Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
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<h1>states.c</h1><a href="states_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="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="states_8h.html">states.h</a>"</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="def_8h.html">def.h</a>"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="dcf_8h.html">dcf.h</a>"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="nmtSlave_8h.html">nmtSlave.h</a>"</span>
<a name="l00036"></a>00036
<a name="l00044"></a>00044 <span class="keywordtype">void</span> <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,
<a name="l00045"></a>00045 <a class="code" href="structs__state__communication.html">s_state_communication</a> *newCommunicationState);
<a name="l00046"></a>00046
<a name="l00054"></a><a class="code" href="states_8h.html#9e583d34635164324fbd55e310d8e99b">00054</a> <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> <a class="code" href="states_8c.html#9e583d34635164324fbd55e310d8e99b">getState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keywordflow">return</span> <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>;
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00065"></a><a class="code" href="states_8h.html#5903338b79e219eeb27f61974419fc12">00065</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#5903338b79e219eeb27f61974419fc12">canDispatch</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordflow">switch</span>(m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> >> 7)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5121852019ece0964262f0cb39506843">SYNC</a>:
<a name="l00070"></a>00070 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#d935553977a2182812610adf6be081db">csSYNC</a>)
<a name="l00071"></a>00071 <a class="code" href="sync_8c.html#89ae8cfbfc53c26248d5d91f689c7197">proceedSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,m);
<a name="l00072"></a>00072 <span class="keywordflow">break</span>;
<a name="l00073"></a>00073 <span class="comment">/* case TIME_STAMP: */</span>
<a name="l00074"></a>00074 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#1893e40a0e6bbfe4b1770cb62046c042">PDO1tx</a>:
<a name="l00075"></a>00075 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#511f4300ca65ce23d8a1c4ec3b4e2076">PDO1rx</a>:
<a name="l00076"></a>00076 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#e9ee8504cd9f462f20ad5af48eeb22ac">PDO2tx</a>:
<a name="l00077"></a>00077 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#1cc8839690c21f2c76ea549ac8e5d05c">PDO2rx</a>:
<a name="l00078"></a>00078 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c063668bc1bd4b58d153b4819c4983a1">PDO3tx</a>:
<a name="l00079"></a>00079 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#56e948b5cab3f8b3ff5adca55f6a6c3d">PDO3rx</a>:
<a name="l00080"></a>00080 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#dfa635524047b4d8c6fce22469d7a2e8">PDO4tx</a>:
<a name="l00081"></a>00081 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#d3a50d56c7316cb4a669766d7d36f6fc">PDO4rx</a>:
<a name="l00082"></a>00082 <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#9e525c64ecaa9ffd9f2f9e6dea031fed">csPDO</a>)
<a name="l00083"></a>00083 <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">proceedPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,m);
<a name="l00084"></a>00084 <span class="keywordflow">break</span>;
<a name="l00085"></a>00085 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#ee708deff7d007a1fe37091c13e0e897">SDOtx</a>:
<a name="l00086"></a>00086 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5ff06ebb22799a706652d981570159d9">SDOrx</a>:
<a name="l00087"></a>00087 <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#0365a4727f31f78619a0ff2fe04587e9">csSDO</a>)
<a name="l00088"></a>00088 <a class="code" href="sdo_8c.html#c93bfdbec900f0b60386f0a2a5256826">proceedSDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,m);
<a name="l00089"></a>00089 <span class="keywordflow">break</span>;
<a name="l00090"></a>00090 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#e7e02f70bb48a2747c6496fdcf0f1b95">NODE_GUARD</a>:
<a name="l00091"></a>00091 <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#97fc63b0f645aef222ebb4c355e63c45">csHeartbeat</a>)
<a name="l00092"></a>00092 <a class="code" href="lifegrd_8c.html#5b34a311b7b97bb79db8e729c2dcbf36">proceedNODE_GUARD</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,m);
<a name="l00093"></a>00093 <span class="keywordflow">break</span>;
<a name="l00094"></a>00094 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#d21112faeaa2f64d69dd82ff3f80fa76">NMT</a>:
<a name="l00095"></a>00095 <span class="keywordflow">if</span> (*(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#eddc777e83810b94d0dd1e6538a19e1e">iam_a_slave</a>))
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 <a class="code" href="nmtSlave_8c.html#078a76722e34eb36a14a39ecf16f3a9d">proceedNMTstateChange</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,m);
