|
1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
|
2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> |
|
3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c Source File</title> |
|
4 <link href="doxygen.css" rel="stylesheet" type="text/css"> |
|
5 <link href="tabs.css" rel="stylesheet" type="text/css"> |
|
6 </head><body> |
|
7 <!-- Generated by Doxygen 1.5.1 --> |
|
8 <div class="tabs"> |
|
9 <ul> |
|
10 <li><a href="main.html"><span>Main Page</span></a></li> |
|
11 <li id="current"><a href="files.html"><span>Files</span></a></li> |
|
12 </ul></div> |
|
13 <div class="tabs"> |
|
14 <ul> |
|
15 <li><a href="files.html"><span>File List</span></a></li> |
|
16 <li><a href="globals.html"><span>Globals</span></a></li> |
|
17 </ul></div> |
|
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 <data.h></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->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->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[<span class="keywordtype">id</span>]) & (UNS32)0x00FF0000) >> (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->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->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->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->nodeState; |
|
81 <a name="l00064"></a>00064 <span class="keywordflow">if</span> (d->toggle) |
|
82 <a name="l00065"></a>00065 { |
|
83 <a name="l00066"></a>00066 msg.data[0] |= 0x80 ; |
|
84 <a name="l00067"></a>00067 d->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->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->nodeState); |
|
90 <a name="l00073"></a>00073 canSend(d->canHandle,&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->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 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->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->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 < *d->ConsumerHeartbeatCount; index++ ) |
|
114 <a name="l00097"></a>00097 { |
|
115 <a name="l00098"></a>00098 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (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->ConsumerHeartbeatEntries[index]) & (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->ConsumerHeartBeatTimers[index]); |
|
121 <a name="l00104"></a>00104 d->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<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->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->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->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->nodeState); |
|
147 <a name="l00130"></a>00130 canSend(d->canHandle,&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->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->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, &<a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>); |
|
169 <a name="l00152"></a>00152 |
|
170 <a name="l00153"></a>00153 d->toggle = 0; |
|
171 <a name="l00154"></a>00154 |
|
172 <a name="l00155"></a>00155 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
|
173 <a name="l00156"></a>00156 { |
|
174 <a name="l00157"></a>00157 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (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->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<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->ProducerHeartBeatTime ) |
|
183 <a name="l00166"></a>00166 { |
|
184 <a name="l00167"></a>00167 TIMEVAL time = *d->ProducerHeartBeatTime; |
|
185 <a name="l00168"></a>00168 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, 0, &<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 < *d->ConsumerHeartbeatCount; index++ ) |
|
194 <a name="l00177"></a>00177 { |
|
195 <a name="l00178"></a>00178 d->ConsumerHeartBeatTimers[index + 1] = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ConsumerHeartBeatTimers[index + 1]);; |
|
196 <a name="l00179"></a>00179 } |
|
197 <a name="l00180"></a>00180 |
|
198 <a name="l00181"></a>00181 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->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 |
|
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> |
|
206 </html> |