As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
Concerned callbacks :
initialisation
preOperational
operational
stopped
heartbeatError
post_sync
post_TPDO
post_SlaveBootup
storeODSubIndex
post_emcy
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<h1>dcf.c</h1><a href="dcf_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="l00025"></a>00025
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="objacces_8h.html">objacces.h</a>"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="sdo_8h.html">sdo.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="dcf_8h.html">dcf.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="sysdep_8h.html">sysdep.h</a>"</span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">extern</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="dcf_8c.html#aa754826c624685ec491735501631c4e">_writeNetworkDict</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 class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index,
<a name="l00043"></a>00043 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> count, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType, <span class="keywordtype">void</span> *data, <a class="code" href="sdo_8h.html#a07f2d0e7b634e9474dad009a1a97a83">SDOCallback_t</a> Callback, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> endianize);
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="dcf_8c.html#8278bb07e79b2d6c7d9c372b023fa7ae">00045</a> <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="l00046"></a>00046
<a name="l00053"></a>00053 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(<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="l00054"></a>00054 {
<a name="l00055"></a>00055 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode;
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#b5b66393347520874a551ca2ec53f673">getWriteResultNetworkDict</a> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, nodeId, &abortCode) != <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode);
<a name="l00060"></a>00060 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId);
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <a class="code" href="sdo_8c.html#df77b984822a5cec9782ebd6bc64e700">closeSDOtransfer</a>(d, nodeId, <a class="code" href="def_8h.html#9643ba6f5821c05629c3d60f1f911e88">SDO_CLIENT</a>);
<a name="l00064"></a>00064 <a class="code" href="dcf_8c.html#acb81126cc677d663f367f560ae0face">decompo_dcf</a>(d,nodeId);
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00075"></a><a class="code" href="dcf_8h.html#acb81126cc677d663f367f560ae0face">00075</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="dcf_8c.html#acb81126cc677d663f367f560ae0face">decompo_dcf</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="l00076"></a>00076 {
<a name="l00077"></a>00077 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> errorCode;
<a name="l00078"></a>00078 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> target_Index;
<a name="l00079"></a>00079 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> target_Subindex;
<a name="l00080"></a>00080 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> target_Size;
<a name="l00081"></a>00081 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> res;
<a name="l00082"></a>00082 <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> *Callback;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <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>)(0x1F22, &errorCode, &Callback);
<a name="l00085"></a>00085 <span class="keywordflow">if</span> (errorCode != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>)
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <span class="keywordflow">return</span> errorCode;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">/* Loop on all Nodes supported in DCF subindexes*/</span>
<a name="l00091"></a>00091 <span class="keywordflow">while</span> (nodeId < ptrTable->bSubCount){
<a name="l00092"></a>00092 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> nb_targets;
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> szData = <a class="code" href="dcf_8c.html#8278bb07e79b2d6c7d9c372b023fa7ae">ptrTable</a>-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[nodeId].<a class="code" href="structtd__subindex.html#c0998f016ef208dfc529f71ec94273a6">size</a>;
<a name="l00095"></a>00095 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* dcfend;
<a name="l00096"></a>00096
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* dcf = *((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>**)<a class="code" href="dcf_8c.html#8278bb07e79b2d6c7d9c372b023fa7ae">ptrTable</a>-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[nodeId].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>);
<a name="l00099"></a>00099 dcfend = dcf + szData;
<a name="l00100"></a>00100 <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#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>){
<a name="l00101"></a>00101 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)dcf + 4;
<a name="l00102"></a>00102 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#935c8435102cc8f77cfbcfb310df0870">dcf_count_targets</a> = 0;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 nb_targets = <a class="code" href="sysdep_8h.html#479ff261c6768221f4ee884eface910a">UNS32_LE</a>(*((<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)dcf));
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/* condition on consise DCF string for NodeID, if big enough */</span>
<a name="l00108"></a>00108 <span class="keywordflow">if</span>((<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#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> + 7 < (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)dcfend && <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#935c8435102cc8f77cfbcfb310df0870">dcf_count_targets</a> < nb_targets)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 <span class="comment">/* pointer to the DCF string for NodeID */</span>
<a name="l00111"></a>00111 target_Index = <a class="code" href="sysdep_8h.html#dfa2e6f88deea61f8b7f63e98ad063a1">UNS16_LE</a>(*((<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#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>))); <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> += 2;
<a name="l00112"></a>00112 target_Subindex = *((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</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#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>)++));
<a name="l00113"></a>00113 target_Size = <a class="code" href="sysdep_8h.html#479ff261c6768221f4ee884eface910a">UNS32_LE</a>(*((<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#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>))); <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> += 4;
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">/* printf("Master : ConfigureSlaveNode %2.2x (Concise</span>
<a name="l00116"></a>00116 <span class="comment"> DCF)\n",nodeId);*/</span>
<a name="l00117"></a>00117 res = <a class="code" href="dcf_8c.html#aa754826c624685ec491735501631c4e">_writeNetworkDict</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="comment">/* CO_Data* d*/</span>
<a name="l00118"></a>00118 nodeId, <span class="comment">/* UNS8 nodeId*/</span>
<a name="l00119"></a>00119 target_Index, <span class="comment">/* UNS16 index*/</span>
<a name="l00120"></a>00120 target_Subindex, <span class="comment">/* UNS8 subindex*/</span>
<a name="l00121"></a>00121 target_Size, <span class="comment">/* UNS8 count*/</span>
<a name="l00122"></a>00122 0, <span class="comment">/* UNS8 dataType*/</span>
<a name="l00123"></a>00123 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>,<span class="comment">/* void *data*/</span>
<a name="l00124"></a>00124 CheckSDOAndContinue,<span class="comment">/* SDOCallback_t</span>
<a name="l00125"></a>00125 <span class="comment"> Callback*/</span>
<a name="l00126"></a>00126 0); <span class="comment">/* no endianize*/</span>
<a name="l00127"></a>00127 <span class="comment">/* Push d->dcf_cursor to the end of data*/</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> += target_Size;
<a name="l00130"></a>00130 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#935c8435102cc8f77cfbcfb310df0870">dcf_count_targets</a>++;
<a name="l00131"></a>00131
<a name="l00132"></a>00132 return ;
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 nodeId++;
<a name="l00135"></a>00135 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a> = NULL;
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137 <span class="comment">/* Switch Master to preOperational state */</span>
<a name="l00138"></a>00138 (*<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="l00139"></a>00139
<a name="l00140"></a>00140 }
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