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">00102</a> <span class="preprocessor">#define StartOrStop(CommType, FuncStart, FuncStop) \</span>
<a name="l00103"></a>00103 <span class="preprocessor"> if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\</span>
<a name="l00104"></a>00104 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStart, 9999);\</span>
<a name="l00105"></a>00105 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 1;\</span>
<a name="l00106"></a>00106 <span class="preprocessor"> FuncStart;\</span>
<a name="l00107"></a>00107 <span class="preprocessor"> }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\</span>
<a name="l00108"></a>00108 <span class="preprocessor"> MSG_WAR(0x9999,#FuncStop, 9999);\</span>
<a name="l00109"></a>00109 <span class="preprocessor"> d->CurrentCommunicationState.CommType = 0;\</span>
<a name="l00110"></a>00110 <span class="preprocessor"> FuncStop;\</span>
<a name="l00111"></a>00111 <span class="preprocessor"> }</span>
<a name="l00112"></a><a class="code" href="states_8c.html#2f62b2777f2f70d3b2a2779de08a871e">00112</a> <span class="preprocessor"></span><span class="preprocessor">#define None</span>
<a name="l00113"></a>00113 <span class="preprocessor"></span>
<a name="l00120"></a><a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">00120</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structs__state__communication.html">s_state_communication</a> *newCommunicationState)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 <a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">StartOrStop</a>(csSDO, <a class="code" href="states_8c.html#2f62b2777f2f70d3b2a2779de08a871e">None</a>, <a class="code" href="sdo_8c.html#48d2bfe1b7581346bb720ad2542bac89">resetSDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>))
<a name="l00123"></a>00123 <a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">StartOrStop</a>(csSYNC, <a class="code" href="sync_8c.html#4a5d93c6c2b82b6449519b1143437ee9">startSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>), <a class="code" href="sync_8c.html#3b95ed533faac10bd1f2eabc649e92f4">stopSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>))
<a name="l00124"></a>00124 <a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">StartOrStop</a>(csHeartbeat, <a class="code" href="lifegrd_8c.html#03fbd3b6910b8058535d3e94242cb80e">heartbeatInit</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>), <a class="code" href="lifegrd_8c.html#007b1f27fd9f0d6814498093f424f82e">heartbeatStop</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>))
<a name="l00125"></a>00125 <span class="comment">/* StartOrStop(Emergency,,) */</span>
<a name="l00126"></a>00126 <a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">StartOrStop</a>(csPDO, <a class="code" href="pdo_8c.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">PDOInit</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>), <a class="code" href="pdo_8c.html#e31b98506e436ee213de906c19cc59f1">PDOStop</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>))
<a name="l00127"></a>00127 <a class="code" href="states_8c.html#c91c879ec73f95abccc1eafed14370c3">StartOrStop</a>(csBoot_Up, <a class="code" href="states_8c.html#2f62b2777f2f70d3b2a2779de08a871e">None</a>, <a class="code" href="nmtSlave_8c.html#29f6eed8d34859710f7e603a1fc0d9d1">slaveSendBootUp</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>))
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00138"></a><a class="code" href="states_8h.html#cfb53d66c2360cd55b1d968f0e5c270f">00138</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> newState)
<a name="l00139"></a>00139 {
<a name="l00140"></a>00140 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex = 0x1F22;
<a name="l00141"></a>00141 <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> *<a class="code" href="dcf_8c.html#8278bb07e79b2d6c7d9c372b023fa7ae">ptrTable</a>;
<a name="l00142"></a>00142 <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> *Callback;
<a name="l00143"></a>00143 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> errorCode;
<a name="l00144"></a>00144 <span class="keywordflow">while</span>(newState != <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>){
<a name="l00145"></a>00145 <span class="keywordflow">switch</span>( newState ){
<a name="l00146"></a>00146 <span class="keywordflow">case</span> <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>:
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {1, 0, 0, 0, 0, 0};
<a name="l00149"></a>00149 <span class="comment">/* This will force a second loop for the state switch */</span>
<a name="l00150"></a>00150 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>;
<a name="l00151"></a>00151 newState = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>;
<a name="l00152"></a>00152 <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, &newCommunicationState);
