--- a/src/dcf.c Mon Sep 12 10:52:02 2011 +0200
+++ b/src/dcf.c Thu Oct 13 17:51:27 2011 +0200
@@ -36,167 +36,233 @@
#include "data.h"
#include "sysdep.h"
-
-extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
-
-
-static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
-
-/* Seek to next NodeID's DCF */
-#define SEEK_NEXT_DCF() \
- nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \
- if(nodeId==0) nodeId=1; \
- d->dcf_cursor = NULL;
-
-/**
-**
+#include "dcf.h"
+
+typedef struct {
+ UNS16 Index;
+ UNS8 Subindex;
+ UNS32 Size;
+ UNS8 *Data;
+} dcf_entry_t;
+
+void SaveNode(CO_Data* d, UNS8 nodeId);
+static UNS8 read_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId);
+static UNS8 write_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId);
+UNS8 init_consise_dcf(CO_Data* d,UNS8 nodeId);
+
+/**
+** @brief Function to be called from post_SlaveBootup
**
** @param d
** @param nodeId
*/
-static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
-{
- UNS32 abortCode = 0;
-
- if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
- {
- MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
- MSG_WAR(0x2A02, "server node : ", nodeId);
- }
-
- closeSDOtransfer(d, nodeId, SDO_CLIENT);
- /* Timedout ? */
- if(abortCode == SDOABT_TIMED_OUT){
- /* Node may not be ready, try another one */
- /* Warning, this might leed to endless attempts */
- /* if node does never answer */
- SEEK_NEXT_DCF()
- }
- send_consise_dcf_loop(d,nodeId);
-}
-
+UNS8 check_and_start_node(CO_Data* d, UNS8 nodeId)
+{
+ if(d->dcf_status != DCF_STATUS_INIT)
+ return 0;
+ if((init_consise_dcf(d, nodeId) == 0) || (read_consise_dcf_next_entry(d, nodeId) == 0)){
+ /* Ask slave node to go in operational mode */
+ masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
+ d->NMTable[nodeId] = Operational;
+ return 1;
+ }
+ d->dcf_status = DCF_STATUS_READ_CHECK;
+ return 2;
+}
/**
**
**
** @param d
** @param nodeId
+*/
+static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+{
+ UNS32 abortCode = 0;
+ UNS8 buf[4], match = 0, node;
+ UNS32 size=4;
+ if(d->dcf_status == DCF_STATUS_READ_CHECK){
+ // printf("DCF_STATUS_READ_CHECK \n");
+ if(getReadResultNetworkDict (d, nodeId, buf, &size, &abortCode) != SDO_FINISHED)
+ goto dcferror;
+ /* Check if data received match the DCF */
+ if(size == d->dcf_size){
+ match = 1;
+ while(--size)
+ if(buf[size] != d->dcf_data[size])
+ match = 0;
+ }
+ if(match) {
+ if(read_consise_dcf_next_entry(d, nodeId) == 0){
+ masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
+ d->NMTable[nodeId] = Operational;
+ d->dcf_status = DCF_STATUS_INIT;
+ /* Look for other nodes waiting to be started */
+ for(node = 0 ; node<NMT_MAX_NODE_ID ; node++){
+ if(d->NMTable[node] != Initialisation)
+ continue;
+ if(check_and_start_node(d, node) == 2)
+ break;
+ }
+ }
+ }
+ else { /* Data received does not match : start rewriting all */
+ if((init_consise_dcf(d, nodeId) == 0) || (write_consise_dcf_next_entry(d, nodeId) == 0))
+ goto dcferror;
+ d->dcf_status = DCF_STATUS_WRITE;
