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doc/doxygen/html/states_8c-source.html
changeset 215 f49e5a6b7804
parent 210 6b5a4c21e061
child 240 34654679f262
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     3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/states.c Source File</title>
 
     3 <title>CanFestival: src/states.c Source File</title>
 
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    16     <li><a href="globals.html"><span>Globals</span></a></li>
 
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    18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/states.c</h1><a href="states_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>
 
    20 <div class="nav">
 
       
    21 <a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.html">src</a></div>
 
       
    22 <h1>states.c</h1><a href="states_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>
 
    23 <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>
 
    24 <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>
 
    25 <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>
 
    26 <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>
 
    27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
 
    34 <a name="l00017"></a>00017 <span class="comment"></span>
 
    38 <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>
 
    39 <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>
 
    40 <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>
 
    41 <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>
 
    42 <a name="l00021"></a>00021 <span class="comment">*/</span>
 
    39 <a name="l00032"></a>00032 <span class="preprocessor">#include "states.h"</span>
 
    43 <a name="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="states_8h.html">states.h</a>"</span>
 
    40 <a name="l00033"></a>00033 <span class="preprocessor">#include "def.h"</span>
 
    44 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="def_8h.html">def.h</a>"</span>
 
    41 <a name="l00034"></a>00034 <span class="preprocessor">#include "dcf.h"</span>
 
    45 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="dcf_8h.html">dcf.h</a>"</span>
 
    42 <a name="l00035"></a>00035 <span class="preprocessor">#include "nmtSlave.h"</span>
 
    46 <a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="nmtSlave_8h.html">nmtSlave.h</a>"</span>
 
    43 <a name="l00036"></a>00036 
    47 <a name="l00036"></a>00036 
    44 <a name="l00044"></a>00044 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(CO_Data* d, 
    48 <a name="l00044"></a>00044 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, 
    45 <a name="l00045"></a>00045         s_state_communication *newCommunicationState);
 
    49 <a name="l00045"></a>00045         <a class="code" href="structs__state__communication.html">s_state_communication</a> *newCommunicationState);
 
    46 <a name="l00046"></a>00046         
    50 <a name="l00046"></a>00046         
    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)
 
    51 <a name="l00054"></a><a class="code" href="states_8h.html#95d835785ba564bf6d92e3224c5e3848">00054</a> <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> <a class="code" href="states_8c.html#95d835785ba564bf6d92e3224c5e3848">getState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>)
 
    48 <a name="l00055"></a>00055 {
 
    52 <a name="l00055"></a>00055 {
 
    49 <a name="l00056"></a>00056   <span class="keywordflow">return</span> d-&gt;nodeState;
 
    53 <a name="l00056"></a>00056   <span class="keywordflow">return</span> <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a>;
 
    50 <a name="l00057"></a>00057 }
 
    54 <a name="l00057"></a>00057 }
 
    51 <a name="l00058"></a>00058 
    55 <a name="l00058"></a>00058 
    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)
 
    56 <a name="l00065"></a><a class="code" href="states_8h.html#3f8975650604cc23582f19a43fd4e518">00065</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
 
    53 <a name="l00066"></a>00066 {
 
    57 <a name="l00066"></a>00066 {
 
    54 <a name="l00067"></a>00067          <span class="keywordflow">switch</span>(m-&gt;cob_id.w &gt;&gt; 7)
 
    58 <a name="l00067"></a>00067          <span class="keywordflow">switch</span>(m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> &gt;&gt; 7)
 
    55 <a name="l00068"></a>00068         {
 
    59 <a name="l00068"></a>00068         {
 
    56 <a name="l00069"></a>00069                 <span class="keywordflow">case</span> SYNC:
 
    60 <a name="l00069"></a>00069                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9ac82e856c7683e23553431e5224d5f4">SYNC</a>:
 
    57 <a name="l00070"></a>00070                         <span class="keywordflow">if</span>(d-&gt;CurrentCommunicationState.csSYNC)
 
    61 <a name="l00070"></a>00070                         <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#9a4709f6f39e18b303c91edbfd1d6220">csSYNC</a>)
 
