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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="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="preprocessor">#include "data.h"</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "sync.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="comment">/* Prototypes for internals functions */</span>
<a name="l00029"></a>00029 <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="l00030"></a>00030 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="l00031"></a>00031         UNS8 unsused_bSubindex);
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/*****************************************************************************/</span>
<a name="l00036"></a><a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">00036</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="l00037"></a>00037 {
<a name="l00038"></a>00038         <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(d, *d-&gt;COB_ID_Sync &amp; 0x1FFFFFFF) ;
<a name="l00039"></a>00039 }
<a name="l00040"></a>00040 
<a name="l00041"></a>00041 <span class="comment">/*****************************************************************************/</span>
<a name="l00042"></a>00042 <span class="comment">/* This is called when Index 0x1005 is updated.*/</span>
<a name="l00043"></a><a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">00043</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="l00044"></a>00044 {
<a name="l00045"></a>00045         <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(d);
<a name="l00046"></a>00046         <span class="keywordflow">return</span> 0;
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="comment">/*****************************************************************************/</span>
<a name="l00050"></a><a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">00050</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(CO_Data* d)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052         <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1005, 0, &amp;<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
<a name="l00053"></a>00053         <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(d, 0x1006, 0, &amp;<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
<a name="l00054"></a>00054 
<a name="l00055"></a>00055         <span class="keywordflow">if</span>(d-&gt;syncTimer != TIMER_NONE){
<a name="l00056"></a>00056                 <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(d);
<a name="l00057"></a>00057         }
<a name="l00058"></a>00058         
<a name="l00059"></a>00059         <span class="keywordflow">if</span>(*d-&gt;COB_ID_Sync &amp; 0x40000000 &amp;&amp; *d-&gt;Sync_Cycle_Period)
<a name="l00060"></a>00060         {
<a name="l00061"></a>00061                 d-&gt;syncTimer = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(
<a name="l00062"></a>00062                                 d,
<a name="l00063"></a>00063                                 0 <span class="comment">/*No id needed*/</span>,
<a name="l00064"></a>00064                                 &amp;<a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>,
<a name="l00065"></a>00065                                 US_TO_TIMEVAL(*d-&gt;Sync_Cycle_Period), 
<a name="l00066"></a>00066                                 US_TO_TIMEVAL(*d-&gt;Sync_Cycle_Period));
<a name="l00067"></a>00067         }
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="comment">/*****************************************************************************/</span>
<a name="l00071"></a><a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">00071</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(CO_Data* d)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073         d-&gt;syncTimer = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(d-&gt;syncTimer);
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 
<a name="l00076"></a>00076 <span class="comment">/*********************************************************************/</span>
<a name="l00077"></a><a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">00077</a> UNS8 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(CO_Data* d, UNS32 cob_id)
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079   Message m;
