Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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<h1>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 <<a class="code" href="data_8h.html">data.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="lifegrd_8h.html">lifegrd.h</a>"</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</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#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</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#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <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#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</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#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>);
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="lifegrd_8c.html#e80d1f6da5bdaca8aada0aa50812c18a">OnHearbeatProducerUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> unsused_bSubindex);
<a name="l00046"></a>00046
<a name="l00055"></a><a class="code" href="lifegrd_8h.html#efc37a2f9a8c56f18d7569bfb0f02554">00055</a> <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> <a class="code" href="lifegrd_8c.html#efc37a2f9a8c56f18d7569bfb0f02554">getNodeState</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="l00056"></a>00056 {
<a name="l00057"></a>00057 <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> networkNodeState = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[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#f01de9def215369ece4214cce5871508">00067</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</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#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <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 (*<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a>)((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)( ((<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[<span class="keywordtype">id</span>]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x00FF0000) >> (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)16 ));
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00081"></a><a class="code" href="lifegrd_8h.html#5b34a311b7b97bb79db8e729c2dcbf36">00081</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#5b34a311b7b97bb79db8e729c2dcbf36">proceedNODE_GUARD</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="l00082"></a>00082 {
<a name="l00083"></a>00083 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) <a class="code" href="objdictdef_8h.html#3e3c82e6e0cea9c7a22de58000db6c07">GET_NODE_ID</a>((*m));
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">if</span>((m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 1) )
<a name="l00090"></a>00090 {
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (nodeId == *<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="l00098"></a>00098 {
<a name="l00099"></a>00099 <a class="code" href="structMessage.html">Message</a> msg;
<a name="l00100"></a>00100 msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> + 0x700;
<a name="l00101"></a>00101 msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x01;
<a name="l00102"></a>00102 msg.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
<a name="l00103"></a>00103 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = <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="l00104"></a>00104 <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#6938b58479da6ae2ef2c22adb4d42125">toggle</a>)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] |= 0x80 ;
<a name="l00107"></a>00107 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 0 ;
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <span class="keywordflow">else</span>
<a name="l00110"></a>00110 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 1 ;
<a name="l00111"></a>00111 <span class="comment">/* send the nodeguard response. */</span>
<a name="l00112"></a>00112 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3130, <span class="stringliteral">"Sending NMT Nodeguard to master, state: "</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="l00113"></a>00113 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&msg );
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a>00116 }<span class="keywordflow">else</span>{ <span class="comment">/* Not a request CAN */</span>
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3110, <span class="stringliteral">"Received NMT nodeId : "</span>, nodeId);
<a name="l00119"></a>00119 <span class="comment">/* the slave's state receievd is stored in the NMTable */</span>
<a name="l00120"></a>00120 <span class="comment">/* The state is stored on 7 bit */</span>
<a name="l00121"></a>00121 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] = (<a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a>) ((*m).data[0] & 0x7F) ;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">/* Boot-Up frame reception */</span>
<a name="l00124"></a>00124 <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#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 <span class="comment">/*</span>
<a name="l00127"></a>00127 <span class="comment"> ** The device send the boot-up message (Initialisation)</span>
<a name="l00128"></a>00128 <span class="comment"> ** to indicate the master that it is entered in</span>
<a name="l00129"></a>00129 <span class="comment"> ** pre_operational mode</span>
<a name="l00130"></a>00130 <span class="comment"> ** Because the device enter automaticaly in pre_operational</span>
<a name="l00131"></a>00131 <span class="comment"> ** mode,</span>
<a name="l00132"></a>00132 <span class="comment"> ** the pre_operational mode is stored</span>
<a name="l00133"></a>00133 <span class="comment"> ** NMTable[bus_id][nodeId] = Pre_operational</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a>00135 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(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>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] != <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a> ) {
<a name="l00139"></a>00139 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index, ConsummerHeartBeat_nodeId ;
<a name="l00140"></a>00140 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 ConsummerHeartBeat_nodeId = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)( ((<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[index]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x00FF0000) >> (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)16 );