    58 <a name="l00071"></a>00071                                 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d,m);
 
    62 <a name="l00071"></a>00071                                 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,m);
 
    59 <a name="l00072"></a>00072                         <span class="keywordflow">break</span>;
 
    63 <a name="l00072"></a>00072                         <span class="keywordflow">break</span>;
 
    60 <a name="l00074"></a>00074                 <span class="keywordflow">case</span> PDO1tx:
 
    64 <a name="l00073"></a>00073                 <span class="comment">/* case TIME_STAMP: */</span>
 
    61 <a name="l00075"></a>00075                 <span class="keywordflow">case</span> PDO1rx:
 
    65 <a name="l00074"></a>00074                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#0a250614ba4dca3e87f768efcb58f238">PDO1tx</a>:
 
    62 <a name="l00076"></a>00076                 <span class="keywordflow">case</span> PDO2tx:
 
    66 <a name="l00075"></a>00075                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#17c7ee302d491b1ef74d2a4a795f82c6">PDO1rx</a>:
 
    63 <a name="l00077"></a>00077                 <span class="keywordflow">case</span> PDO2rx:
 
    67 <a name="l00076"></a>00076                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#67f4224b2c072a82b37a4835ca1c75e1">PDO2tx</a>:
 
    64 <a name="l00078"></a>00078                 <span class="keywordflow">case</span> PDO3tx:
 
    68 <a name="l00077"></a>00077                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b23848999420738438097816fee3f25d">PDO2rx</a>:
 
    65 <a name="l00079"></a>00079                 <span class="keywordflow">case</span> PDO3rx:
 
    69 <a name="l00078"></a>00078                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#00ef0f6ae698f9cb944b4302e66e6c83">PDO3tx</a>:
 
    66 <a name="l00080"></a>00080                 <span class="keywordflow">case</span> PDO4tx:
 
    70 <a name="l00079"></a>00079                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#239d135abea5ec798461cad43f9286b5">PDO3rx</a>:
 
    67 <a name="l00081"></a>00081                 <span class="keywordflow">case</span> PDO4rx:
 
    71 <a name="l00080"></a>00080                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#bda4cc9ec44d1fc524bfdcae030df4be">PDO4tx</a>:
 
    68 <a name="l00082"></a>00082                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csPDO)
 
    72 <a name="l00081"></a>00081                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#282f714f745dd28e9a017044020aa3dc">PDO4rx</a>:
 
    69 <a name="l00083"></a>00083                                 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(d,m);
 
    73 <a name="l00082"></a>00082                         <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#10a8f36d2c3f270feda5f07cf34155d2">csPDO</a>)
 
       
    74 <a name="l00083"></a>00083                                 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,m);
 
    70 <a name="l00084"></a>00084                         <span class="keywordflow">break</span>;
 
    75 <a name="l00084"></a>00084                         <span class="keywordflow">break</span>;
 
    71 <a name="l00085"></a>00085                 <span class="keywordflow">case</span> SDOtx:
 
    76 <a name="l00085"></a>00085                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#74331e9b1d102bd0a3d5d9c1fc4f8212">SDOtx</a>:
 
    72 <a name="l00086"></a>00086                 <span class="keywordflow">case</span> SDOrx:
 
    77 <a name="l00086"></a>00086                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#44318f0cf5176db0eedd1c8519bd8f35">SDOrx</a>:
 
    73 <a name="l00087"></a>00087                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csSDO)
 
    78 <a name="l00087"></a>00087                         <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#c6f5d674a8f305fc8eacdcd258c17ba8">csSDO</a>)
 
    74 <a name="l00088"></a>00088                                 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(d,m);
 
    79 <a name="l00088"></a>00088                                 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,m);
 
    75 <a name="l00089"></a>00089                         <span class="keywordflow">break</span>;
 
    80 <a name="l00089"></a>00089                         <span class="keywordflow">break</span>;
 
    76 <a name="l00090"></a>00090                 <span class="keywordflow">case</span> NODE_GUARD:
 
