1 /* |
1 /* |
2 This file is part of CanFestival, a library implementing CanOpen Stack. |
2 This file is part of CanFestival, a library implementing CanOpen |
3 |
3 Stack. |
4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
4 |
5 |
5 Copyright (C): Edouard TISSERANT and Francis DUPIN |
6 See COPYING file for copyrights details. |
6 |
7 |
7 See COPYING file for copyrights details. |
8 This library is free software; you can redistribute it and/or |
8 |
9 modify it under the terms of the GNU Lesser General Public |
9 This library is free software; you can redistribute it and/or |
10 License as published by the Free Software Foundation; either |
10 modify it under the terms of the GNU Lesser General Public |
11 version 2.1 of the License, or (at your option) any later version. |
11 License as published by the Free Software Foundation; either |
12 |
12 version 2.1 of the License, or (at your option) any later version. |
13 This library is distributed in the hope that it will be useful, |
13 |
14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
14 This library is distributed in the hope that it will be useful, |
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
15 but WITHOUT ANY WARRANTY; without even the implied warranty of |
16 Lesser General Public License for more details. |
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
17 |
17 Lesser General Public License for more details. |
18 You should have received a copy of the GNU Lesser General Public |
18 |
19 License along with this library; if not, write to the Free Software |
19 You should have received a copy of the GNU Lesser General Public |
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
20 License along with this library; if not, write to the Free Software |
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21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 |
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22 USA |
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23 */ |
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24 |
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25 /*! |
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26 ** @file filegrd.c |
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27 ** @author Edouard TISSERANT |
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28 ** @date Mon Jun 4 17:19:24 2007 |
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29 ** |
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30 ** @brief |
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31 ** |
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32 ** |
21 */ |
33 */ |
22 |
34 |
23 #include <data.h> |
35 #include <data.h> |
24 #include "lifegrd.h" |
36 #include "lifegrd.h" |
25 #include "canfestival.h" |
37 #include "canfestival.h" |
26 |
38 |
27 /* Prototypes for internals functions */ |
39 /*! Prototypes for internals functions |
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40 ** |
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41 ** |
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42 ** @param d |
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43 ** @param id |
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44 **/ |
28 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id); |
45 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id); |
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46 |
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47 /*! |
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48 ** |
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49 ** |
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50 ** @param d |
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51 ** @param id |
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52 **/ |
29 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id); |
53 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id); |
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54 |
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55 /*! |
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56 ** |
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57 ** |
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58 ** @param d |
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59 ** @param unsused_indextable |
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60 ** @param unsused_bSubindex |
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61 ** |
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62 ** @return |
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63 **/ |
30 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex); |
64 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex); |
31 |
65 |
32 /*****************************************************************************/ |
66 /*! |
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67 ** |
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68 ** |
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69 ** @param d |
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70 ** @param nodeId |
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71 ** |
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72 ** @return |
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73 **/ |
33 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId) |
74 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId) |
34 { |
75 { |
35 e_nodeState networkNodeState = d->NMTable[nodeId]; |
76 e_nodeState networkNodeState = d->NMTable[nodeId]; |
36 return networkNodeState; |
77 return networkNodeState; |
37 } |
78 } |
38 |
79 |
39 /*****************************************************************************/ |
80 /*! The Consumer Timer Callback |
40 /* The Consumer Timer Callback */ |
81 ** |
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82 ** |
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83 ** @param d |
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84 ** @param id |
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85 **/ |
41 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
86 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
42 { |
87 { |
43 /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/ |
88 /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/ |
44 |
89 |
45 /* call heartbeat error with NodeId */ |
90 /*! call heartbeat error with NodeId */ |
46 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 )); |
91 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 )); |
47 } |
92 } |
48 |
93 |
49 /*****************************************************************************/ |
94 /*! |
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95 ** |
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96 ** |
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97 ** @param d |
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98 ** @param m |
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99 **/ |
50 void proceedNODE_GUARD(CO_Data* d, Message* m ) |
100 void proceedNODE_GUARD(CO_Data* d, Message* m ) |
51 { |
101 { |
52 UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
102 UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
53 |
103 |
54 if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */ |
104 if((m->rtr == 1) ) |
55 { /* Receiving a NMT NodeGuarding (request of the state by the master) */ |
105 /*! |
56 /* only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */ |
106 ** Notice that only the master can have sent this |
57 if (nodeId == *d->bDeviceNodeId ) |
107 ** node guarding request |
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108 */ |
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109 { |
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110 /*! |
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111 ** Receiving a NMT NodeGuarding (request of the state by the |
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112 ** master) |
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113 ** Only answer to the NMT NodeGuarding request, the master is |
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114 ** not checked (not implemented) |
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115 */ |
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116 if (nodeId == *d->bDeviceNodeId ) |
