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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="l00033"></a>00033 <span class="preprocessor">#include "data.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "sync.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment">/* Prototypes for internals functions */</span>
<a name="l00038"></a>00038
<a name="l00045"></a>00045 <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="l00046"></a>00046 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="l00047"></a>00047 UNS8 unsused_bSubindex);
<a name="l00048"></a>00048
<a name="l00055"></a><a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">00055</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="l00056"></a>00056 {
<a name="l00057"></a>00057 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00069"></a><a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">00069</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="l00070"></a>00070 {
<a name="l00071"></a>00071 <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d);
<a name="l00072"></a>00072 <span class="keywordflow">return</span> 0;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00080"></a><a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">00080</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(CO_Data* d)
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 <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="l00083"></a>00083 <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="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">if</span>(d->syncTimer != TIMER_NONE){
<a name="l00086"></a>00086 <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d);
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordflow">if</span>(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 d->syncTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(
<a name="l00092"></a>00092 d,
<a name="l00093"></a>00093 0 <span class="comment">/*No id needed*/</span>,
<a name="l00094"></a>00094 &<a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>,
<a name="l00095"></a>00095 US_TO_TIMEVAL(*d->Sync_Cycle_Period),
<a name="l00096"></a>00096 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00105"></a><a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">00105</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(CO_Data* d)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 d->syncTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->syncTimer);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109
<a name="l00118"></a><a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">00118</a> UNS8 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(CO_Data* d, UNS32 cob_id)
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120 Message m;
<a name="l00121"></a>00121 UNS8 resultat ;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 MSG_WAR(0x3001, <span class="stringliteral">"sendSYNC "</span>, 0);
<a name="l00124"></a>00124
<a name="l00125"></a>00125 m.cob_id.w = cob_id ;
<a name="l00126"></a>00126 m.rtr = NOT_A_REQUEST;
<a name="l00127"></a>00127 m.len = 0;
<a name="l00128"></a>00128 resultat = canSend(d->canHandle,&m) ;
<a name="l00129"></a>00129 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d, &m) ;
<a name="l00130"></a>00130 <span class="keywordflow">return</span> resultat ;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00141"></a><a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">00141</a> UNS8 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(CO_Data* d, Message *m)
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143
<a name="l00144"></a>00144 UNS8 pdoNum, <span class="comment">/* number of the actual processed pdo-nr. */</span>
<a name="l00145"></a>00145 prp_j;
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">const</span> UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects...*/</span>
<a name="l00149"></a>00149 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
<a name="l00151"></a>00151 UNS32 * pMappingParameter = NULL;
<a name="l00153"></a>00153 UNS8 * pTransmissionType = NULL;
<a name="l00154"></a>00154 UNS32 * pwCobId = NULL;
<a name="l00155"></a>00155
<a name="l00156"></a>00156 UNS8 dataType;
<a name="l00157"></a>00157 UNS16 index;
<a name="l00158"></a>00158 UNS8 subIndex;
<a name="l00159"></a>00159 UNS8 offset;
<a name="l00160"></a>00160 UNS8 status;
<a name="l00161"></a>00161 UNS8 Size;
<a name="l00162"></a>00162 UNS32 objDict;
<a name="l00163"></a>00163 UNS16 offsetObjdict;
<a name="l00164"></a>00164 UNS16 offsetObjdictMap;
<a name="l00165"></a>00165 UNS16 lastIndex;
<a name="l00166"></a>00166
<a name="l00167"></a>00167 status = state3;
<a name="l00168"></a>00168 pdoNum = 0x00;
<a name="l00169"></a>00169 prp_j = 0x00;
<a name="l00170"></a>00170 offset = 0x00;
<a name="l00171"></a>00171
<a name="l00172"></a>00172 MSG_WAR(0x3002, <span class="stringliteral">"SYNC received. Proceed. "</span>, 0);
<a name="l00173"></a>00173
<a name="l00174"></a>00174 (*d->post_sync)();
<a name="l00175"></a>00175
<a name="l00177"></a>00177 <span class="keywordflow">if</span>( d->nodeState != Operational )
<a name="l00178"></a>00178 <span class="keywordflow">return</span> 0;
<a name="l00179"></a>00179
<a name="l00183"></a>00183 offsetObjdict = d->firstIndex->PDO_TRS;
<a name="l00184"></a>00184 lastIndex = d->lastIndex->PDO_TRS;
<a name="l00185"></a>00185 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) {
<a name="l00188"></a>00188 <span class="keywordflow">switch</span>( status ) {
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keywordflow">case</span> state3:
<a name="l00191"></a>00191 <span class="keywordflow">if</span> (d->objdict[offsetObjdict].bSubCount <= 2) {
<a name="l00192"></a>00192 MSG_ERR(0x1004, <span class="stringliteral">"Subindex 2 not found at index "</span>, 0x1800 + pdoNum);
<a name="l00193"></a>00193 <span class="keywordflow">return</span> 0xFF;
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
<a name="l00196"></a>00196 MSG_WAR(0x3005, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
<a name="l00197"></a>00197 status = state4;
<a name="l00198"></a>00198 <span class="keywordflow">break</span>;
<a name="l00199"></a>00199 <span class="keywordflow">case</span> state4:
<a name="l00201"></a>00201 <span class="keywordflow">if</span>( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
<a name="l00202"></a>00202 (++d->count_sync[pdoNum] == *pTransmissionType) ) {
<a name="l00203"></a>00203 d->count_sync[pdoNum] = 0;
<a name="l00204"></a>00204 MSG_WAR(0x3007, <span class="stringliteral">" PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
<a name="l00205"></a>00205 status = state5;
<a name="l00206"></a>00206 <span class="keywordflow">break</span>;
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208 <span class="keywordflow">else</span> {
<a name="l00209"></a>00209 MSG_WAR(0x3008, <span class="stringliteral">" Not on synchro or not at this SYNC. Trans type : "</span>,
<a name="l00210"></a>00210 *pTransmissionType);
<a name="l00211"></a>00211 pdoNum++;
<a name="l00212"></a>00212 offsetObjdict++;
<a name="l00213"></a>00213 offsetObjdictMap++;
<a name="l00214"></a>00214 status = state11;
<a name="l00215"></a>00215 <span class="keywordflow">break</span>;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 <span class="keywordflow">case</span> state5:
<a name="l00218"></a>00218 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
<a name="l00219"></a>00219 MSG_WAR(0x3009, <span class="stringliteral">" PDO CobId is : "</span>, *pwCobId);
<a name="l00220"></a>00220 status = state7;
<a name="l00221"></a>00221 <span class="keywordflow">break</span>;
<a name="l00222"></a>00222 <span class="keywordflow">case</span> state7:
<a name="l00223"></a>00223 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
<a name="l00224"></a>00224 MSG_WAR(0x300D, <span class="stringliteral">" Number of objects mapped : "</span>,*pMappingCount );
<a name="l00225"></a>00225 status = state8;
<a name="l00226"></a>00226 <span class="keywordflow">case</span> state8:
<a name="l00227"></a>00227 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
<a name="l00228"></a>00228 MSG_WAR(0x300F, <span class="stringliteral">" got mapping parameter : "</span>, *pMappingParameter);
<a name="l00229"></a>00229 MSG_WAR(0x3050, <span class="stringliteral">" at index : "</span>, 0x1A00 + pdoNum);
<a name="l00230"></a>00230 MSG_WAR(0x3051, <span class="stringliteral">" sub-index : "</span>, prp_j + 1);
<a name="l00231"></a>00231 status = state9;
<a name="l00232"></a>00232
<a name="l00233"></a>00233 <span class="keywordflow">case</span> state9:
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235 UNS8 ByteSize;
<a name="l00236"></a>00236 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
<a name="l00237"></a>00237 index = (UNS16)((*pMappingParameter) >> 16);
<a name="l00238"></a>00238 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
<a name="l00239"></a>00239 Size = (UNS8)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
<a name="l00240"></a>00240 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span>
<a name="l00241"></a>00241 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
<a name="l00243"></a>00243 <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="l00244"></a>00244 }
<a name="l00245"></a>00245 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ){
<a name="l00246"></a>00246 MSG_ERR(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (UNS16)(*pMappingParameter));
<a name="l00247"></a>00247 <span class="keywordflow">return</span> 0xFF;
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249
<a name="l00250"></a>00250 offset += Size ;
<a name="l00251"></a>00251 d->process_var.count = 1 + ((offset - 1) >> 3);
<a name="l00252"></a>00252 prp_j++;
<a name="l00253"></a>00253 status = state10;
<a name="l00254"></a>00254 <span class="keywordflow">break</span>;
<a name="l00255"></a>00255
<a name="l00256"></a>00256 <span class="keywordflow">case</span> state10:
<a name="l00257"></a>00257 <span class="keywordflow">if</span>( prp_j < *pMappingCount ){
<a name="l00258"></a>00258 MSG_WAR(0x3014, <span class="stringliteral">" next variable mapped : "</span>, prp_j);
<a name="l00259"></a>00259 status = state8;
<a name="l00260"></a>00260 <span class="keywordflow">break</span>;
<a name="l00261"></a>00261 }
<a name="l00262"></a>00262 <span class="keywordflow">else</span> {
<a name="l00263"></a>00263 MSG_WAR(0x3015, <span class="stringliteral">" End scan mapped variable"</span>, 0);
<a name="l00264"></a>00264 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId );
<a name="l00265"></a>00265 MSG_WAR(0x3016, <span class="stringliteral">" End of this pdo. Should have been sent"</span>, 0);
<a name="l00266"></a>00266 pdoNum++;
<a name="l00267"></a>00267 offsetObjdict++;
<a name="l00268"></a>00268 offsetObjdictMap++;
<a name="l00269"></a>00269 offset = 0x00;
<a name="l00270"></a>00270 prp_j = 0x00;
<a name="l00271"></a>00271 status = state11;
<a name="l00272"></a>00272 <span class="keywordflow">break</span>;
<a name="l00273"></a>00273 }
<a name="l00274"></a>00274
<a name="l00275"></a>00275 <span class="keywordflow">case</span> state11:
<a name="l00276"></a>00276 MSG_WAR(0x3017, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
<a name="l00277"></a>00277 status = state3;
<a name="l00278"></a>00278 <span class="keywordflow">break</span>;
<a name="l00279"></a>00279
<a name="l00280"></a>00280 <span class="keywordflow">default</span>:
<a name="l00281"></a>00281 MSG_ERR(0x1019,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
<a name="l00282"></a>00282 <span class="keywordflow">return</span> 0xFF;
<a name="l00283"></a>00283 }<span class="comment">/* end switch case */</span>
<a name="l00284"></a>00284
<a name="l00285"></a>00285 }<span class="comment">/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */</span>
<a name="l00286"></a>00286
<a name="l00287"></a>00287 (*d->post_TPDO)();
<a name="l00288"></a>00288
<a name="l00289"></a>00289 <span class="keywordflow">return</span> 0;
<a name="l00290"></a>00290 }
<a name="l00291"></a>00291
<a name="l00292"></a>00292
<a name="l00293"></a><a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">00293</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">_post_sync</a>(){}
<a name="l00294"></a><a class="code" href="sync_8c.html#c4082a05eed4b4c472f4ff2f7323dd28">00294</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 Tue Jun 5 18:32:05 2007 for CanFestival by
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