<a name="l00153"></a>00153 <span class="comment">/* call user app related state func. */</span>
<a name="l00154"></a>00154 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">initialisation</a>)();
<a name="l00155"></a>00155
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="keywordflow">break</span>;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keywordflow">case</span> <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>:
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 1, 1, 1, 1, 0};
<a name="l00163"></a>00163 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>;
<a name="l00164"></a>00164 newState = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>;
<a name="l00165"></a>00165 <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, &newCommunicationState);
<a name="l00166"></a>00166 <span class="keywordflow">if</span> (!(*(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#eddc777e83810b94d0dd1e6538a19e1e">iam_a_slave</a>)))
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168 <a class="code" href="dcf_8c.html#8278bb07e79b2d6c7d9c372b023fa7ae">ptrTable</a> =(*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#dc25b41e66d58a87475fb1d9fa467ec2">scanIndexOD</a>)(wIndex, &errorCode, &Callback);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="keywordflow">if</span> (errorCode != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>)
<a name="l00171"></a>00171 {
<a name="l00172"></a>00172 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a>)();
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174 <span class="keywordflow">else</span>
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> res;
<a name="l00177"></a>00177 res = <a class="code" href="dcf_8c.html#acb81126cc677d663f367f560ae0face">decompo_dcf</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,0x01);
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180 <span class="keywordflow">else</span>
<a name="l00181"></a>00181 {
<a name="l00182"></a>00182 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a>)();
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185 <span class="keywordflow">break</span>;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="keywordflow">case</span> <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>:
<a name="l00188"></a>00188 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>) <span class="keywordflow">return</span> 0xFF;
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 1, 1, 1, 1, 1};
<a name="l00191"></a>00191 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>;
<a name="l00192"></a>00192 newState = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>;
<a name="l00193"></a>00193 <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, &newCommunicationState);
<a name="l00194"></a>00194 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78f4481967d34a40cf253a19170234b2">operational</a>)();
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196 <span class="keywordflow">break</span>;
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="keywordflow">case</span> <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>:
<a name="l00199"></a>00199 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>) <span class="keywordflow">return</span> 0xFF;
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201 <a class="code" href="structs__state__communication.html">s_state_communication</a> newCommunicationState = {0, 0, 0, 0, 1, 0};
<a name="l00202"></a>00202 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>;
<a name="l00203"></a>00203 newState = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>;
<a name="l00204"></a>00204 <a class="code" href="states_8c.html#553af6eeeba1591e3d26444d8a544856">switchCommunicationState</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, &newCommunicationState);
<a name="l00205"></a>00205 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">stopped</a>)();
<a name="l00206"></a>00206 }
<a name="l00207"></a>00207 <span class="keywordflow">break</span>;
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="keywordflow">default</span>:
<a name="l00210"></a>00210 <span class="keywordflow">return</span> 0xFF;
<a name="l00211"></a>00211 }<span class="comment">/* end switch case */</span>
<a name="l00212"></a>00212
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214 <span class="keywordflow">return</span> 0;
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216
<a name="l00224"></a><a class="code" href="states_8h.html#458a686646e4500b1f9e6cf67898250e">00224</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="states_8c.html#458a686646e4500b1f9e6cf67898250e">getNodeId</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 <span class="keywordflow">return</span> *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a>;
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228
<a name="l00235"></a><a class="code" href="states_8h.html#191c0cad67e093ea44285c9acd187513">00235</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#191c0cad67e093ea44285c9acd187513">setNodeId</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