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117 { |
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118 Message msg; |
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119 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
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120 msg.len = (UNS8)0x01; |
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121 msg.rtr = 0; |
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122 msg.data[0] = d->nodeState; |
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123 if (d->toggle) |
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124 { |
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125 msg.data[0] |= 0x80 ; |
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126 d->toggle = 0 ; |
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127 } |
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128 else |
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129 d->toggle = 1 ; |
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130 /*! send the nodeguard response. */ |
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131 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
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132 canSend(d->canHandle,&msg ); |
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133 } |
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134 |
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135 }else{ /*! Not a request CAN */ |
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136 |
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137 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
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138 /*! the slave's state receievd is stored in the NMTable */ |
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139 /*! The state is stored on 7 bit */ |
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140 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ; |
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141 |
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142 /*! Boot-Up frame reception */ |
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143 if ( d->NMTable[nodeId] == Initialisation) |
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144 { |
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145 /*! |
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146 ** The device send the boot-up message (Initialisation) |
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147 ** to indicate the master that it is entered in |
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148 ** pre_operational mode |
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149 ** Because the device enter automaticaly in pre_operational |
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150 ** mode, |
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151 ** the pre_operational mode is stored |
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152 ** NMTable[bus_id][nodeId] = Pre_operational |
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153 */ |
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154 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
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155 } |
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156 |
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157 if( d->NMTable[nodeId] != Unknown_state ) { |
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158 UNS8 index, ConsummerHeartBeat_nodeId ; |
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159 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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160 { |
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161 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
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162 if ( nodeId == ConsummerHeartBeat_nodeId ) |
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163 { |
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164 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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165 /* Renew alarm for next heartbeat. */ |
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166 DelAlarm(d->ConsumerHeartBeatTimers[index]); |
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167 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
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168 } |
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169 } |
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170 } |
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171 } |
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172 } |
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173 |
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174 /*! The Consumer Timer Callback |
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175 ** |
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176 ** |
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177 ** @param d |
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178 ** @param id |
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179 **/ |
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180 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
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181 { |
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182 if(*d->ProducerHeartBeatTime) |
58 { |
183 { |
59 Message msg; |
184 Message msg; |
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185 /*! Time expired, the heartbeat must be sent immediately |
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186 ** generate the correct node-id: this is done by the offset 1792 |
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187 ** (decimal) and additionaly |
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188 ** the node-id of this device. |
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189 */ |
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190 |
60 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
191 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
61 msg.len = (UNS8)0x01; |
192 msg.len = (UNS8)0x01; |
62 msg.rtr = 0; |
193 msg.rtr = 0; |
63 msg.data[0] = d->nodeState; |
194 msg.data[0] = d->nodeState; /*! No toggle for heartbeat !*/ |
64 if (d->toggle) |
195 /*! send the heartbeat */ |
65 { |
196 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
66 msg.data[0] |= 0x80 ; |
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67 d->toggle = 0 ; |
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68 } |
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69 else |
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70 d->toggle = 1 ; |
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71 /* send the nodeguard response. */ |
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72 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
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73 canSend(d->canHandle,&msg ); |
197 canSend(d->canHandle,&msg ); |
74 } |
198 |
75 |
199 }else{ |
76 }else{ /* Not a request CAN */ |
200 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
77 |
201 } |
78 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
202 } |
79 /* the slave's state receievd is stored in the NMTable */ |
203 |
80 /* The state is stored on 7 bit */ |
204 /*! This is called when Index 0x1017 is updated. |
81 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ; |
205 ** |
82 |
206 ** |
83 /* Boot-Up frame reception */ |
207 ** @param d |
84 if ( d->NMTable[nodeId] == Initialisation) |
208 ** @param unsused_indextable |
85 { |
209 ** @param unsused_bSubindex |
86 /* The device send the boot-up message (Initialisation) */ |
210 ** |
87 /* to indicate the master that it is entered in pre_operational mode */ |
211 ** @return |
88 /* Because the device enter automaticaly in pre_operational mode, */ |
212 **/ |
89 /* the pre_operational mode is stored */ |
213 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
90 /* NMTable[bus_id][nodeId] = Pre_operational; */ |
214 { |
91 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
215 heartbeatStop(d); |
92 } |
216 heartbeatInit(d); |
93 |
217 return 0; |
94 if( d->NMTable[nodeId] != Unknown_state ) { |
