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     3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c Source File</title>
       
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    18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/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>
       
    19 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
       
    20 <a name="l00003"></a>00003 <span class="comment"></span>
       
    21 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
       
    22 <a name="l00005"></a>00005 <span class="comment"></span>
       
    23 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    24 <a name="l00007"></a>00007 <span class="comment"></span>
       
    25 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    26 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    27 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    28 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    29 <a name="l00012"></a>00012 <span class="comment"></span>
       
    30 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    31 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    32 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    33 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</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>
       
    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>
       
    38 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    39 <a name="l00022"></a>00022 
       
    40 <a name="l00023"></a>00023 <span class="preprocessor">#include &lt;data.h&gt;</span>
       
    41 <a name="l00024"></a>00024 <span class="preprocessor">#include "lifegrd.h"</span>
       
    42 <a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
       
    43 <a name="l00026"></a>00026 
       
    44 <a name="l00027"></a>00027 <span class="comment">/* Prototypes for internals functions */</span>
       
    45 <a name="l00028"></a>00028 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
       
    46 <a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
       
    47 <a name="l00030"></a>00030 UNS32 <a class="code" href="lifegrd_8c.html#ec7b3543d04cf7d7098b27fba2510696">OnHearbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex);
       
    48 <a name="l00031"></a>00031 
       
    49 <a name="l00032"></a>00032 <span class="comment">/*****************************************************************************/</span>
       
    50 <a name="l00033"></a><a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">00033</a> e_nodeState <a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">getNodeState</a> (CO_Data* d, UNS8 nodeId)
       
    51 <a name="l00034"></a>00034 {
       
    52 <a name="l00035"></a>00035         e_nodeState networkNodeState = d-&gt;NMTable[nodeId];
       
    53 <a name="l00036"></a>00036         <span class="keywordflow">return</span> networkNodeState;
       
    54 <a name="l00037"></a>00037 }
       
    55 <a name="l00038"></a>00038 
       
    56 <a name="l00039"></a>00039 <span class="comment">/*****************************************************************************/</span>
       
    57 <a name="l00040"></a>00040 <span class="comment">/* The Consumer Timer Callback */</span>
       
    58 <a name="l00041"></a><a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">00041</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
       
    59 <a name="l00042"></a>00042 {
       
    60 <a name="l00043"></a>00043         <span class="comment">/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/</span>
       
    61 <a name="l00044"></a>00044         
       
    62 <a name="l00045"></a>00045         <span class="comment">/* call heartbeat error with NodeId */</span>
       
    63 <a name="l00046"></a>00046         (*d-&gt;heartbeatError)((UNS8)( ((d-&gt;ConsumerHeartbeatEntries[<span class="keywordtype">id</span>]) &amp; (UNS32)0x00FF0000) &gt;&gt; (UNS8)16 ));
       
    64 <a name="l00047"></a>00047 }
       
    65 <a name="l00048"></a>00048 
       
    66 <a name="l00049"></a>00049 <span class="comment">/*****************************************************************************/</span>
       
    67 <a name="l00050"></a><a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">00050</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(CO_Data* d, Message* m )
       
    68 <a name="l00051"></a>00051 {
       
    69 <a name="l00052"></a>00052   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
       
    70 <a name="l00053"></a>00053   
       
    71 <a name="l00054"></a>00054   <span class="keywordflow">if</span>((m-&gt;rtr == 1) ) <span class="comment">/* Notice that only the master can have sent this node guarding request */</span>
       
    72 <a name="l00055"></a>00055   { <span class="comment">/* Receiving a NMT NodeGuarding (request of the state by the master) */</span>
       
    73 <a name="l00056"></a>00056     <span class="comment">/*  only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */</span>
       
    74 <a name="l00057"></a>00057     <span class="keywordflow">if</span> (nodeId == *d-&gt;bDeviceNodeId )
       
    75 <a name="l00058"></a>00058     {
       
    76 <a name="l00059"></a>00059       Message msg;
       
