--- a/src/lifegrd.c Tue May 29 12:02:18 2007 +0200
+++ b/src/lifegrd.c Mon Jun 04 17:59:50 2007 +0200
@@ -1,184 +1,271 @@
/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
-Copyright (C): Edouard TISSERANT and Francis DUPIN
-
-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 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
+ This file is part of CanFestival, a library implementing CanOpen
+ Stack.
+
+ Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+ 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 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
+*/
+
+/*!
+** @file filegrd.c
+** @author Edouard TISSERANT
+** @date Mon Jun 4 17:19:24 2007
+**
+** @brief
+**
+**
*/
#include <data.h>
#include "lifegrd.h"
#include "canfestival.h"
-/* Prototypes for internals functions */
+/*! Prototypes for internals functions
+**
+**
+** @param d
+** @param id
+**/
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
+
+/*!
+**
+**
+** @param d
+** @param id
+**/
void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
+
+/*!
+**
+**
+** @param d
+** @param unsused_indextable
+** @param unsused_bSubindex
+**
+** @return
+**/
UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+**/
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
{
- e_nodeState networkNodeState = d->NMTable[nodeId];
- return networkNodeState;
-}
-
-/*****************************************************************************/
-/* The Consumer Timer Callback */
+ e_nodeState networkNodeState = d->NMTable[nodeId];
+ return networkNodeState;
+}
+
+/*! The Consumer Timer Callback
+**
+**
+** @param d
+** @param id
+**/
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
{
- /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
-
- /* call heartbeat error with NodeId */
- (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
-}
-
-/*****************************************************************************/
+ /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
+
+ /*! call heartbeat error with NodeId */
+ (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
+}
+
+/*!
+**
+**
+** @param d
+** @param m
+**/
void proceedNODE_GUARD(CO_Data* d, Message* m )
{
UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
-
- if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
- { /* Receiving a NMT NodeGuarding (request of the state by the master) */
- /* only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */
- if (nodeId == *d->bDeviceNodeId )
+
+ if((m->rtr == 1) )
+ /*!
+ ** Notice that only the master can have sent this
+ ** node guarding request
+ */
+ {
+ /*!
+ ** Receiving a NMT NodeGuarding (request of the state by the
+ ** master)
+ ** Only answer to the NMT NodeGuarding request, the master is
+ ** not checked (not implemented)
+ */
+ if (nodeId == *d->bDeviceNodeId )
+ {
+ Message msg;
+ msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+ msg.len = (UNS8)0x01;
+ msg.rtr = 0;
+ msg.data[0] = d->nodeState;
+ if (d->toggle)
+ {
+ msg.data[0] |= 0x80 ;
+ d->toggle = 0 ;
+ }
+ else
+ d->toggle = 1 ;
+ /*! send the nodeguard response. */
+ MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
+ canSend(d->canHandle,&msg );
+ }
+
+ }else{ /*! Not a request CAN */
+
+ MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
+ /*! the slave's state receievd is stored in the NMTable */
+ /*! The state is stored on 7 bit */
+ d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
+
+ /*! Boot-Up frame reception */
+ if ( d->NMTable[nodeId] == Initialisation)
+ {
+ /*!
+ ** The device send the boot-up message (Initialisation)
+ ** to indicate the master that it is entered in
+ ** pre_operational mode
+ ** Because the device enter automaticaly in pre_operational
+ ** mode,
+ ** the pre_operational mode is stored
+ ** NMTable[bus_id][nodeId] = Pre_operational
+ */
+ MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
+ }
+
+ if( d->NMTable[nodeId] != Unknown_state ) {
+ UNS8 index, ConsummerHeartBeat_nodeId ;
+ for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+ {
+ ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
+ if ( nodeId == ConsummerHeartBeat_nodeId )
+ {
+ TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+ /* Renew alarm for next heartbeat. */
+ DelAlarm(d->ConsumerHeartBeatTimers[index]);
+ d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+ }
+ }
+ }
+ }
+}
+
+/*! The Consumer Timer Callback
+**
+**
+** @param d
+** @param id
+**/
+void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
+{
+ if(*d->ProducerHeartBeatTime)
{
Message msg;
+ /*! Time expired, the heartbeat must be sent immediately
+ ** generate the correct node-id: this is done by the offset 1792
+ ** (decimal) and additionaly
+ ** the node-id of this device.