218 } |
95 UNS8 index, ConsummerHeartBeat_nodeId ; |
219 |
96 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
220 /*! |
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221 ** |
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222 ** |
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223 ** @param d |
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224 **/ |
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225 void heartbeatInit(CO_Data* d) |
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226 { |
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227 |
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228 UNS8 index; /*! Index to scan the table of heartbeat consumers */ |
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229 RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate); |
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230 |
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231 d->toggle = 0; |
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232 |
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233 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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234 { |
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235 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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236 /*! MSG_WAR(0x3121, "should_time : ", should_time ) ; */ |
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237 if ( time ) |
97 { |
238 { |
98 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
239 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
99 if ( nodeId == ConsummerHeartBeat_nodeId ) |
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100 { |
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101 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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102 /* Renew alarm for next heartbeat. */ |
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103 DelAlarm(d->ConsumerHeartBeatTimers[index]); |
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104 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
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105 } |
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106 } |
240 } |
107 } |
241 } |
108 } |
242 |
109 } |
243 if ( *d->ProducerHeartBeatTime ) |
110 |
244 { |
111 /*****************************************************************************/ |
245 TIMEVAL time = *d->ProducerHeartBeatTime; |
112 /* The Consumer Timer Callback */ |
246 d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time)); |
113 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
247 } |
114 { |
248 } |
115 if(*d->ProducerHeartBeatTime) |
249 |
116 { |
250 /*! |
117 Message msg; |
251 ** |
118 /* Time expired, the heartbeat must be sent immediately |
252 ** |
119 * generate the correct node-id: this is done by the offset 1792 |
253 ** @param d |
120 * (decimal) and additionaly |
254 **/ |
121 * the node-id of this device. |
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122 */ |
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123 |
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124 msg.cob_id.w = *d->bDeviceNodeId + 0x700; |
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125 msg.len = (UNS8)0x01; |
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126 msg.rtr = 0; |
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127 msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/ |
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128 /* send the heartbeat */ |
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129 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
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130 canSend(d->canHandle,&msg ); |
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131 |
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132 }else{ |
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133 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
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134 } |
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135 } |
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136 |
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137 /*****************************************************************************/ |
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138 /* This is called when Index 0x1017 is updated.*/ |
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139 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
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140 { |
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141 heartbeatStop(d); |
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142 heartbeatInit(d); |
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143 return 0; |
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144 } |
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145 /*****************************************************************************/ |
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146 |
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147 void heartbeatInit(CO_Data* d) |
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148 { |
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149 |
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150 UNS8 index; /* Index to scan the table of heartbeat consumers */ |
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151 RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate); |
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152 |
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153 d->toggle = 0; |
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154 |
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155 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
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156 { |
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157 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
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158 /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */ |
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159 if ( time ) |
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160 { |
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161 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
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162 } |
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163 } |
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164 |
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165 if ( *d->ProducerHeartBeatTime ) |
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166 { |
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167 TIMEVAL time = *d->ProducerHeartBeatTime; |
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168 d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time)); |
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169 } |
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170 } |
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171 |
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172 /*****************************************************************************/ |
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173 void heartbeatStop(CO_Data* d) |
255 void heartbeatStop(CO_Data* d) |
174 { |
256 { |
175 UNS8 index; |
257 UNS8 index; |
176 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
258 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
177 { |
259 { |
178 d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);; |
260 d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);; |
179 } |
261 } |
180 |
262 |
181 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);; |
263 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);; |
182 } |
264 } |
183 |
265 |
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266 /*! |
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267 ** |
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268 ** |
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269 ** @param heartbeatID |
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270 **/ |
184 void _heartbeatError(UNS8 heartbeatID){} |
271 void _heartbeatError(UNS8 heartbeatID){} |