--- a/src/dcf.c Tue May 29 12:02:18 2007 +0200
+++ b/src/dcf.c Mon Jun 04 17:59:50 2007 +0200
@@ -1,111 +1,139 @@
/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
+ This file is part of CanFestival, a library implementing CanOpen
+ Stack.
-Copyright (C): Edouard TISSERANT and Francis DUPIN
+ Copyright (C): Edouard TISSERANT and Francis DUPIN
-See COPYING file for copyrights details.
+ See COPYING file for copyrights details.
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
+ USA
*/
+/*!
+** @file dcf.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date Mon Jun 4 17:06:12 2007
+**
+** @brief
+**
+**
+*/
#include "objacces.h"
#include "sdo.h"
#include "dcf.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);
+
+extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+ UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
const indextable *ptrTable;
+/*!
+**
+**
+** @param d
+** @param nodeId
+**/
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
{
- UNS32 abortCode;
-
- if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
- {
- MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
- MSG_WAR(0x2A02, "server node : ", nodeId);
- }
+ UNS32 abortCode;
- closeSDOtransfer(d, nodeId, SDO_CLIENT);
- decompo_dcf(d,nodeId);
+ 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);
+ decompo_dcf(d,nodeId);
}
+/*!
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+**/
UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
{
- UNS32 errorCode;
- UNS16 target_Index;
- UNS8 target_Subindex;
- UNS32 target_Size;
- UNS32 res;
- ODCallback_t *Callback;
+ UNS32 errorCode;
+ UNS16 target_Index;
+ UNS8 target_Subindex;
+ UNS32 target_Size;
+ UNS32 res;
+ ODCallback_t *Callback;
- ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
- if (errorCode != OD_SUCCESSFUL)
- {
- return errorCode;
- }
+ ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
+ if (errorCode != OD_SUCCESSFUL)
+ {
+ return errorCode;
+ }
- /*Loop on all Nodes supported in DCF subindexes*/
- while (nodeId < ptrTable->bSubCount){
- UNS32 nb_targets;
-
- UNS8 szData = ptrTable->pSubindex[nodeId].size;
- UNS8* dcfend;
-
- {
- UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
- dcfend = dcf + szData;
- if (!d->dcf_cursor) {
- d->dcf_cursor = (UNS8*)dcf + 4;
- d->dcf_count_targets = 0;
- }
- nb_targets = UNS32_LE(*((UNS32*)dcf));
- }
-
- // condition on consise DCF string for NodeID, if big enough
- if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
- {
- // 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;
-
- /*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/
- res = _writeNetworkDict(d, /*CO_Data* d*/
- nodeId, /*UNS8 nodeId*/
- target_Index, /*UNS16 index*/
- target_Subindex, /*UNS8 subindex*/
- 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_count_targets++;
-
- return ;
- }
- nodeId++;
- d->dcf_cursor = NULL;
- }
- /* Switch Master to preOperational state */
- (*d->preOperational)();
-
+ /*Loop on all Nodes supported in DCF subindexes*/
+ while (nodeId < ptrTable->bSubCount){
+ UNS32 nb_targets;
+
+ UNS8 szData = ptrTable->pSubindex[nodeId].size;
+ UNS8* dcfend;
+
+ {
+ UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
+ dcfend = dcf + szData;
+ if (!d->dcf_cursor){
+ d->dcf_cursor = (UNS8*)dcf + 4;
+ d->dcf_count_targets = 0;
+ }
+ nb_targets = UNS32_LE(*((UNS32*)dcf));
+ }
+
+ // condition on consise DCF string for NodeID, if big enough
+ if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
+ {
+ // 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;
+
+ /*printf("Master : ConfigureSlaveNode %2.2x (Concise
+ DCF)\n",nodeId);*/
+ res = _writeNetworkDict(d, /*CO_Data* d*/
+ nodeId, /*UNS8 nodeId*/
+ target_Index, /*UNS16 index*/
+ target_Subindex, /*UNS8 subindex*/
+ 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_count_targets++;
+
+ return ;
+ }
+ nodeId++;
+ d->dcf_cursor = NULL;
+ }
+ /* Switch Master to preOperational state */
+ (*d->preOperational)();
+
}