<a name="l00236"></a>00236 {
<a name="l00237"></a>00237 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#a1b2b7ff7d8b24f7233041e468ba82a0">SDO_SVR</a>;
<a name="l00238"></a>00238 <span class="keywordflow">if</span>(offset){
<a name="l00239"></a>00239 <span class="comment">/* cob_id_client = 0x600 + nodeId; */</span>
<a name="l00240"></a>00240 *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> = 0x600 + nodeId;
<a name="l00241"></a>00241 <span class="comment">/* cob_id_server = 0x580 + nodeId; */</span>
<a name="l00242"></a>00242 *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> = 0x580 + nodeId;
<a name="l00243"></a>00243 <span class="comment">/* node Id client. As we do not know the value, we put the node Id Server */</span>
<a name="l00244"></a>00244 <span class="comment">/* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */</span>
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <span class="comment">/* </span>
<a name="l00248"></a>00248 <span class="comment"> Initialize the server(s) SDO parameters</span>
<a name="l00249"></a>00249 <span class="comment"> Remember that only one SDO server is allowed, defined at index 0x1200 </span>
<a name="l00250"></a>00250 <span class="comment"> </span>
<a name="l00251"></a>00251 <span class="comment"> Initialize the client(s) SDO parameters </span>
<a name="l00252"></a>00252 <span class="comment"> Nothing to initialize (no default values required by the DS 401) </span>
<a name="l00253"></a>00253 <span class="comment"> Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 </span>
<a name="l00254"></a>00254 <span class="comment"> */</span>
<a name="l00255"></a>00255 {
<a name="l00256"></a>00256 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i = 0;
<a name="l00257"></a>00257 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
<a name="l00258"></a>00258 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
<a name="l00259"></a>00259 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> cobID[] = {0x200, 0x300, 0x400, 0x500};
<a name="l00260"></a>00260 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span>( (offset <= lastIndex) && (i < 4)) {
<a name="l00261"></a>00261 <span class="keywordflow">if</span>(*(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> == cobID[i] + *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a>)
<a name="l00262"></a>00262 *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> = cobID[i] + nodeId;
<a name="l00263"></a>00263 i ++;
<a name="l00264"></a>00264 offset ++;
<a name="l00265"></a>00265 }
<a name="l00266"></a>00266 }
<a name="l00267"></a>00267 <span class="comment">/* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */</span>
<a name="l00268"></a>00268 {
<a name="l00269"></a>00269 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i = 0;
<a name="l00270"></a>00270 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
<a name="l00271"></a>00271 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
<a name="l00272"></a>00272 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> cobID[] = {0x180, 0x280, 0x380, 0x480};
<a name="l00273"></a>00273 i = 0;
<a name="l00274"></a>00274 <span class="keywordflow">if</span>( offset ) <span class="keywordflow">while</span> ((offset <= lastIndex) && (i < 4)) {
<a name="l00275"></a>00275 <span class="keywordflow">if</span>(*(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> == cobID[i] + *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a>)
<a name="l00276"></a>00276 *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> = cobID[i] + nodeId;
<a name="l00277"></a>00277 i ++;
<a name="l00278"></a>00278 offset ++;
<a name="l00279"></a>00279 }
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281 <span class="comment">/* bDeviceNodeId is defined in the object dictionary. */</span>
<a name="l00282"></a>00282 *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> = nodeId;
<a name="l00283"></a>00283 }
<a name="l00284"></a>00284
<a name="l00285"></a><a class="code" href="states_8h.html#cb50a6d641b4c0eca9a3c1ff10583a7f">00285</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#bbf7c4f549d7ffacaab5f35602e97bd6">_initialisation</a>(){}
<a name="l00286"></a><a class="code" href="states_8h.html#17dc1b4e63ec4a0497764a4dcdaac264">00286</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#2264bc985c7eacf7d48d16b2b9109e39">_preOperational</a>(){}
<a name="l00287"></a><a class="code" href="states_8h.html#b3215d6956af293972694f62e54c29ea">00287</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#6bc47cbd7a2bdf37d998a8e4743d4260">_operational</a>(){}
<a name="l00288"></a><a class="code" href="states_8h.html#5b92dee4b928b503ebbf4de2a778c98c">00288</a> <span class="keywordtype">void</span> <a class="code" href="states_8c.html#fe6f57bd1c97e8a3d23c288e5920c245">_stopped</a>(){}
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 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>
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