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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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+<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/sync.c Source File</title>
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+<div class="tabs">
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+ <li><a href="globals.html"><span>Globals</span></a></li>
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+<h1>/home/epimerde/documents/tc11/CanFestival-3/src/sync.c</h1><a href="sync_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>
+<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
+<a name="l00003"></a>00003 <span class="comment"></span>
+<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
+<a name="l00005"></a>00005 <span class="comment"></span>
+<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
+<a name="l00007"></a>00007 <span class="comment"></span>
+<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
+<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
+<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
+<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
+<a name="l00012"></a>00012 <span class="comment"></span>
+<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
+<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
+<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
+<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
+<a name="l00017"></a>00017 <span class="comment"></span>
+<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
+<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
+<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
+<a name="l00021"></a>00021 <span class="comment">*/</span>
+<a name="l00022"></a>00022
+<a name="l00023"></a>00023
+<a name="l00024"></a>00024 <span class="preprocessor">#include "data.h"</span>
+<a name="l00025"></a>00025 <span class="preprocessor">#include "sync.h"</span>
+<a name="l00026"></a>00026 <span class="preprocessor">#include "canfestival.h"</span>
+<a name="l00027"></a>00027
+<a name="l00028"></a>00028 <span class="comment">/* Prototypes for internals functions */</span>
+<a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
+<a name="l00030"></a>00030 UNS32 <a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable,
+<a name="l00031"></a>00031 UNS8 unsused_bSubindex);
+<a name="l00032"></a>00032
+<a name="l00033"></a>00033
+<a name="l00034"></a>00034
+<a name="l00035"></a>00035 <span class="comment">/*****************************************************************************/</span>
+<a name="l00036"></a><a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">00036</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
+<a name="l00037"></a>00037 {
+<a name="l00038"></a>00038 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
+<a name="l00039"></a>00039 }
+<a name="l00040"></a>00040
+<a name="l00041"></a>00041 <span class="comment">/*****************************************************************************/</span>
+<a name="l00042"></a>00042 <span class="comment">/* This is called when Index 0x1005 is updated.*/</span>
+<a name="l00043"></a><a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">00043</a> UNS32 <a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex)
+<a name="l00044"></a>00044 {
+<a name="l00045"></a>00045 <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d);
+<a name="l00046"></a>00046 <span class="keywordflow">return</span> 0;
+<a name="l00047"></a>00047 }
+<a name="l00048"></a>00048
+<a name="l00049"></a>00049 <span class="comment">/*****************************************************************************/</span>
+<a name="l00050"></a><a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">00050</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(CO_Data* d)
+<a name="l00051"></a>00051 {
+<a name="l00052"></a>00052 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1005, 0, &<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
+<a name="l00053"></a>00053 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1006, 0, &<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
+<a name="l00054"></a>00054
+<a name="l00055"></a>00055 <span class="keywordflow">if</span>(d->syncTimer != TIMER_NONE){
+<a name="l00056"></a>00056 <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d);
+<a name="l00057"></a>00057 }