<a name="l00080"></a>00080   UNS8 resultat ;
<a name="l00081"></a>00081   
<a name="l00082"></a>00082   MSG_WAR(0x3001, <span class="stringliteral">"sendSYNC "</span>, 0);
<a name="l00083"></a>00083   
<a name="l00084"></a>00084   m.cob_id.w = cob_id ;
<a name="l00085"></a>00085   m.rtr = NOT_A_REQUEST;
<a name="l00086"></a>00086   m.len = 0;
<a name="l00087"></a>00087   resultat = canSend(d-&gt;canHandle,&amp;m) ;
<a name="l00088"></a>00088   <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(d, &amp;m) ; 
<a name="l00089"></a>00089   <span class="keywordflow">return</span> resultat ;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 
<a name="l00092"></a>00092 <span class="comment">/*****************************************************************************/</span>
<a name="l00093"></a><a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">00093</a> UNS8 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(CO_Data* d, Message *m)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 
<a name="l00096"></a>00096   UNS8  pdoNum,       <span class="comment">/* number of the actual processed pdo-nr. */</span>
<a name="l00097"></a>00097         prp_j;
<a name="l00098"></a>00098 
<a name="l00099"></a>00099   <span class="keyword">const</span> UNS8 *     pMappingCount = NULL;      <span class="comment">/* count of mapped objects...*/</span>
<a name="l00100"></a>00100   <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
<a name="l00101"></a>00101   <span class="comment">/* void *     pMappedAppObject = NULL; */</span>
<a name="l00102"></a>00102   <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span>
<a name="l00103"></a>00103   UNS32 *    pMappingParameter = NULL;  
<a name="l00104"></a>00104   <span class="comment">/* pointer to the transmissiontype...*/</span>
<a name="l00105"></a>00105   UNS8 *     pTransmissionType = NULL;  
<a name="l00106"></a>00106   UNS32 *    pwCobId = NULL;    
<a name="l00107"></a>00107 
<a name="l00108"></a>00108   UNS8 dataType;
<a name="l00109"></a>00109   UNS16 index;
<a name="l00110"></a>00110   UNS8 subIndex;
<a name="l00111"></a>00111   UNS8 offset;
<a name="l00112"></a>00112   UNS8 status;
<a name="l00113"></a>00113   UNS8 Size;
<a name="l00114"></a>00114   UNS32 objDict;        
<a name="l00115"></a>00115   UNS16 offsetObjdict;
<a name="l00116"></a>00116   UNS16 offsetObjdictMap;
<a name="l00117"></a>00117   UNS16 lastIndex;
<a name="l00118"></a>00118   
<a name="l00119"></a>00119   status = state3;
<a name="l00120"></a>00120   pdoNum = 0x00;
<a name="l00121"></a>00121   prp_j = 0x00;
<a name="l00122"></a>00122   offset = 0x00;
<a name="l00123"></a>00123   
<a name="l00124"></a>00124   MSG_WAR(0x3002, <span class="stringliteral">"SYNC received. Proceed. "</span>, 0);
<a name="l00125"></a>00125   
<a name="l00126"></a>00126   (*d-&gt;post_sync)();
<a name="l00127"></a>00127 
<a name="l00128"></a>00128   <span class="comment">/* only operational state allows PDO transmission */</span>
<a name="l00129"></a>00129   <span class="keywordflow">if</span>( d-&gt;nodeState != Operational ) 
<a name="l00130"></a>00130     <span class="keywordflow">return</span> 0;
<a name="l00131"></a>00131   
<a name="l00132"></a>00132   <span class="comment">/* So, the node is in operational state */</span>
<a name="l00133"></a>00133   <span class="comment">/* study all PDO stored in the objects dictionary */</span>  
<a name="l00134"></a>00134  
<a name="l00135"></a>00135   offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS;
<a name="l00136"></a>00136   lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;
<a name="l00137"></a>00137   offsetObjdictMap = d-&gt;firstIndex-&gt;PDO_TRS_MAP;
<a name="l00138"></a>00138   
<a name="l00139"></a>00139   <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {  
<a name="l00140"></a>00140     <span class="keywordflow">switch</span>( status ) {
<a name="l00141"></a>00141                     
<a name="l00142"></a>00142     <span class="keywordflow">case</span> state3:    <span class="comment">/* get the PDO transmission type */</span>
<a name="l00143"></a>00143       <span class="keywordflow">if</span> (d-&gt;objdict[offsetObjdict].bSubCount &lt;= 2) {
<a name="l00144"></a>00144           MSG_ERR(0x1004, <span class="stringliteral">"Subindex 2  not found at index "</span>, 0x1800 + pdoNum);