    81 <a name="l00090"></a>00090                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#78d5d3f71db9f360c9e3d3953707b0c1">NODE_GUARD</a>:
 
    77 <a name="l00091"></a>00091                         <span class="keywordflow">if</span> (d-&gt;CurrentCommunicationState.csHeartbeat)
 
    82 <a name="l00091"></a>00091                         <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#1d467631df619c6c321c3fc040a3eb22">csHeartbeat</a>)
 
    78 <a name="l00092"></a>00092                                 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(d,m);
 
    83 <a name="l00092"></a>00092                                 <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,m);
 
    79 <a name="l00093"></a>00093                         <span class="keywordflow">break</span>;
 
    84 <a name="l00093"></a>00093                         <span class="keywordflow">break</span>;
 
    80 <a name="l00094"></a>00094                 <span class="keywordflow">case</span> NMT:
 
    85 <a name="l00094"></a>00094                 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#adbe0bb038acafa1c8adb0f98c870233">NMT</a>:
 
    81 <a name="l00095"></a>00095                         <span class="keywordflow">if</span> (*(d-&gt;iam_a_slave))
 
    86 <a name="l00095"></a>00095                         <span class="keywordflow">if</span> (*(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">iam_a_slave</a>))
 
    82 <a name="l00096"></a>00096                         {
 
    87 <a name="l00096"></a>00096                         {
 
    83 <a name="l00097"></a>00097                                 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(d,m);
 
    88 <a name="l00097"></a>00097                                 <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,m);
 
    84 <a name="l00098"></a>00098                         }
 
    89 <a name="l00098"></a>00098                         }
 
    85 <a name="l00099"></a>00099         }
 
    90 <a name="l00099"></a>00099         }
 
    86 <a name="l00100"></a>00100 }
 
    91 <a name="l00100"></a>00100 }
 
    87 <a name="l00101"></a>00101 
    92 <a name="l00101"></a>00101 
    88 <a name="l00102"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00102</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>
 
    93 <a name="l00102"></a><a class="code" href="states_8c.html#3a7cf0c586b1e467e6215396e9a439ae">00102</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>
 
    95 <a name="l00109"></a>00109 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 0;\</span>
 
   100 <a name="l00109"></a>00109 <span class="preprocessor">                d-&gt;CurrentCommunicationState.CommType = 0;\</span>
 
    96 <a name="l00110"></a>00110 <span class="preprocessor">                FuncStop;\</span>
 
   101 <a name="l00110"></a>00110 <span class="preprocessor">                FuncStop;\</span>
 
    97 <a name="l00111"></a>00111 <span class="preprocessor">        }</span>
 
   102 <a name="l00111"></a>00111 <span class="preprocessor">        }</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>
 
   103 <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="l00113"></a>00113 <span class="preprocessor"></span>
 
   104 <a name="l00113"></a>00113 <span class="preprocessor"></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)
 
   105 <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>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structs__state__communication.html">s_state_communication</a> *newCommunicationState)
 
   101 <a name="l00121"></a>00121 {
 
   106 <a name="l00121"></a>00121 {
 
   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))
 
   107 <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>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>))
 
   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))
 
   108 <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>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>),           <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>))
 
   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))
 
   109 <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>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>),       <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>))
 
   105 <a name="l00125"></a>00125 <span class="comment">/*      StartOrStop(Emergency,,) */</span>
 
   110 <a name="l00125"></a>00125 <span class="comment">/*      StartOrStop(Emergency,,) */</span>
 
   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>)
 
   111 <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="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))
 
   112 <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>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>))
 
   108 <a name="l00128"></a>00128 }
 
   113 <a name="l00128"></a>00128 }
 
   109 <a name="l00129"></a>00129 
   114 <a name="l00129"></a>00129 
   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)
 
   115 <a name="l00138"></a><a class="code" href="states_8h.html#0a5004efd1dedbee82a4f21ec5c44fb5">00138</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> newState)
 
   111 <a name="l00139"></a>00139 {
 
   116 <a name="l00139"></a>00139 {
 
   112 <a name="l00140"></a>00140         UNS16 wIndex = 0x1F22;
 
