Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <data.h>
#include "lifegrd.h"
#include "canfestival.h"
/* Prototypes for internals functions */
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
/*****************************************************************************/
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
{
e_nodeState networkNodeState = d->NMTable[nodeId];
return networkNodeState;
}
/*****************************************************************************/
/* The Consumer Timer Callback */
void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
{
/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
/* call heartbeat error with NodeId */
(*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
}
/*****************************************************************************/
void proceedNODE_GUARD(CO_Data* d, Message* m )
{
UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
{ /* Receiving a NMT NodeGuarding (request of the state by the master) */
/* only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */
if (nodeId == *d->bDeviceNodeId )
{
Message msg;
msg.cob_id.w = *d->bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState;
if (d->toggle)
{
msg.data[0] |= 0x80 ;
d->toggle = 0 ;
}
else
d->toggle = 1 ;
/* send the nodeguard response. */
MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
canSend(d->canHandle,&msg );
}
}else{ /* Not a request CAN */
MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
/* the slave's state receievd is stored in the NMTable */
/* The state is stored on 7 bit */
d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
/* Boot-Up frame reception */
if ( d->NMTable[nodeId] == Initialisation)
{
/* The device send the boot-up message (Initialisation) */
/* to indicate the master that it is entered in pre_operational mode */
/* Because the device enter automaticaly in pre_operational mode, */
/* the pre_operational mode is stored */
/* NMTable[bus_id][nodeId] = Pre_operational; */
MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
}
if( d->NMTable[nodeId] != Unknown_state ) {
UNS8 index, ConsummerHeartBeat_nodeId ;
for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
{
ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
if ( nodeId == ConsummerHeartBeat_nodeId )
{
TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
/* Renew alarm for next heartbeat. */
DelAlarm(d->ConsumerHeartBeatTimers[index]);
d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
}
}
}
}
}
/*****************************************************************************/
/* The Consumer Timer Callback */
void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
{
if(*d->ProducerHeartBeatTime)
{
Message msg;
/* Time expired, the heartbeat must be sent immediately
* generate the correct node-id: this is done by the offset 1792
* (decimal) and additionaly
* the node-id of this device.
*/
msg.cob_id.w = *d->bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
/* send the heartbeat */
MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
canSend(d->canHandle,&msg );
}else{
d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
}
}
/*****************************************************************************/
void heartbeatInit(CO_Data* d)
{
UNS8 index; /* Index to scan the table of heartbeat consumers */
d->toggle = 0;
for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
{
TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
/* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
if ( time )
{
d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
}
}
if ( *d->ProducerHeartBeatTime )
{
TIMEVAL time = *d->ProducerHeartBeatTime;
d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
}
}
/*****************************************************************************/
void heartbeatStop(CO_Data* d)
{
UNS8 index;
for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
{
d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
}
d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
}
void _heartbeatError(UNS8 heartbeatID){}