+ */
+
msg.cob_id.w = *d->bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
- msg.data[0] = d->nodeState;
- if (d->toggle)
- {
- msg.data[0] |= 0x80 ;
- d->toggle = 0 ;
- }
- else
- d->toggle = 1 ;
- /* send the nodeguard response. */
- MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
+ msg.data[0] = d->nodeState; /*! No toggle for heartbeat !*/
+ /*! send the heartbeat */
+ MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
canSend(d->canHandle,&msg );
- }
-
- }else{ /* Not a request CAN */
-
- MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
- /* the slave's state receievd is stored in the NMTable */
- /* The state is stored on 7 bit */
- d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
-
- /* Boot-Up frame reception */
- if ( d->NMTable[nodeId] == Initialisation)
- {
- /* The device send the boot-up message (Initialisation) */
- /* to indicate the master that it is entered in pre_operational mode */
- /* Because the device enter automaticaly in pre_operational mode, */
- /* the pre_operational mode is stored */
-/* NMTable[bus_id][nodeId] = Pre_operational; */
- MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
- }
-
- if( d->NMTable[nodeId] != Unknown_state ) {
- UNS8 index, ConsummerHeartBeat_nodeId ;
- for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+
+ }else{
+ d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
+ }
+}
+
+/*! This is called when Index 0x1017 is updated.
+**
+**
+** @param d
+** @param unsused_indextable
+** @param unsused_bSubindex
+**
+** @return
+**/
+UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+{
+ heartbeatStop(d);
+ heartbeatInit(d);
+ return 0;
+}
+
+/*!
+**
+**
+** @param d
+**/
+void heartbeatInit(CO_Data* d)
+{
+
+ UNS8 index; /*! Index to scan the table of heartbeat consumers */
+ RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
+
+ d->toggle = 0;
+
+ for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+ {
+ TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+ /*! MSG_WAR(0x3121, "should_time : ", should_time ) ; */
+ if ( time )
{
- ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
- if ( nodeId == ConsummerHeartBeat_nodeId )
- {
- TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
- /* Renew alarm for next heartbeat. */
- DelAlarm(d->ConsumerHeartBeatTimers[index]);
- d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
- }
+ d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
}
}
- }
-}
-
-/*****************************************************************************/
-/* The Consumer Timer Callback */
-void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
-{
- if(*d->ProducerHeartBeatTime)
- {
- Message msg;
- /* Time expired, the heartbeat must be sent immediately
- * generate the correct node-id: this is done by the offset 1792
- * (decimal) and additionaly
- * the node-id of this device.
- */
-
- msg.cob_id.w = *d->bDeviceNodeId + 0x700;
- msg.len = (UNS8)0x01;
- msg.rtr = 0;
- msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
- /* send the heartbeat */
- MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
- canSend(d->canHandle,&msg );
-
- }else{
- d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
- }
-}
-
-/*****************************************************************************/
-/* This is called when Index 0x1017 is updated.*/
-UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-{
- heartbeatStop(d);
- heartbeatInit(d);
- return 0;
-}
-/*****************************************************************************/
-
-void heartbeatInit(CO_Data* d)
-{
-
- UNS8 index; /* Index to scan the table of heartbeat consumers */
- RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
-
- d->toggle = 0;
-
- for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
- {
- TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
- /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
- if ( time )
- {
- d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
- }
- }
-
- if ( *d->ProducerHeartBeatTime )
- {
- TIMEVAL time = *d->ProducerHeartBeatTime;
- d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
- }
-}
-
-/*****************************************************************************/
+
+ if ( *d->ProducerHeartBeatTime )
+ {
+ TIMEVAL time = *d->ProducerHeartBeatTime;
+ d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+ }
+}
+
+/*!
+**
+**
+** @param d
+**/
void heartbeatStop(CO_Data* d)
{
- UNS8 index;
- for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
- {
- d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
- }
-
- d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
-}
-
+ UNS8 index;
+ for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+ {
+ d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
+ }
+
+ d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
+}
+
+/*!
+**
+**
+** @param heartbeatID
+**/
void _heartbeatError(UNS8 heartbeatID){}