   117 <a name="l00140"></a>00140         <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> wIndex = 0x1F22;
 
   113 <a name="l00141"></a>00141         <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
 
   118 <a name="l00141"></a>00141         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
 
   114 <a name="l00142"></a>00142         ODCallback_t *Callback;
 
   119 <a name="l00142"></a>00142         <a class="code" href="objdictdef_8h.html#91481b154cacc926ae5824fd121d6b43">ODCallback_t</a> *Callback;
 
   115 <a name="l00143"></a>00143         UNS32 errorCode;
 
   120 <a name="l00143"></a>00143         <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> errorCode;
 
   116 <a name="l00144"></a>00144         <span class="keywordflow">while</span>(newState != d-&gt;nodeState){
 
   121 <a name="l00144"></a>00144         <span class="keywordflow">while</span>(newState != <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a>){
 
   117 <a name="l00145"></a>00145                 <span class="keywordflow">switch</span>( newState ){
 
   122 <a name="l00145"></a>00145                 <span class="keywordflow">switch</span>( newState ){
 
   118 <a name="l00146"></a>00146                         <span class="keywordflow">case</span> Initialisation:
 
   123 <a name="l00146"></a>00146                         <span class="keywordflow">case</span> <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>:
 
   119 <a name="l00147"></a>00147                         {
 
   124 <a name="l00147"></a>00147                         {
 
   120 <a name="l00148"></a>00148                                 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
 
   125 <a name="l00148"></a>00148                                 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {1, 0, 0, 0, 0, 0};
 
   121 <a name="l00150"></a>00150                                 d-&gt;nodeState = Initialisation;
 
   126 <a name="l00149"></a>00149                                 <span class="comment">/* This will force a second loop for the state switch */</span>
 
   122 <a name="l00151"></a>00151                                 newState = Pre_operational;
 
   127 <a name="l00150"></a>00150                                 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>;
 
   123 <a name="l00152"></a>00152                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
 
   128 <a name="l00151"></a>00151                                 newState = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>;
 
   124 <a name="l00154"></a>00154                                 (*d-&gt;initialisation)();
 
   129 <a name="l00152"></a>00152                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, &amp;newCommunicationState);
 
       
   130 <a name="l00153"></a>00153                                 <span class="comment">/* call user app related state func. */</span>
 
       
   131 <a name="l00154"></a>00154                                 (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a>)();
 
   125 <a name="l00155"></a>00155                                 
   132 <a name="l00155"></a>00155                                 
   126 <a name="l00156"></a>00156                         }
 
   133 <a name="l00156"></a>00156                         }
 
   127 <a name="l00157"></a>00157                         <span class="keywordflow">break</span>;
 
   134 <a name="l00157"></a>00157                         <span class="keywordflow">break</span>;
 
   128 <a name="l00158"></a>00158                                                                 
   135 <a name="l00158"></a>00158                                                                 
   129 <a name="l00159"></a>00159                         <span class="keywordflow">case</span> Pre_operational:
 
   136 <a name="l00159"></a>00159                         <span class="keywordflow">case</span> <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>:
 
   130 <a name="l00160"></a>00160                         {
 
   137 <a name="l00160"></a>00160                         {
 
   131 <a name="l00161"></a>00161                                 
   138 <a name="l00161"></a>00161                                 
   132 <a name="l00162"></a>00162                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
 
   139 <a name="l00162"></a>00162                                 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 1, 1, 1, 1, 0};
 
   133 <a name="l00163"></a>00163                                 d-&gt;nodeState = Pre_operational;
 
   140 <a name="l00163"></a>00163                                 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>;
 
   134 <a name="l00164"></a>00164                                 newState = Pre_operational;
 
   141 <a name="l00164"></a>00164                                 newState = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>;
 
   135 <a name="l00165"></a>00165                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
 
   142 <a name="l00165"></a>00165                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, &amp;newCommunicationState);
 
   136 <a name="l00166"></a>00166                                 <span class="keywordflow">if</span> (!(*(d-&gt;iam_a_slave)))
 
