 0 ; |
66 d->toggle = 0 ; |
67 } |
67 } |
68 else |
68 else |
69 d->toggle = 1 ; |
69 d->toggle = 1 ; |
70 // send the nodeguard response. |
70 /* send the nodeguard response. */ |
71 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
71 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
72 (*d->canSend)(&msg ); |
72 (*d->canSend)(&msg ); |
73 } |
73 } |
74 |
74 |
75 }else{ // Not a request CAN |
75 }else{ /* Not a request CAN */ |
76 |
76 |
77 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
77 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
78 /* the slave's state receievd is stored in the NMTable */ |
78 /* the slave's state receievd is stored in the NMTable */ |
79 // The state is stored on 7 bit |
79 /* The state is stored on 7 bit */ |
80 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ; |
80 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ; |
81 |
81 |
82 /* Boot-Up frame reception */ |
82 /* Boot-Up frame reception */ |
83 if ( d->NMTable[nodeId] == Initialisation) |
83 if ( d->NMTable[nodeId] == Initialisation) |
84 { |
84 { |
85 // The device send the boot-up message (Initialisation) |
85 /* The device send the boot-up message (Initialisation) */ |
86 // to indicate the master that it is entered in pre_operational mode |
86 /* to indicate the master that it is entered in pre_operational mode */ |
87 // Because the device enter automaticaly in pre_operational mode, |
87 /* Because the device enter automaticaly in pre_operational mode, */ |
88 // the pre_operational mode is stored |
88 /* the pre_operational mode is stored */ |
89 // NMTable[bus_id][nodeId] = Pre_operational; |
89 /* NMTable[bus_id][nodeId] = Pre_operational; */ |
90 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
90 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
91 } |
91 } |
92 |
92 |
93 if( d->NMTable[nodeId] != Unknown_state ) { |
93 if( d->NMTable[nodeId] != Unknown_state ) { |
94 UNS8 index, ConsummerHeartBeat_nodeId ; |
94 UNS8 index, ConsummerHeartBeat_nodeId ; |
96 { |
96 { |
97 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
97 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
98 if ( nodeId == ConsummerHeartBeat_nodeId ) |
98 if ( nodeId == ConsummerHeartBeat_nodeId ) |
99 { |
99 { |
100 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
100 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
101 // Renew alarm for next heartbeat. |
101 /* Renew alarm for next heartbeat. */ |
102 DelAlarm(d->ConsumerHeartBeatTimers[index]); |
102 DelAlarm(d->ConsumerHeartBeatTimers[index]); |
103 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
103 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
104 } |
104 } |
105 } |
105 } |
106 } |
106 } |
107 } |
107 } |
108 } |
108 } |
109 |
109 |
110 /*****************************************************************************/ |
110 /*****************************************************************************/ |
111 // The Consumer Timer Callback |
111 /* The Consumer Timer Callback */ |
112 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
112 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
113 { |
113 { |
114 if(*d->ProducerHeartBeatTime) |
114 if(*d->ProducerHeartBeatTime) |
115 { |
115 { |
116 Message msg; |
116 Message msg; |
117 // Time expired, the heartbeat must be sent immediately |
117 /* Time expired, the heartbeat must be sent immediately |
118 // generate the correct node-id: this is done by the offset 1792 |
118 * generate the correct node-id: this is done by the offset 1792 |
119 // (decimal) and additionaly |
119 * (decimal) and additionaly |
120 // the node-id of this device. |
120 * the node-id of this device. |
|
121 */ |
121 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
122 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
122 msg.len = (UNS8)0x01; |
123 msg.len = (UNS8)0x01; |
123 msg.rtr = 0; |
124 msg.rtr = 0; |
124 msg.data[0] = d->nodeState; // No toggle for heartbeat ! |
125 msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/ |
125 // send the heartbeat |
126 /* send the heartbeat */ |
126 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
127 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
127 (*d->canSend)(&msg ); |
128 (*d->canSend)(&msg ); |
128 }else{ |
129 }else{ |
129 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
130 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
130 } |
131 } |
131 } |
132 } |
132 |
133 |
133 /*****************************************************************************/ |
134 /*****************************************************************************/ |
134 void heartbeatInit(CO_Data* d) |
135 void heartbeatInit(CO_Data* d) |
135 { |
136 { |
136 UNS8 index; // Index to scan the table of heartbeat consumers |
137 UNS8 index; /* Index to scan the table of heartbeat consumers */ |
137 |
138 |
138 d->toggle = 0; |
139 d->toggle = 0; |
139 |
140 |
140 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
141 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
141 { |
142 { |
142 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
143 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
143 //MSG_WAR(0x3121, "should_time : ", should_time ) ; |
144 /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */ |
144 if ( time ) |
145 if ( time ) |
145 { |
146 { |
146 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
147 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
147 } |
148 } |
148 } |
149 } |