<a name="l00145"></a>00145           <span class="keywordflow">return</span> 0xFF;
<a name="l00146"></a>00146         }
<a name="l00147"></a>00147       pTransmissionType = d-&gt;objdict[offsetObjdict].pSubindex[2].pObject;    
<a name="l00148"></a>00148       MSG_WAR(0x3005, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
<a name="l00149"></a>00149       status = state4; 
<a name="l00150"></a>00150       <span class="keywordflow">break</span>;     
<a name="l00151"></a>00151     <span class="keywordflow">case</span> state4:        <span class="comment">/* check if transmission type is after (this) SYNC */</span>
<a name="l00152"></a>00152                         <span class="comment">/* The message may not be transmited every SYNC but every n SYNC */</span>      
<a name="l00153"></a>00153       <span class="keywordflow">if</span>( (*pTransmissionType &gt;= TRANS_SYNC_MIN) &amp;&amp; (*pTransmissionType &lt;= TRANS_SYNC_MAX) &amp;&amp;
<a name="l00154"></a>00154           (++d-&gt;count_sync[pdoNum] == *pTransmissionType) ) {   
<a name="l00155"></a>00155         d-&gt;count_sync[pdoNum] = 0;
<a name="l00156"></a>00156         MSG_WAR(0x3007, <span class="stringliteral">"  PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
<a name="l00157"></a>00157         status = state5;
<a name="l00158"></a>00158         <span class="keywordflow">break</span>;
<a name="l00159"></a>00159       }
<a name="l00160"></a>00160       <span class="keywordflow">else</span> {
<a name="l00161"></a>00161         MSG_WAR(0x3008, <span class="stringliteral">"  Not on synchro or not at this SYNC. Trans type : "</span>, 
<a name="l00162"></a>00162                 *pTransmissionType);
<a name="l00163"></a>00163         pdoNum++;
<a name="l00164"></a>00164         offsetObjdict++;
<a name="l00165"></a>00165         offsetObjdictMap++;
<a name="l00166"></a>00166         status = state11;
<a name="l00167"></a>00167         <span class="keywordflow">break</span>;
<a name="l00168"></a>00168       }      
<a name="l00169"></a>00169     <span class="keywordflow">case</span> state5:        <span class="comment">/* get PDO CobId */</span>
<a name="l00170"></a>00170         pwCobId = d-&gt;objdict[offsetObjdict].pSubindex[1].pObject;     
<a name="l00171"></a>00171         MSG_WAR(0x3009, <span class="stringliteral">"  PDO CobId is : "</span>, *pwCobId);
<a name="l00172"></a>00172         status = state7;
<a name="l00173"></a>00173         <span class="keywordflow">break</span>;     
<a name="l00174"></a>00174     <span class="keywordflow">case</span> state7:  <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
<a name="l00175"></a>00175       pMappingCount = d-&gt;objdict[offsetObjdictMap].pSubindex[0].pObject;
<a name="l00176"></a>00176         MSG_WAR(0x300D, <span class="stringliteral">"  Number of objects mapped : "</span>,*pMappingCount );
<a name="l00177"></a>00177         status = state8;
<a name="l00178"></a>00178     <span class="keywordflow">case</span> state8:        <span class="comment">/* get mapping parameters */</span>
<a name="l00179"></a>00179       pMappingParameter = d-&gt;objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
<a name="l00180"></a>00180         MSG_WAR(0x300F, <span class="stringliteral">"  got mapping parameter : "</span>, *pMappingParameter);
<a name="l00181"></a>00181         MSG_WAR(0x3050, <span class="stringliteral">"    at index : "</span>, 0x1A00 + pdoNum);
<a name="l00182"></a>00182         MSG_WAR(0x3051, <span class="stringliteral">"    sub-index : "</span>, prp_j + 1);
<a name="l00183"></a>00183         status = state9;
<a name="l00184"></a>00184     
<a name="l00185"></a>00185     <span class="keywordflow">case</span> state9:        <span class="comment">/* get data to transmit */</span> 
<a name="l00186"></a>00186         {
<a name="l00187"></a>00187           UNS8 ByteSize;
<a name="l00188"></a>00188           UNS8 tmp[]= {0,0,0,0,0,0,0,0};
<a name="l00189"></a>00189           index = (UNS16)((*pMappingParameter) &gt;&gt; 16);
<a name="l00190"></a>00190           subIndex = (UNS8)(( (*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; (UNS32)0x000000FF);
<a name="l00191"></a>00191           Size = (UNS8)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