   143 <a name="l00166"></a>00166                                 <span class="keywordflow">if</span> (!(*(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">iam_a_slave</a>)))
 
   137 <a name="l00167"></a>00167                                 {
 
   144 <a name="l00167"></a>00167                                 {
 
   138 <a name="l00168"></a>00168                                         ptrTable =(*d-&gt;scanIndexOD)(wIndex, &amp;errorCode, &amp;Callback);
 
   145 <a name="l00168"></a>00168                                         <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> =(*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#1863bd74fef91ec89b4c1ff0bee2dfbf">scanIndexOD</a>)(wIndex, &amp;errorCode, &amp;Callback);
 
   139 <a name="l00169"></a>00169                                         
   146 <a name="l00169"></a>00169                                         
   140 <a name="l00170"></a>00170                                         <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
 
   147 <a name="l00170"></a>00170                                         <span class="keywordflow">if</span> (errorCode != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>)
 
   141 <a name="l00171"></a>00171                                                 {
 
   148 <a name="l00171"></a>00171                                                 {
 
   142 <a name="l00172"></a>00172                                                         (*d-&gt;preOperational)();
 
   149 <a name="l00172"></a>00172                                                         (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a>)();
 
   143 <a name="l00173"></a>00173                                                 }
 
   150 <a name="l00173"></a>00173                                                 }
 
   144 <a name="l00174"></a>00174                                         <span class="keywordflow">else</span>
 
   151 <a name="l00174"></a>00174                                         <span class="keywordflow">else</span>
 
   145 <a name="l00175"></a>00175                                                 {
 
   152 <a name="l00175"></a>00175                                                 {
 
   146 <a name="l00176"></a>00176                                                         UNS32 res;
 
   153 <a name="l00176"></a>00176                                                         <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> res;
 
   147 <a name="l00177"></a>00177                                                         res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,0x01);
 
   154 <a name="l00177"></a>00177                                                         res = <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,0x01);
 
   148 <a name="l00178"></a>00178                                                 }                               
   155 <a name="l00178"></a>00178                                                 }                               
   149 <a name="l00179"></a>00179                                 }
 
   156 <a name="l00179"></a>00179                                 }
 
   150 <a name="l00180"></a>00180                                 <span class="keywordflow">else</span> 
   157 <a name="l00180"></a>00180                                 <span class="keywordflow">else</span> 
   151 <a name="l00181"></a>00181                                 {
 
   158 <a name="l00181"></a>00181                                 {
 
   152 <a name="l00182"></a>00182                                         (*d-&gt;preOperational)();
 
   159 <a name="l00182"></a>00182                                         (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a>)();
 
   153 <a name="l00183"></a>00183                                 }
 
   160 <a name="l00183"></a>00183                                 }
 
   154 <a name="l00184"></a>00184                         }
 
   161 <a name="l00184"></a>00184                         }
 
   155 <a name="l00185"></a>00185                         <span class="keywordflow">break</span>;
 
   162 <a name="l00185"></a>00185                         <span class="keywordflow">break</span>;
 
   156 <a name="l00186"></a>00186                                                                 
   163 <a name="l00186"></a>00186                                                                 
   157 <a name="l00187"></a>00187                         <span class="keywordflow">case</span> Operational:
 
   164 <a name="l00187"></a>00187                         <span class="keywordflow">case</span> <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>:
 
   158 <a name="l00188"></a>00188                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
 
   165 <a name="l00188"></a>00188                         <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>) <span class="keywordflow">return</span> 0xFF;
 
   159 <a name="l00189"></a>00189                         {
 
   166 <a name="l00189"></a>00189                         {
 
   160 <a name="l00190"></a>00190                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
 
   167 <a name="l00190"></a>00190                                 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 1, 1, 1, 1, 1};
 
   161 <a name="l00191"></a>00191                                 d-&gt;nodeState = Operational;
 
   168 <a name="l00191"></a>00191                                 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>;
 
   162 <a name="l00192"></a>00192                                 newState = Operational;
 
   169 <a name="l00192"></a>00192                                 newState = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>;
 
   163 <a name="l00193"></a>00193                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
 
