--- a/src/dcf.c Fri Jan 04 17:50:06 2008 +0100
+++ b/src/dcf.c Tue Jan 08 10:47:10 2008 +0100
@@ -43,6 +43,8 @@
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
+
/**
**
**
@@ -60,9 +62,10 @@
}
closeSDOtransfer(d, nodeId, SDO_CLIENT);
- send_consise_dcf(d,nodeId);
+ send_consise_dcf_loop(d,nodeId);
}
+
/**
**
**
@@ -71,7 +74,7 @@
**
** @return
*/
-void send_consise_dcf(CO_Data* d,UNS8 nodeId)
+UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
{
/* Fetch DCF OD entry, if not already done */
if(!d->dcf_odentry)
@@ -83,36 +86,56 @@
if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
}
- /* Loop on all DCF subindexes, corresponding to nodes ID */
- while (nodeId < d->dcf_odentry->bSubCount){
- UNS32 nb_entries;
+ UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
+ /* if the entry for the nodeId is not empty. */
+ if(szData!=0){
+ /* if the entry for the nodeId is already been processing, quit.*/
+ if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
+
+ d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
+ d->dcf_request++;
+ if(d->dcf_request==1)
+ send_consise_dcf_loop(d,nodeId);
+ return 1;
+ }
+
+ DCF_finish:
+ return 0;
+}
- UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
- UNS8* dcfend;
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
+{
+ /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
+ //while (nodeId < d->dcf_odentry->bSubCount){
+ while (d->dcf_request>0){
+ if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){
+ UNS32 nb_entries;
+ UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
+ UNS8* dcfend;
+
+ {
+ UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
+ dcfend = dcf + szData;
+ if (!d->dcf_cursor){
+ d->dcf_cursor = (UNS8*)dcf + 4;
+ d->dcf_entries_count = 0;
+ }
+ nb_entries = UNS32_LE(*((UNS32*)dcf));
+ }
- {
- UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
- dcfend = dcf + szData;
- if (!d->dcf_cursor){
- d->dcf_cursor = (UNS8*)dcf + 4;
- d->dcf_entries_count = 0;
- }
- nb_entries = UNS32_LE(*((UNS32*)dcf));
- }
+ /* condition on consise DCF string for NodeID, if big enough */
+ if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
+
+ UNS16 target_Index;
+ UNS8 target_Subindex;
+ UNS32 target_Size;
- /* condition on consise DCF string for NodeID, if big enough */
- if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries)
- {
- UNS16 target_Index;
- UNS8 target_Subindex;
- UNS32 target_Size;
-
- /* pointer to the DCF string for NodeID */
- target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
- target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
- target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
-
- _writeNetworkDict(d, /* CO_Data* d*/
+ /* pointer to the DCF string for NodeID */
+ target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
+ target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
+ target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
+
+ _writeNetworkDict(d, /* CO_Data* d*/
nodeId, /* UNS8 nodeId*/
target_Index, /* UNS16 index*/
target_Subindex, /* UNS8 subindex*/
@@ -122,18 +145,35 @@
CheckSDOAndContinue,/* SDOCallback_t
Callback*/
0); /* no endianize*/
- /* Push d->dcf_cursor to the end of data*/
+ /* Push d->dcf_cursor to the end of data*/
- d->dcf_cursor += target_Size;
- d->dcf_entries_count++;
+ d->dcf_cursor += target_Size;
+ d->dcf_entries_count++;
- /* send_consise_dcf will be called by CheckSDOAndContinue for next DCF entry*/
- return;
- }
- nodeId++;
- d->dcf_cursor = NULL;
+ /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
+ return;
+ }
+ else
+ {
+ /* We have finished with the dcf entry. Change the flag, decrement the request
+ * and execute the bootup callback. */
+ d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
+ d->dcf_request--;
+ (*d->post_SlaveBootup)(nodeId);
+ }
+ }
+ else
+ {
+ /* Check the next element*/
+ //nodeId++;
+ nodeId=(nodeId+1) % d->dcf_odentry->bSubCount;
+ if(nodeId==d->dcf_odentry->bSubCount)nodeId=1;
+ d->dcf_cursor = NULL;
+ }
}
- DCF_finish:
+
+ //DCF_finish:
/* Switch Master to preOperational state */
- (*d->preOperational)();
+
+ //(*d->preOperational)();
}