    77 <a name="l00060"></a>00060       msg.cob_id.w = *d-&gt;bDeviceNodeId + 0x700;
       
    78 <a name="l00061"></a>00061       msg.len = (UNS8)0x01;
       
    79 <a name="l00062"></a>00062       msg.rtr = 0;
       
    80 <a name="l00063"></a>00063       msg.data[0] = d-&gt;nodeState; 
       
    81 <a name="l00064"></a>00064       <span class="keywordflow">if</span> (d-&gt;toggle)
       
    82 <a name="l00065"></a>00065       {
       
    83 <a name="l00066"></a>00066         msg.data[0] |= 0x80 ;
       
    84 <a name="l00067"></a>00067         d-&gt;toggle = 0 ;
       
    85 <a name="l00068"></a>00068       }
       
    86 <a name="l00069"></a>00069       <span class="keywordflow">else</span>
       
    87 <a name="l00070"></a>00070         d-&gt;toggle = 1 ; 
       
    88 <a name="l00071"></a>00071       <span class="comment">/* send the nodeguard response. */</span>
       
    89 <a name="l00072"></a>00072       MSG_WAR(0x3130, <span class="stringliteral">"Sending NMT Nodeguard to master, state: "</span>, d-&gt;nodeState);
       
    90 <a name="l00073"></a>00073       canSend(d-&gt;canHandle,&amp;msg );
       
    91 <a name="l00074"></a>00074     }  
       
    92 <a name="l00075"></a>00075 
       
    93 <a name="l00076"></a>00076   }<span class="keywordflow">else</span>{ <span class="comment">/* Not a request CAN */</span>
       
    94 <a name="l00077"></a>00077 
       
    95 <a name="l00078"></a>00078     MSG_WAR(0x3110, <span class="stringliteral">"Received NMT nodeId : "</span>, nodeId);
       
    96 <a name="l00079"></a>00079     <span class="comment">/* the slave's state receievd is stored in the NMTable */</span>
       
    97 <a name="l00080"></a>00080       <span class="comment">/* The state is stored on 7 bit */</span>
       
    98 <a name="l00081"></a>00081     d-&gt;NMTable[nodeId] = (e_nodeState) ((*m).data[0] &amp; 0x7F) ;
       
    99 <a name="l00082"></a>00082     
       
   100 <a name="l00083"></a>00083     <span class="comment">/* Boot-Up frame reception */</span>
       
   101 <a name="l00084"></a>00084     <span class="keywordflow">if</span> ( d-&gt;NMTable[nodeId] == Initialisation)
       
   102 <a name="l00085"></a>00085       {
       
   103 <a name="l00086"></a>00086         <span class="comment">/* The device send the boot-up message (Initialisation) */</span>
       
   104 <a name="l00087"></a>00087         <span class="comment">/* to indicate the master that it is entered in pre_operational mode */</span>
       
   105 <a name="l00088"></a>00088         <span class="comment">/* Because the  device enter automaticaly in pre_operational mode, */</span>
       
   106 <a name="l00089"></a>00089         <span class="comment">/* the pre_operational mode is stored */</span>
       
   107 <a name="l00090"></a>00090 <span class="comment">/*        NMTable[bus_id][nodeId] = Pre_operational; */</span>
       
   108 <a name="l00091"></a>00091         MSG_WAR(0x3100, <span class="stringliteral">"The NMT is a bootup from node : "</span>, nodeId);
       
   109 <a name="l00092"></a>00092       }
       
   110 <a name="l00093"></a>00093       
       
   111 <a name="l00094"></a>00094     <span class="keywordflow">if</span>( d-&gt;NMTable[nodeId] != Unknown_state ) {
       
   112 <a name="l00095"></a>00095         UNS8 index, ConsummerHeartBeat_nodeId ;
       
   113 <a name="l00096"></a>00096         <span class="keywordflow">for</span>( index = (UNS8)0x00; index &lt; *d-&gt;ConsumerHeartbeatCount; index++ )
       