   170 <a name="l00193"></a>00193                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, &amp;newCommunicationState);
 
   164 <a name="l00194"></a>00194                                 (*d-&gt;operational)();
 
   171 <a name="l00194"></a>00194                                 (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a>)();
 
   165 <a name="l00195"></a>00195                         }
 
   172 <a name="l00195"></a>00195                         }
 
   166 <a name="l00196"></a>00196                         <span class="keywordflow">break</span>;
 
   173 <a name="l00196"></a>00196                         <span class="keywordflow">break</span>;
 
   167 <a name="l00197"></a>00197                                                 
   174 <a name="l00197"></a>00197                                                 
   168 <a name="l00198"></a>00198                         <span class="keywordflow">case</span> Stopped:
 
   175 <a name="l00198"></a>00198                         <span class="keywordflow">case</span> <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>:
 
   169 <a name="l00199"></a>00199                         <span class="keywordflow">if</span>(d-&gt;nodeState == Initialisation) <span class="keywordflow">return</span> 0xFF;
 
   176 <a name="l00199"></a>00199                         <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>) <span class="keywordflow">return</span> 0xFF;
 
   170 <a name="l00200"></a>00200                         {
 
   177 <a name="l00200"></a>00200                         {
 
   171 <a name="l00201"></a>00201                                 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
 
   178 <a name="l00201"></a>00201                                 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 0, 0, 0, 1, 0};
 
   172 <a name="l00202"></a>00202                                 d-&gt;nodeState = Stopped;
 
   179 <a name="l00202"></a>00202                                 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>;
 
   173 <a name="l00203"></a>00203                                 newState = Stopped;
 
   180 <a name="l00203"></a>00203                                 newState = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>;
 
   174 <a name="l00204"></a>00204                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(d, &amp;newCommunicationState);
 
   181 <a name="l00204"></a>00204                                 <a class="code" href="states_8c.html#915991eebf7c2ac6c929c6c9cfbd7d03">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, &amp;newCommunicationState);
 
   175 <a name="l00205"></a>00205                                 (*d-&gt;stopped)();
 
   182 <a name="l00205"></a>00205                                 (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a>)();
 
   176 <a name="l00206"></a>00206                         }
 
   183 <a name="l00206"></a>00206                         }
 
   177 <a name="l00207"></a>00207                         <span class="keywordflow">break</span>;
 
   184 <a name="l00207"></a>00207                         <span class="keywordflow">break</span>;
 
   178 <a name="l00208"></a>00208                         
   185 <a name="l00208"></a>00208                         
   179 <a name="l00209"></a>00209                         <span class="keywordflow">default</span>:
 
   186 <a name="l00209"></a>00209                         <span class="keywordflow">default</span>:
 
   180 <a name="l00210"></a>00210                                 <span class="keywordflow">return</span> 0xFF;
 
   187 <a name="l00210"></a>00210                                 <span class="keywordflow">return</span> 0xFF;
 
   181 <a name="l00211"></a>00211                 }
 
   188 <a name="l00211"></a>00211                 }<span class="comment">/* end switch case */</span>
 
       
   189 <a name="l00212"></a>00212         
   182 <a name="l00213"></a>00213         }
 
   190 <a name="l00213"></a>00213         }
 
   183 <a name="l00214"></a>00214         <span class="keywordflow">return</span> 0;
 
   191 <a name="l00214"></a>00214         <span class="keywordflow">return</span> 0;
 
   184 <a name="l00215"></a>00215 }
 
   192 <a name="l00215"></a>00215 }
 
   185 <a name="l00216"></a>00216 
   193 <a name="l00216"></a>00216 
   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)
 
   194 <a name="l00224"></a><a class="code" href="states_8h.html#3020f2e5762f6e389a21382ec827b6a6">00224</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>)
 
   187 <a name="l00225"></a>00225 {
 
   195 <a name="l00225"></a>00225 {
 
   188 <a name="l00226"></a>00226   <span class="keywordflow">return</span> *d-&gt;bDeviceNodeId;
 
   196 <a name="l00226"></a>00226   <span class="keywordflow">return</span> *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a>;
 
