/*
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 dcf.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Mon Jun 4 17:06:12 2007
**
** @brief EXEMPLE OF SOMMARY
**
**
*/
#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);
static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
/**
**
**
** @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);
}
closeSDOtransfer(d, nodeId, SDO_CLIENT);
send_consise_dcf_loop(d,nodeId);
}
/**
**
**
** @param d
** @param nodeId
**
** @return
*/
UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
{
/* Fetch DCF OD entry, if not already done */
if(!d->dcf_odentry)
{
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;
}
UNS8 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)
{
/* 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){
UNS32 nb_entries;
UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
UNS8* dcfend;
{
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;
/* 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;
_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_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)(nodeId);
}
}
/* Check the next element*/
//nodeId++;
nodeId=(nodeId+1) % d->dcf_odentry->bSubCount;
if(nodeId==d->dcf_odentry->bSubCount)nodeId=1;
d->dcf_cursor = NULL;
}
//DCF_finish:
/* Switch Master to preOperational state */
//(*d->preOperational)();
}