   114 <a name="l00097"></a>00097         {
       
   115 <a name="l00098"></a>00098             ConsummerHeartBeat_nodeId = (UNS8)( ((d-&gt;ConsumerHeartbeatEntries[index]) &amp; (UNS32)0x00FF0000) &gt;&gt; (UNS8)16 );
       
   116 <a name="l00099"></a>00099             if ( nodeId == ConsummerHeartBeat_nodeId )
       
   117 <a name="l00100"></a>00100             {
       
   118 <a name="l00101"></a>00101                 TIMEVAL time = ( (d-&gt;ConsumerHeartbeatEntries[index]) &amp; (UNS32)0x0000FFFF ) ;
       
   119 <a name="l00102"></a>00102                 <span class="comment">/* Renew alarm for next heartbeat. */</span>
       
   120 <a name="l00103"></a>00103                 <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d-&gt;ConsumerHeartBeatTimers[index]);
       
   121 <a name="l00104"></a>00104                 d-&gt;ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &amp;<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
       
   122 <a name="l00105"></a>00105             }
       
   123 <a name="l00106"></a>00106         }
       
   124 <a name="l00107"></a>00107     }
       
   125 <a name="l00108"></a>00108   }
       
   126 <a name="l00109"></a>00109 }
       
   127 <a name="l00110"></a>00110 
       
   128 <a name="l00111"></a>00111 <span class="comment">/*****************************************************************************/</span>
       
   129 <a name="l00112"></a>00112 <span class="comment">/* The Consumer Timer Callback */</span>
       
   130 <a name="l00113"></a><a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">00113</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
       
   131 <a name="l00114"></a>00114 {
       
   132 <a name="l00115"></a>00115         <span class="keywordflow">if</span>(*d-&gt;ProducerHeartBeatTime)
       
   133 <a name="l00116"></a>00116         {
       
   134 <a name="l00117"></a>00117                 Message msg;
       
   135 <a name="l00118"></a>00118                 <span class="comment">/* Time expired, the heartbeat must be sent immediately</span>
       
   136 <a name="l00119"></a>00119 <span class="comment">                 * generate the correct node-id: this is done by the offset 1792</span>
       
   137 <a name="l00120"></a>00120 <span class="comment">                 * (decimal) and additionaly</span>
       
   138 <a name="l00121"></a>00121 <span class="comment">                 * the node-id of this device.</span>
       
   139 <a name="l00122"></a>00122 <span class="comment">                 */</span>
       
   140 <a name="l00123"></a>00123                 
       
   141 <a name="l00124"></a>00124                 msg.cob_id.w = *d-&gt;bDeviceNodeId + 0x700;
       
   142 <a name="l00125"></a>00125                 msg.len = (UNS8)0x01;
       
   143 <a name="l00126"></a>00126                 msg.rtr = 0;
       
   144 <a name="l00127"></a>00127                 msg.data[0] = d-&gt;nodeState; <span class="comment">/* No toggle for heartbeat !*/</span>
       
   145 <a name="l00128"></a>00128                 <span class="comment">/* send the heartbeat */</span>
       
   146 <a name="l00129"></a>00129                 MSG_WAR(0x3130, <span class="stringliteral">"Producing heartbeat: "</span>, d-&gt;nodeState);
       
   147 <a name="l00130"></a>00130                 canSend(d-&gt;canHandle,&amp;msg );
       
   148 <a name="l00131"></a>00131         
       
   149 <a name="l00132"></a>00132         }<span class="keywordflow">else</span>{
       
   150 <a name="l00133"></a>00133                 d-&gt;ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d-&gt;ProducerHeartBeatTimer);
       
   151 <a name="l00134"></a>00134         }
       
   152 <a name="l00135"></a>00135 }
       
   153 <a name="l00136"></a>00136 
       
   154 <a name="l00137"></a>00137 <span class="comment">/*****************************************************************************/</span>
       
   155 <a name="l00138"></a>00138 <span class="comment">/* This is called when Index 0x1017 is updated.*/</span>
       