<a name="l00143"></a>00143 if ( nodeId == ConsummerHeartBeat_nodeId )
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = ( (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[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#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index]);
<a name="l00148"></a>00148 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index] = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, &<a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(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#a296a819d9aedc0d7781774390908000">00161</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</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#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>)
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 <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#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a>)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 <a class="code" href="structMessage.html">Message</a> msg;
<a name="l00166"></a>00166 <span class="comment">/* Time expired, the heartbeat must be sent immediately</span>
<a name="l00167"></a>00167 <span class="comment"> ** generate the correct node-id: this is done by the offset 1792</span>
<a name="l00168"></a>00168 <span class="comment"> ** (decimal) and additionaly</span>
<a name="l00169"></a>00169 <span class="comment"> ** the node-id of this device.</span>
<a name="l00170"></a>00170 <span class="comment"> */</span>
<a name="l00171"></a>00171
<a name="l00172"></a>00172 msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> + 0x700;
<a name="l00173"></a>00173 msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x01;
<a name="l00174"></a>00174 msg.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
<a name="l00175"></a>00175 msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>; <span class="comment">/* No toggle for heartbeat !*/</span>
<a name="l00176"></a>00176 <span class="comment">/* send the heartbeat */</span>
<a name="l00177"></a>00177 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3130, <span class="stringliteral">"Producing heartbeat: "</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="l00178"></a>00178 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&msg );
<a name="l00179"></a>00179
<a name="l00180"></a>00180 }<span class="keywordflow">else</span>{
<a name="l00181"></a>00181 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a>);
<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#9b31f862dd95cc430757f30a0306205b">00194</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="lifegrd_8c.html#9b31f862dd95cc430757f30a0306205b">OnHeartbeatProducerUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> unsused_bSubindex)
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196 <a class="code" href="lifegrd_8c.html#007b1f27fd9f0d6814498093f424f82e">heartbeatStop</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>);
<a name="l00197"></a>00197 <a class="code" href="lifegrd_8c.html#03fbd3b6910b8058535d3e94242cb80e">heartbeatInit</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>);
<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_8h.html#03fbd3b6910b8058535d3e94242cb80e">00206</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#03fbd3b6910b8058535d3e94242cb80e">heartbeatInit</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="l00207"></a>00207 {
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index; <span class="comment">/* Index to scan the table of heartbeat consumers */</span>
<a name="l00210"></a>00210 <a class="code" href="objacces_8c.html#9a512a966532e40f35d3a4201bf54ead">RegisterSetODentryCallBack</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0x1017, 0x00, &<a class="code" href="lifegrd_8c.html#9b31f862dd95cc430757f30a0306205b">OnHeartbeatProducerUpdate</a>);
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a> = 0;
<a name="l00213"></a>00213
<a name="l00214"></a>00214 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ )
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>) ( (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>[index]) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x0000FFFF ) ;
<a name="l00217"></a>00217 <span class="comment">/* MSG_WAR(0x3121, "should_time : ", should_time ) ; */</span>
<a name="l00218"></a>00218 if ( time )
<a name="l00219"></a>00219 {
<a name="l00220"></a>00220 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index] = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, &<a class="code" href="lifegrd_8c.html#f01de9def215369ece4214cce5871508">ConsumerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(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> ( *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a> )
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> time = *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a>;
<a name="l00227"></a>00227 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0, &<a class="code" href="lifegrd_8c.html#a296a819d9aedc0d7781774390908000">ProducerHearbeatAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(time), <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(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_8h.html#007b1f27fd9f0d6814498093f424f82e">00236</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#007b1f27fd9f0d6814498093f424f82e">heartbeatStop</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="l00237"></a>00237 {
<a name="l00238"></a>00238 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> index;
<a name="l00239"></a>00239 <span class="keywordflow">for</span>( index = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)0x00; index < *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; index++ )
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index + 1] = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>[index + 1]);;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243
<a name="l00244"></a>00244 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a>);;
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246
<a name="l00252"></a><a class="code" href="lifegrd_8h.html#9f9eaba98473f87f91bb8bc9654a0351">00252</a> <span class="keywordtype">void</span> <a class="code" href="lifegrd_8c.html#9f9eaba98473f87f91bb8bc9654a0351">_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> heartbeatID){}
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