   189 <a name="l00227"></a>00227 }
 
   197 <a name="l00227"></a>00227 }
 
   190 <a name="l00228"></a>00228 
   198 <a name="l00228"></a>00228 
   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)
 
   199 <a name="l00235"></a><a class="code" href="states_8h.html#d47a53979b9311a374d029f7923abbe1">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
 
   192 <a name="l00236"></a>00236 {
 
   200 <a name="l00236"></a>00236 {
 
   193 <a name="l00237"></a>00237   UNS16 offset = d-&gt;firstIndex-&gt;SDO_SVR;
 
   201 <a name="l00237"></a>00237   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#998dc7bd9cf744bf43510c1273a4a3c2">SDO_SVR</a>;
 
   194 <a name="l00238"></a>00238   <span class="keywordflow">if</span>(offset){
 
   202 <a name="l00238"></a>00238   <span class="keywordflow">if</span>(offset){
 
   195 <a name="l00240"></a>00240       *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
 
   203 <a name="l00239"></a>00239       <span class="comment">/* cob_id_client = 0x600 + nodeId; */</span>
 
   196 <a name="l00242"></a>00242       *(UNS32*)d-&gt;objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
 
   204 <a name="l00240"></a>00240       *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a> = 0x600 + nodeId;
 
       
   205 <a name="l00241"></a>00241       <span class="comment">/* cob_id_server = 0x580 + nodeId; */</span>
 
       
   206 <a name="l00242"></a>00242       *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a> = 0x580 + nodeId;
 
       
   207 <a name="l00243"></a>00243       <span class="comment">/* node Id client. As we do not know the value, we put the node Id Server */</span>
 
       
   208 <a name="l00244"></a>00244       <span class="comment">/* *(UNS8*)d-&gt;objdict[offset].pSubindex[3].pObject = nodeId; */</span>
 
   197 <a name="l00245"></a>00245   }
 
   209 <a name="l00245"></a>00245   }
 
   198 <a name="l00246"></a>00246 
   210 <a name="l00246"></a>00246 
       
   211 <a name="l00247"></a>00247   <span class="comment">/* </span>
 
       
   212 <a name="l00248"></a>00248 <span class="comment">        Initialize the server(s) SDO parameters</span>
 
       
   213 <a name="l00249"></a>00249 <span class="comment">        Remember that only one SDO server is allowed, defined at index 0x1200   </span>
 
       
   214 <a name="l00250"></a>00250 <span class="comment">                </span>
 
       
   215 <a name="l00251"></a>00251 <span class="comment">        Initialize the client(s) SDO parameters         </span>
 
       
   216 <a name="l00252"></a>00252 <span class="comment">        Nothing to initialize (no default values required by the DS 401)        </span>
 
       
   217 <a name="l00253"></a>00253 <span class="comment">        Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 </span>
 
       
   218 <a name="l00254"></a>00254 <span class="comment">  */</span>
 
   199 <a name="l00255"></a>00255   {
 
   219 <a name="l00255"></a>00255   {
 
   200 <a name="l00256"></a>00256     UNS8 i = 0;
 
   220 <a name="l00256"></a>00256     <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i = 0;
 
   201 <a name="l00257"></a>00257     UNS16 offset = d-&gt;firstIndex-&gt;PDO_RCV;
 
   221 <a name="l00257"></a>00257     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
 
   202 <a name="l00258"></a>00258     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;
 
   222 <a name="l00258"></a>00258     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
 
   203 <a name="l00259"></a>00259     UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
 
   223 <a name="l00259"></a>00259     <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobID[] = {0x200, 0x300, 0x400, 0x500};
 
   204 <a name="l00260"></a>00260     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
 
   224 <a name="l00260"></a>00260     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
 
   205 <a name="l00261"></a>00261       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
 
   225 <a name="l00261"></a>00261       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
 
   206 <a name="l00262"></a>00262               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
 
   226 <a name="l00262"></a>00262               *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a> = cobID[i] + nodeId;
 
   207 <a name="l00263"></a>00263       i ++;
 
   227 <a name="l00263"></a>00263       i ++;
 