   156 <a name="l00139"></a><a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">00139</a> UNS32 <a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex)
       
   157 <a name="l00140"></a>00140 {
       
   158 <a name="l00141"></a>00141         <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d);
       
   159 <a name="l00142"></a>00142         <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d);
       
   160 <a name="l00143"></a>00143         <span class="keywordflow">return</span> 0;
       
   161 <a name="l00144"></a>00144 }
       
   162 <a name="l00145"></a>00145 <span class="comment">/*****************************************************************************/</span>
       
   163 <a name="l00146"></a>00146 
       
   164 <a name="l00147"></a><a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">00147</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(CO_Data* d)
       
   165 <a name="l00148"></a>00148 {
       
   166 <a name="l00149"></a>00149                 
       
   167 <a name="l00150"></a>00150     UNS8 index; <span class="comment">/* Index to scan the table of heartbeat consumers */</span>
       
   168 <a name="l00151"></a>00151         <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1017, 0x00, &amp;<a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>);
       
   169 <a name="l00152"></a>00152     
       
   170 <a name="l00153"></a>00153     d-&gt;toggle = 0;
       
   171 <a name="l00154"></a>00154         
       
   172 <a name="l00155"></a>00155     <span class="keywordflow">for</span>( index = (UNS8)0x00; index &lt; *d-&gt;ConsumerHeartbeatCount; index++ )
       
   173 <a name="l00156"></a>00156     {
       
   174 <a name="l00157"></a>00157         TIMEVAL time = (UNS16) ( (d-&gt;ConsumerHeartbeatEntries[index]) &amp; (UNS32)0x0000FFFF ) ;
       
   175 <a name="l00158"></a>00158         <span class="comment">/* MSG_WAR(0x3121, "should_time : ", should_time ) ; */</span>
       
   176 <a name="l00159"></a>00159         if ( time )
       
   177 <a name="l00160"></a>00160         {
       
   178 <a name="l00161"></a>00161                 d-&gt;ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &amp;<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
       
   179 <a name="l00162"></a>00162         }
       
   180 <a name="l00163"></a>00163     }
       
   181 <a name="l00164"></a>00164 
       
   182 <a name="l00165"></a>00165     <span class="keywordflow">if</span> ( *d-&gt;ProducerHeartBeatTime )
       
   183 <a name="l00166"></a>00166     {
       
   184 <a name="l00167"></a>00167         TIMEVAL time = *d-&gt;ProducerHeartBeatTime;
       
   185 <a name="l00168"></a>00168         d-&gt;ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, 0, &amp;<a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
       
   186 <a name="l00169"></a>00169     }
       
   187 <a name="l00170"></a>00170 }
       
   188 <a name="l00171"></a>00171 
       
   189 <a name="l00172"></a>00172 <span class="comment">/*****************************************************************************/</span>
       
   190 <a name="l00173"></a><a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">00173</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(CO_Data* d)
       
   191 <a name="l00174"></a>00174 {
       
   192 <a name="l00175"></a>00175     UNS8 index;
       
   193 <a name="l00176"></a>00176     <span class="keywordflow">for</span>( index = (UNS8)0x00; index &lt; *d-&gt;ConsumerHeartbeatCount; index++ )
       
   194 <a name="l00177"></a>00177     {
       
   195 <a name="l00178"></a>00178         d-&gt;ConsumerHeartBeatTimers[index + 1] = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d-&gt;ConsumerHeartBeatTimers[index + 1]);;
       
   196 <a name="l00179"></a>00179     }
       
   197 <a name="l00180"></a>00180 
       
   198 <a name="l00181"></a>00181     d-&gt;ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d-&gt;ProducerHeartBeatTimer);;
       
   199 <a name="l00182"></a>00182 }
       
   200 <a name="l00183"></a>00183 
       
   201 <a name="l00184"></a><a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">00184</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">_heartbeatError</a>(UNS8 heartbeatID){}
       
   202 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by&nbsp;
       
   203 <a href="http://www.doxygen.org/index.html">
       
   204 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
       
   205 </body>
       
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