+<a name="l00058"></a>00058
+<a name="l00059"></a>00059 <span class="keywordflow">if</span>(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
+<a name="l00060"></a>00060 {
+<a name="l00061"></a>00061 d->syncTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(
+<a name="l00062"></a>00062 d,
+<a name="l00063"></a>00063 0 <span class="comment">/*No id needed*/</span>,
+<a name="l00064"></a>00064 &<a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>,
+<a name="l00065"></a>00065 US_TO_TIMEVAL(*d->Sync_Cycle_Period),
+<a name="l00066"></a>00066 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
+<a name="l00067"></a>00067 }
+<a name="l00068"></a>00068 }
+<a name="l00069"></a>00069
+<a name="l00070"></a>00070 <span class="comment">/*****************************************************************************/</span>
+<a name="l00071"></a><a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">00071</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(CO_Data* d)
+<a name="l00072"></a>00072 {
+<a name="l00073"></a>00073 d->syncTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->syncTimer);
+<a name="l00074"></a>00074 }
+<a name="l00075"></a>00075
+<a name="l00076"></a>00076 <span class="comment">/*********************************************************************/</span>
+<a name="l00077"></a><a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">00077</a> UNS8 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(CO_Data* d, UNS32 cob_id)
+<a name="l00078"></a>00078 {
+<a name="l00079"></a>00079 Message m;
+<a name="l00080"></a>00080 UNS8 resultat ;
+<a name="l00081"></a>00081
+<a name="l00082"></a>00082 MSG_WAR(0x3001, <span class="stringliteral">"sendSYNC "</span>, 0);
+<a name="l00083"></a>00083
+<a name="l00084"></a>00084 m.cob_id.w = cob_id ;
+<a name="l00085"></a>00085 m.rtr = NOT_A_REQUEST;
+<a name="l00086"></a>00086 m.len = 0;
+<a name="l00087"></a>00087 resultat = canSend(d->canHandle,&m) ;
+<a name="l00088"></a>00088 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d, &m) ;
+<a name="l00089"></a>00089 <span class="keywordflow">return</span> resultat ;
+<a name="l00090"></a>00090 }
+<a name="l00091"></a>00091
+<a name="l00092"></a>00092 <span class="comment">/*****************************************************************************/</span>
+<a name="l00093"></a><a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">00093</a> UNS8 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(CO_Data* d, Message *m)
+<a name="l00094"></a>00094 {
+<a name="l00095"></a>00095
+<a name="l00096"></a>00096 UNS8 pdoNum, <span class="comment">/* number of the actual processed pdo-nr. */</span>
+<a name="l00097"></a>00097 prp_j;
+<a name="l00098"></a>00098
+<a name="l00099"></a>00099 <span class="keyword">const</span> UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects...*/</span>
+<a name="l00100"></a>00100 <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
+<a name="l00101"></a>00101 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
+<a name="l00102"></a>00102 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
+<a name="l00103"></a>00103 UNS32 * pMappingParameter = NULL;
+<a name="l00104"></a>00104 <span class="comment">/* pointer to the transmissiontype...*/</span>
+<a name="l00105"></a>00105 UNS8 * pTransmissionType = NULL;
+<a name="l00106"></a>00106 UNS32 * pwCobId = NULL;
+<a name="l00107"></a>00107
+<a name="l00108"></a>00108 UNS8 dataType;
+<a name="l00109"></a>00109 UNS16 index;
+<a name="l00110"></a>00110 UNS8 subIndex;
+<a name="l00111"></a>00111 UNS8 offset;
+<a name="l00112"></a>00112 UNS8 status;
+<a name="l00113"></a>00113 UNS8 Size;
+<a name="l00114"></a>00114 UNS32 objDict;
+<a name="l00115"></a>00115 UNS16 offsetObjdict;
+<a name="l00116"></a>00116 UNS16 offsetObjdictMap;
+<a name="l00117"></a>00117 UNS16 lastIndex;
+<a name="l00118"></a>00118
+<a name="l00119"></a>00119 status = state3;
+<a name="l00120"></a>00120 pdoNum = 0x00;
+<a name="l00121"></a>00121 prp_j = 0x00;
+<a name="l00122"></a>00122 offset = 0x00;
+<a name="l00123"></a>00123
+<a name="l00124"></a>00124 MSG_WAR(0x3002, <span class="stringliteral">"SYNC received. Proceed. "</span>, 0);
+<a name="l00125"></a>00125
+<a name="l00126"></a>00126 (*d->post_sync)();
+<a name="l00127"></a>00127
+<a name="l00128"></a>00128 <span class="comment">/* only operational state allows PDO transmission */</span>
