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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c</h1><a href="lifegrd_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</span>
<a name="l00003"></a>00003 <span class="comment"> Stack.</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00006"></a>00006 <span class="comment"></span>
<a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span>
<a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
<a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span>
<a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00013"></a>00013 <span class="comment"></span>
<a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span>
<a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span>
<a name="l00018"></a>00018 <span class="comment"></span>
<a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span>
<a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span>
<a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span>
<a name="l00022"></a>00022 <span class="comment"> USA</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00024"></a>00024
<a name="l00035"></a>00035 <span class="preprocessor">#include <data.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include "lifegrd.h"</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
<a name="l00041"></a>00041
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>);
<a name="l00044"></a>00044
<a name="l00045"></a>00045 UNS32 <a class="code" href="lifegrd_8c.html#ec7b3543d04cf7d7098b27fba2510696">OnHearbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex);
<a name="l00046"></a>00046
<a name="l00055"></a><a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">00055</a> e_nodeState <a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">getNodeState</a> (CO_Data* d, UNS8 nodeId)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 e_nodeState networkNodeState = d->NMTable[nodeId];
<a name="l00058"></a>00058 <span class="keywordflow">return</span> networkNodeState;
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00067"></a><a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">00067</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="comment">/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/</span>
<a name="l00070"></a>00070
<a name="l00072"></a>00072 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[<span class="keywordtype">id</span>]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00081"></a><a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">00081</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#b3248945e06e8b05518beddf665f174d">proceedNODE_GUARD</a>(CO_Data* d, Message* m )
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">if</span>((m->rtr == 1) )
<a name="l00090"></a>00090 {
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (nodeId == *d->bDeviceNodeId )
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 Message msg;
<a name="l00100"></a>00100 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
<a name="l00101"></a>00101 msg.len = (UNS8)0x01;
<a name="l00102"></a>00102 msg.rtr = 0;
<a name="l00103"></a>00103 msg.data[0] = d->nodeState;
<a name="l00104"></a>00104 <span class="keywordflow">if</span> (d->toggle)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 msg.data[0] |= 0x80 ;
<a name="l00107"></a>00107 d->toggle = 0 ;
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <span class="keywordflow">else</span>
<a name="l00110"></a>00110 d->toggle = 1 ;
<a name="l00112"></a>00112 MSG_WAR(0x3130, <span class="stringliteral">"Sending NMT Nodeguard to master, state: "</span>, d->nodeState);
<a name="l00113"></a>00113 canSend(d->canHandle,&msg );
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a>00116 }<span class="keywordflow">else</span>{
<a name="l00118"></a>00118 MSG_WAR(0x3110, <span class="stringliteral">"Received NMT nodeId : "</span>, nodeId);
<a name="l00121"></a>00121 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
<a name="l00122"></a>00122
<a name="l00124"></a>00124 <span class="keywordflow">if</span> ( d->NMTable[nodeId] == Initialisation)
<a name="l00125"></a>00125 {
<a name="l00135"></a>00135 MSG_WAR(0x3100, <span class="stringliteral">"The NMT is a bootup from node : "</span>, nodeId);
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="keywordflow">if</span>( d->NMTable[nodeId] != Unknown_state ) {
<a name="l00139"></a>00139 UNS8 index, ConsummerHeartBeat_nodeId ;
<a name="l00140"></a>00140 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
<a name="l00143"></a>00143 if ( nodeId == ConsummerHeartBeat_nodeId )
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
<a name="l00146"></a>00146 <span class="comment">/* Renew alarm for next heartbeat. */</span>
<a name="l00147"></a>00147 <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ConsumerHeartBeatTimers[index]);
<a name="l00148"></a>00148 d->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 }
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00161"></a><a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">00161</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 <span class="keywordflow">if</span>(*d->ProducerHeartBeatTime)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 Message msg;
<a name="l00172"></a>00172 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
<a name="l00173"></a>00173 msg.len = (UNS8)0x01;
<a name="l00174"></a>00174 msg.rtr = 0;
<a name="l00175"></a>00175 msg.data[0] = d->nodeState;
<a name="l00177"></a>00177 MSG_WAR(0x3130, <span class="stringliteral">"Producing heartbeat: "</span>, d->nodeState);
<a name="l00178"></a>00178 canSend(d->canHandle,&msg );
<a name="l00179"></a>00179
<a name="l00180"></a>00180 }<span class="keywordflow">else</span>{
<a name="l00181"></a>00181 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ProducerHeartBeatTimer);
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184
<a name="l00194"></a><a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">00194</a> UNS32 <a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>(CO_Data* d, <span class="keyword">const</span> indextable * unsused_indextable, UNS8 unsused_bSubindex)
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196 <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(d);
<a name="l00197"></a>00197 <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(d);
<a name="l00198"></a>00198 <span class="keywordflow">return</span> 0;
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200
<a name="l00206"></a><a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">00206</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#8896f6846e4d020390f6953f3d98aa21">heartbeatInit</a>(CO_Data* d)
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208
<a name="l00209"></a>00209 UNS8 index;
<a name="l00210"></a>00210 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1017, 0x00, &<a class="code" href="lifegrd_8c.html#098c81fb9326fb2c7b43e88a55ce1368">OnHeartbeatProducerUpdate</a>);
<a name="l00211"></a>00211
<a name="l00212"></a>00212 d->toggle = 0;
<a name="l00213"></a>00213
<a name="l00214"></a>00214 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
<a name="l00218"></a>00218 if ( time )
<a name="l00219"></a>00219 {
<a name="l00220"></a>00220 d->ConsumerHeartBeatTimers[index] = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, index, &<a class="code" href="lifegrd_8c.html#e3cd4656f5b2a37d4b8d364293538198">ConsumerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), 0);
<a name="l00221"></a>00221 }
<a name="l00222"></a>00222 }
<a name="l00223"></a>00223
<a name="l00224"></a>00224 <span class="keywordflow">if</span> ( *d->ProducerHeartBeatTime )
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 TIMEVAL time = *d->ProducerHeartBeatTime;
<a name="l00227"></a>00227 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(d, 0, &<a class="code" href="lifegrd_8c.html#626b7d9e527a898682d9122f91454de9">ProducerHearbeatAlarm</a>, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
<a name="l00228"></a>00228 }
<a name="l00229"></a>00229 }
<a name="l00230"></a>00230
<a name="l00236"></a><a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">00236</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#1b73047269c2a02065e12af18c6053c7">heartbeatStop</a>(CO_Data* d)
<a name="l00237"></a>00237 {
<a name="l00238"></a>00238 UNS8 index;
<a name="l00239"></a>00239 <span class="keywordflow">for</span>( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241 d->ConsumerHeartBeatTimers[index + 1] = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ConsumerHeartBeatTimers[index + 1]);;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243
<a name="l00244"></a>00244 d->ProducerHeartBeatTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d->ProducerHeartBeatTimer);;
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246
<a name="l00252"></a><a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">00252</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#5249eb891f5677b80ccf01e604748524">_heartbeatError</a>(UNS8 heartbeatID){}
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