+ }
+ }
+ else if(d->dcf_status == DCF_STATUS_WRITE){
+ // printf("DCF_STATUS_WRITE \n");
+ if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+ goto dcferror;
+ if(write_consise_dcf_next_entry(d, nodeId) == 0){
+ SaveNode(d, nodeId);
+ d->dcf_status = DCF_STATUS_SAVED;
+ }
+ }
+ else if(d->dcf_status == DCF_STATUS_SAVED){
+ // printf("DCF_STATUS_SAVED \n");
+ if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+ goto dcferror;
+ masterSendNMTstateChange (d, nodeId, NMT_Reset_Node);
+ d->dcf_status = DCF_STATUS_INIT;
+ d->NMTable[nodeId] = Unknown_state;
+ }
+ return;
+dcferror:
+ MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
+ MSG_WAR(0x2A02, "server node : ", nodeId);
+ d->NMTable[nodeId] = Unknown_state;
+}
+
+/**
+**
+**
+** @param d
+** @param nodeId
**
** @return
*/
-UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
-{
- UNS32 szData;
- /* Fetch DCF OD entry, if not already done */
- if(!d->dcf_odentry)
- {
+UNS8 init_consise_dcf(CO_Data* d,UNS8 nodeId)
+{
+ /* Fetch DCF OD entry */
UNS32 errorCode;
ODCallback_t *Callback;
d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
/* If DCF entry do not exist... Nothing to do.*/
if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
+ /* Fix DCF table overflow */
+ if(nodeId > d->dcf_odentry->bSubCount) goto DCF_finish;
+ /* If DCF empty... Nothing to do */
+ if(! d->dcf_odentry->pSubindex[nodeId].size) goto DCF_finish;
+ UNS8* dcf = (UNS8*)d->dcf_odentry->pSubindex[nodeId].pObject;
+ // printf("%.2x %.2x %.2x %.2x\n",dcf[0],dcf[1],dcf[2],dcf[3]);
+ d->dcf_cursor = dcf + 4;
+ d->dcf_entries_count = 0;
+ d->dcf_status = DCF_STATUS_INIT;
+ return 1;
+ DCF_finish:
+ return 0;
+}
+
+UNS8 get_next_DCF_data(CO_Data* d, dcf_entry_t *dcf_entry, UNS8 nodeId)
+{
+ UNS8* dcfend;
+ UNS32 nb_entries;
+ UNS32 szData;
+ if(!d->dcf_odentry)
+ return 0;
+ if(nodeId > d->dcf_odentry->bSubCount)
+ return 0;
+ szData = d->dcf_odentry->pSubindex[nodeId].size;
+ UNS8* dcf = (UNS8*)d->dcf_odentry->pSubindex[nodeId].pObject;
+ nb_entries = UNS32_LE(*((UNS32*)dcf));
+ dcfend = dcf + szData;
+ if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
+ /* DCF data may not be 32/16b aligned,
+ * we cannot directly dereference d->dcf_cursor
+ * as UNS16 or UNS32
+ * Do it byte per byte taking care on endianess*/
+#ifdef CANOPEN_BIG_ENDIAN
+ dcf_entry->Index = *(d->dcf_cursor++) << 8 |
+ *(d->dcf_cursor++);
+#else
+ memcpy(&dcf_entry->Index, d->dcf_cursor,2);
+ d->dcf_cursor+=2;
+#endif
+ dcf_entry->Subindex = *(d->dcf_cursor++);
+#ifdef CANOPEN_BIG_ENDIAN
+ dcf_entry->Size = *(d->dcf_cursor++) << 24 |
+ *(d->dcf_cursor++) << 16 |
+ *(d->dcf_cursor++) << 8 |
+ *(d->dcf_cursor++);
+#else
+ memcpy(&dcf_entry->Size, d->dcf_cursor,4);
+ d->dcf_cursor+=4;
+#endif
+ d->dcf_data = dcf_entry->Data = d->dcf_cursor;
+ d->dcf_size = dcf_entry->Size;
+ d->dcf_cursor += dcf_entry->Size;
+ d->dcf_entries_count++;
+ return 1;
}
- if(d->dcf_odentry->bSubCount<=nodeId) goto DCF_finish; /* Fix DCF table overflow */
- 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;