+<a name="l00129"></a>00129 <span class="keywordflow">if</span>( d->nodeState != Operational )
+<a name="l00130"></a>00130 <span class="keywordflow">return</span> 0;
+<a name="l00131"></a>00131
+<a name="l00132"></a>00132 <span class="comment">/* So, the node is in operational state */</span>
+<a name="l00133"></a>00133 <span class="comment">/* study all PDO stored in the objects dictionary */</span>
+<a name="l00134"></a>00134
+<a name="l00135"></a>00135 offsetObjdict = d->firstIndex->PDO_TRS;
+<a name="l00136"></a>00136 lastIndex = d->lastIndex->PDO_TRS;
+<a name="l00137"></a>00137 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
+<a name="l00138"></a>00138
+<a name="l00139"></a>00139 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) {
+<a name="l00140"></a>00140 <span class="keywordflow">switch</span>( status ) {
+<a name="l00141"></a>00141
+<a name="l00142"></a>00142 <span class="keywordflow">case</span> state3: <span class="comment">/* get the PDO transmission type */</span>
+<a name="l00143"></a>00143 <span class="keywordflow">if</span> (d->objdict[offsetObjdict].bSubCount <= 2) {
+<a name="l00144"></a>00144 MSG_ERR(0x1004, <span class="stringliteral">"Subindex 2 not found at index "</span>, 0x1800 + pdoNum);
+<a name="l00145"></a>00145 <span class="keywordflow">return</span> 0xFF;
+<a name="l00146"></a>00146 }
+<a name="l00147"></a>00147 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
+<a name="l00148"></a>00148 MSG_WAR(0x3005, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
+<a name="l00149"></a>00149 status = state4;
+<a name="l00150"></a>00150 <span class="keywordflow">break</span>;
+<a name="l00151"></a>00151 <span class="keywordflow">case</span> state4: <span class="comment">/* check if transmission type is after (this) SYNC */</span>
+<a name="l00152"></a>00152 <span class="comment">/* The message may not be transmited every SYNC but every n SYNC */</span>
+<a name="l00153"></a>00153 <span class="keywordflow">if</span>( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
+<a name="l00154"></a>00154 (++d->count_sync[pdoNum] == *pTransmissionType) ) {
+<a name="l00155"></a>00155 d->count_sync[pdoNum] = 0;
+<a name="l00156"></a>00156 MSG_WAR(0x3007, <span class="stringliteral">" PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
+<a name="l00157"></a>00157 status = state5;
+<a name="l00158"></a>00158 <span class="keywordflow">break</span>;
+<a name="l00159"></a>00159 }
+<a name="l00160"></a>00160 <span class="keywordflow">else</span> {
+<a name="l00161"></a>00161 MSG_WAR(0x3008, <span class="stringliteral">" Not on synchro or not at this SYNC. Trans type : "</span>,
+<a name="l00162"></a>00162 *pTransmissionType);
+<a name="l00163"></a>00163 pdoNum++;
+<a name="l00164"></a>00164 offsetObjdict++;
+<a name="l00165"></a>00165 offsetObjdictMap++;
+<a name="l00166"></a>00166 status = state11;
+<a name="l00167"></a>00167 <span class="keywordflow">break</span>;
+<a name="l00168"></a>00168 }
+<a name="l00169"></a>00169 <span class="keywordflow">case</span> state5: <span class="comment">/* get PDO CobId */</span>
+<a name="l00170"></a>00170 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+<a name="l00171"></a>00171 MSG_WAR(0x3009, <span class="stringliteral">" PDO CobId is : "</span>, *pwCobId);
+<a name="l00172"></a>00172 status = state7;
+<a name="l00173"></a>00173 <span class="keywordflow">break</span>;
+<a name="l00174"></a>00174 <span class="keywordflow">case</span> state7: <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
+<a name="l00175"></a>00175 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
+<a name="l00176"></a>00176 MSG_WAR(0x300D, <span class="stringliteral">" Number of objects mapped : "</span>,*pMappingCount );
+<a name="l00177"></a>00177 status = state8;
+<a name="l00178"></a>00178 <span class="keywordflow">case</span> state8: <span class="comment">/* get mapping parameters */</span>
+<a name="l00179"></a>00179 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
+<a name="l00180"></a>00180 MSG_WAR(0x300F, <span class="stringliteral">" got mapping parameter : "</span>, *pMappingParameter);
+<a name="l00181"></a>00181 MSG_WAR(0x3050, <span class="stringliteral">" at index : "</span>, 0x1A00 + pdoNum);
+<a name="l00182"></a>00182 MSG_WAR(0x3051, <span class="stringliteral">" sub-index : "</span>, prp_j + 1);
+<a name="l00183"></a>00183 status = state9;