   208 <a name="l00264"></a>00264       offset ++;
 
   228 <a name="l00264"></a>00264       offset ++;
 
   209 <a name="l00265"></a>00265     }
 
   229 <a name="l00265"></a>00265     }
 
   210 <a name="l00266"></a>00266   }
 
   230 <a name="l00266"></a>00266   }
 
   211 <a name="l00267"></a>00267   <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>
 
   231 <a name="l00267"></a>00267   <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>
 
   212 <a name="l00268"></a>00268   {
 
   232 <a name="l00268"></a>00268   {
 
   213 <a name="l00269"></a>00269     UNS8 i = 0;
 
   233 <a name="l00269"></a>00269     <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i = 0;
 
   214 <a name="l00270"></a>00270     UNS16 offset = d-&gt;firstIndex-&gt;PDO_TRS;
 
   234 <a name="l00270"></a>00270     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
 
   215 <a name="l00271"></a>00271     UNS16 lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;
 
   235 <a name="l00271"></a>00271     <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
 
   216 <a name="l00272"></a>00272     UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
 
   236 <a name="l00272"></a>00272     <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobID[] = {0x180, 0x280, 0x380, 0x480};
 
   217 <a name="l00273"></a>00273     i = 0;
 
   237 <a name="l00273"></a>00273     i = 0;
 
   218 <a name="l00274"></a>00274     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
 
   238 <a name="l00274"></a>00274     <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset &lt;= lastIndex) &amp;&amp; (i &lt; 4)) {
 
   219 <a name="l00275"></a>00275       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
 
   239 <a name="l00275"></a>00275       <span class="comment">//if(*(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject == cobID[i] + *d-&gt;bDeviceNodeId)</span>
 
   220 <a name="l00276"></a>00276               *(UNS32*)d-&gt;objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
 
   240 <a name="l00276"></a>00276               *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a> = cobID[i] + nodeId;
 
   221 <a name="l00277"></a>00277       i ++;
 
   241 <a name="l00277"></a>00277       i ++;
 
   222 <a name="l00278"></a>00278       offset ++;
 
   242 <a name="l00278"></a>00278       offset ++;
 
   223 <a name="l00279"></a>00279     }
 
   243 <a name="l00279"></a>00279     }
 
   224 <a name="l00280"></a>00280   }
 
   244 <a name="l00280"></a>00280   }
 
   225 <a name="l00282"></a>00282   *d-&gt;bDeviceNodeId = nodeId;
 
   245 <a name="l00281"></a>00281   <span class="comment">/* bDeviceNodeId is defined in the object dictionary. */</span>
 
       
   246 <a name="l00282"></a>00282   *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a> = nodeId;
 
   226 <a name="l00283"></a>00283 }
 
   247 <a name="l00283"></a>00283 }
 
   227 <a name="l00284"></a>00284 
   248 <a name="l00284"></a>00284 
   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>(){}
 
   249 <a name="l00285"></a><a class="code" href="states_8h.html#67ca1ac7ff49e88cf7847e408b258cae">00285</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#1ee4d5c3d5dc6f39607d414b7bf9bcc9">_initialisation</a>(){}
 
   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>(){}
 
   250 <a name="l00286"></a><a class="code" href="states_8h.html#f4e52eb187303eca1962bb6f74cb8169">00286</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#00113c22ed3366ee552f77862241d317">_preOperational</a>(){}
 
   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>(){}
 
   251 <a name="l00287"></a><a class="code" href="states_8h.html#b31a0526e24de79a09ccc512db420d91">00287</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#4c917142acca702f7e04e919a0b958b4">_operational</a>(){}
 
   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>(){}
 
   252 <a name="l00288"></a><a class="code" href="states_8h.html#9117ccff20aaed468dd715517e77dbc3">00288</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#244e9269c323e14509bea947c2729a13">_stopped</a>(){}
 
   232 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by&nbsp;
 
   253 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by&nbsp;
 
   233 <a href="http://www.doxygen.org/index.html">
 
   254 <a href="http://www.doxygen.org/index.html">
 
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