<a name="l00192"></a>00192           ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt; 2, ... */</span>
<a name="l00193"></a>00193           objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, index, subIndex, tmp, &amp;ByteSize, &amp;dataType, 0 );
<a name="l00194"></a>00194           <span class="comment">/* copy bit per bit in little endian*/</span>
<a name="l00195"></a>00195           <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&amp;d-&gt;process_var.data[offset&gt;&gt;3], offset%8, 0);
<a name="l00196"></a>00196         }   
<a name="l00197"></a>00197         <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ){
<a name="l00198"></a>00198           MSG_ERR(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (UNS16)(*pMappingParameter));
<a name="l00199"></a>00199           <span class="keywordflow">return</span> 0xFF;
<a name="l00200"></a>00200         }
<a name="l00201"></a>00201         
<a name="l00202"></a>00202         offset += Size ;
<a name="l00203"></a>00203         d-&gt;process_var.count = 1 + ((offset - 1) &gt;&gt; 3);
<a name="l00204"></a>00204         prp_j++;
<a name="l00205"></a>00205         status = state10;        
<a name="l00206"></a>00206         <span class="keywordflow">break</span>;                                  
<a name="l00207"></a>00207       
<a name="l00208"></a>00208     <span class="keywordflow">case</span> state10:       <span class="comment">/* loop to get all the data to transmit */</span>
<a name="l00209"></a>00209       <span class="keywordflow">if</span>( prp_j &lt; *pMappingCount ){
<a name="l00210"></a>00210         MSG_WAR(0x3014, <span class="stringliteral">"  next variable mapped : "</span>, prp_j);
<a name="l00211"></a>00211         status = state8;
<a name="l00212"></a>00212         <span class="keywordflow">break</span>;
<a name="l00213"></a>00213       }
<a name="l00214"></a>00214       <span class="keywordflow">else</span> {
<a name="l00215"></a>00215         MSG_WAR(0x3015, <span class="stringliteral">"  End scan mapped variable"</span>, 0);
<a name="l00216"></a>00216         <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId );  
<a name="l00217"></a>00217         MSG_WAR(0x3016, <span class="stringliteral">"  End of this pdo. Should have been sent"</span>, 0);
<a name="l00218"></a>00218         pdoNum++;
<a name="l00219"></a>00219         offsetObjdict++;
<a name="l00220"></a>00220         offsetObjdictMap++;
<a name="l00221"></a>00221         offset = 0x00;
<a name="l00222"></a>00222         prp_j = 0x00;
<a name="l00223"></a>00223         status = state11;
<a name="l00224"></a>00224         <span class="keywordflow">break</span>;
<a name="l00225"></a>00225       }
<a name="l00226"></a>00226       
<a name="l00227"></a>00227     <span class="keywordflow">case</span> state11:     
<a name="l00228"></a>00228       MSG_WAR(0x3017, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
<a name="l00229"></a>00229       status = state3;
<a name="l00230"></a>00230       <span class="keywordflow">break</span>;
<a name="l00231"></a>00231       
<a name="l00232"></a>00232     <span class="keywordflow">default</span>:
<a name="l00233"></a>00233       MSG_ERR(0x1019,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
<a name="l00234"></a>00234       <span class="keywordflow">return</span> 0xFF;
<a name="l00235"></a>00235     }<span class="comment">/* end switch case */</span>
<a name="l00236"></a>00236     
<a name="l00237"></a>00237   }<span class="comment">/* end while( prp_i&lt;dict_cstes.max_count_of_PDO_transmit ) */</span>
<a name="l00238"></a>00238    
<a name="l00239"></a>00239   (*d-&gt;post_TPDO)();
<a name="l00240"></a>00240 
<a name="l00241"></a>00241   <span class="keywordflow">return</span> 0;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243 
<a name="l00244"></a>00244 
<a name="l00245"></a><a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">00245</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">_post_sync</a>(){}
<a name="l00246"></a><a class="code" href="sync_8c.html#c4082a05eed4b4c472f4ff2f7323dd28">00246</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 Mon Jun 4 17:09:27 2007 for CanFestival by&nbsp;
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