}
-static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
-{
- if(nodeId > d->dcf_odentry->bSubCount) return;
-/* 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){
- UNS8* dcfend;
- UNS32 nb_entries;
- UNS32 szData = d->dcf_odentry->pSubindex[nodeId].size;
-
- {
- 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;
-
- /* DCF data may not be 32/16b aligned,
- * we cannot directly dereference d->dcf_cursor
- * as UNS16 or UNS32
- * Do it byte per byte taking care on endianess*/
-#ifdef CANOPEN_BIG_ENDIAN
- target_Index = *(d->dcf_cursor++) << 8 |
- *(d->dcf_cursor++);
-#else
- memcpy(&target_Index, d->dcf_cursor,2);
- d->dcf_cursor+=2;
-#endif
-
- target_Subindex = *(d->dcf_cursor++);
-
-#ifdef CANOPEN_BIG_ENDIAN
- target_Size = *(d->dcf_cursor++) << 24 |
- *(d->dcf_cursor++) << 16 |
- *(d->dcf_cursor++) << 8 |
- *(d->dcf_cursor++);
-#else
- memcpy(&target_Size, d->dcf_cursor,4);
- d->dcf_cursor+=4;
-#endif
-
- _writeNetworkDict(d, /* CO_Data* d*/
- nodeId, /* UNS8 nodeId*/
- target_Index, /* UNS16 index*/
- target_Subindex, /* UNS8 subindex*/
- (UNS8)target_Size, /* UNS8 count*/
- 0, /* UNS8 dataType*/
- d->dcf_cursor,/* void *data*/
- CheckSDOAndContinue,/* SDOCallback_t
- Callback*/
- 0); /* no endianize*/
- /* Push d->dcf_cursor to the end of data*/
-
- d->dcf_cursor += target_Size;
- d->dcf_entries_count++;
-
- /* 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)(d, nodeId);
- }
- }
-
- SEEK_NEXT_DCF()
- }
-
-}
+static UNS8 write_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId)
+{
+ UNS8 Ret;
+ dcf_entry_t dcf_entry;
+ if(!get_next_DCF_data(d, &dcf_entry, nodeId))
+ return 0;
+ Ret = writeNetworkDictCallBackAI(d, /* CO_Data* d*/
+ nodeId, /* UNS8 nodeId*/
+ dcf_entry.Index, /* UNS16 index*/
+ dcf_entry.Subindex, /* UNS8 subindex*/
+ (UNS8)dcf_entry.Size, /* UNS8 count*/
+ 0, /* UNS8 dataType*/
+ dcf_entry.Data,/* void *data*/
+ CheckSDOAndContinue,/* Callback*/
+ 0, /* no endianize*/
+ 0); /* no block mode */
+ if(Ret)
+ MSG_ERR(0x1A02,"Erreur writeNetworkDictCallBackAI",Ret);
+ return 1;
+}
+
+static UNS8 read_consise_dcf_next_entry(CO_Data* d, UNS8 nodeId)
+{
+ UNS8 Ret;
+ dcf_entry_t dcf_entry;
+ if(!get_next_DCF_data(d, &dcf_entry, nodeId))
+ return 0;
+ Ret = readNetworkDictCallbackAI(d, /* CO_Data* d*/
+ nodeId, /* UNS8 nodeId*/
+ dcf_entry.Index, /* UNS16 index*/
+ dcf_entry.Subindex, /* UNS8 subindex*/
+ 0, /* UNS8 dataType*/
+ CheckSDOAndContinue,/* Callback*/
+ 0); /* no block mode */
+ if(Ret)
+ MSG_ERR(0x1A03,"Erreur readNetworkDictCallbackAI",Ret);
+ return 1;
+}
+
+void SaveNode(CO_Data* d, UNS8 nodeId)
+{
+ UNS8 Ret;
+ UNS32 data=0x65766173;
+ Ret = writeNetworkDictCallBackAI(d, /* CO_Data* d*/
+ nodeId, /* UNS8 nodeId*/
+ 0x1010, /* UNS16 index*/
+ 1, /* UNS8 subindex*/
+ 4, /* UNS8 count*/
+ 0, /* UNS8 dataType*/
+ (void *)&data,/* void *data*/
+ CheckSDOAndContinue,/* Callback*/
+ 0, /* no endianize*/
+ 0); /* no block mode */
+ if(Ret)
+ MSG_ERR(0x1A04,"Erreur writeNetworkDictCallBackAI",Ret);
+}