+<a name="l00184"></a>00184
+<a name="l00185"></a>00185 <span class="keywordflow">case</span> state9: <span class="comment">/* get data to transmit */</span>
+<a name="l00186"></a>00186 {
+<a name="l00187"></a>00187 UNS8 ByteSize;
+<a name="l00188"></a>00188 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+<a name="l00189"></a>00189 index = (UNS16)((*pMappingParameter) >> 16);
+<a name="l00190"></a>00190 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
+<a name="l00191"></a>00191 Size = (UNS8)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
+<a name="l00192"></a>00192 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span>
+<a name="l00193"></a>00193 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
+<a name="l00194"></a>00194 <span class="comment">/* copy bit per bit in little endian*/</span>
+<a name="l00195"></a>00195 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
+<a name="l00196"></a>00196 }
+<a name="l00197"></a>00197 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ){
+<a name="l00198"></a>00198 MSG_ERR(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (UNS16)(*pMappingParameter));
+<a name="l00199"></a>00199 <span class="keywordflow">return</span> 0xFF;
+<a name="l00200"></a>00200 }
+<a name="l00201"></a>00201
+<a name="l00202"></a>00202 offset += Size ;
+<a name="l00203"></a>00203 d->process_var.count = 1 + ((offset - 1) >> 3);
+<a name="l00204"></a>00204 prp_j++;
+<a name="l00205"></a>00205 status = state10;
+<a name="l00206"></a>00206 <span class="keywordflow">break</span>;
+<a name="l00207"></a>00207
+<a name="l00208"></a>00208 <span class="keywordflow">case</span> state10: <span class="comment">/* loop to get all the data to transmit */</span>
+<a name="l00209"></a>00209 <span class="keywordflow">if</span>( prp_j < *pMappingCount ){
+<a name="l00210"></a>00210 MSG_WAR(0x3014, <span class="stringliteral">" next variable mapped : "</span>, prp_j);
+<a name="l00211"></a>00211 status = state8;
+<a name="l00212"></a>00212 <span class="keywordflow">break</span>;
+<a name="l00213"></a>00213 }
+<a name="l00214"></a>00214 <span class="keywordflow">else</span> {
+<a name="l00215"></a>00215 MSG_WAR(0x3015, <span class="stringliteral">" End scan mapped variable"</span>, 0);
+<a name="l00216"></a>00216 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId );
+<a name="l00217"></a>00217 MSG_WAR(0x3016, <span class="stringliteral">" End of this pdo. Should have been sent"</span>, 0);
+<a name="l00218"></a>00218 pdoNum++;
+<a name="l00219"></a>00219 offsetObjdict++;
+<a name="l00220"></a>00220 offsetObjdictMap++;
+<a name="l00221"></a>00221 offset = 0x00;
+<a name="l00222"></a>00222 prp_j = 0x00;
+<a name="l00223"></a>00223 status = state11;
+<a name="l00224"></a>00224 <span class="keywordflow">break</span>;
+<a name="l00225"></a>00225 }
+<a name="l00226"></a>00226
+<a name="l00227"></a>00227 <span class="keywordflow">case</span> state11:
+<a name="l00228"></a>00228 MSG_WAR(0x3017, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
+<a name="l00229"></a>00229 status = state3;
+<a name="l00230"></a>00230 <span class="keywordflow">break</span>;
+<a name="l00231"></a>00231
+<a name="l00232"></a>00232 <span class="keywordflow">default</span>:
+<a name="l00233"></a>00233 MSG_ERR(0x1019,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
+<a name="l00234"></a>00234 <span class="keywordflow">return</span> 0xFF;
+<a name="l00235"></a>00235 }<span class="comment">/* end switch case */</span>
+<a name="l00236"></a>00236
+<a name="l00237"></a>00237 }<span class="comment">/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */</span>
+<a name="l00238"></a>00238
+<a name="l00239"></a>00239 (*d->post_TPDO)();
+<a name="l00240"></a>00240
+<a name="l00241"></a>00241 <span class="keywordflow">return</span> 0;
+<a name="l00242"></a>00242 }
+<a name="l00243"></a>00243
+<a name="l00244"></a>00244
+<a name="l00245"></a><a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">00245</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">_post_sync</a>(){}
+<a name="l00246"></a><a class="code" href="sync_8c.html#c4082a05eed4b4c472f4ff2f7323dd28">00246</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#c4082a05eed4b4c472f4ff2f7323dd28">_post_TPDO</a>(){}
+</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:27 2007 for CanFestival by
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
+</body>
+</html>