etisserant@0: /*
nico@207:   This file is part of CanFestival, a library implementing CanOpen
nico@207:   Stack.
nico@207: 
nico@207:   Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 
nico@207:   See COPYING file for copyrights details.
nico@207: 
nico@207:   This library is free software; you can redistribute it and/or
nico@207:   modify it under the terms of the GNU Lesser General Public
nico@207:   License as published by the Free Software Foundation; either
nico@207:   version 2.1 of the License, or (at your option) any later version.
nico@207: 
nico@207:   This library is distributed in the hope that it will be useful,
nico@207:   but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207:   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207:   Lesser General Public License for more details.
nico@207: 
nico@207:   You should have received a copy of the GNU Lesser General Public
nico@207:   License along with this library; if not, write to the Free Software
nico@207:   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
nico@207:   USA
nico@207: */
nico@207: 
nico@207: /*!
nico@208: ** @file   lifegrd.c
nico@207: ** @author Edouard TISSERANT
nico@207: ** @date   Mon Jun  4 17:19:24 2007
nico@207: **
nico@207: ** @brief
nico@207: **
nico@207: **
etisserant@0: */
etisserant@0: 
etisserant@0: #include <data.h>
etisserant@0: #include "lifegrd.h"
etisserant@149: #include "canfestival.h"
etisserant@0: 
nico@208: 
frdupin@53: void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
nico@207: 
nico@208: 
frdupin@53: void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
nico@207: 
greg@185: UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
frdupin@53: 
nico@207: /*!
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: ** @param nodeId
nico@207: **
nico@207: ** @return
nico@207: **/
etisserant@0: e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
etisserant@0: {
nico@207:   e_nodeState networkNodeState = d->NMTable[nodeId];
nico@207:   return networkNodeState;
nico@207: }
nico@207: 
nico@208: /*! 
nico@208: ** The Consumer Timer Callback
nico@207: **
nico@207: ** @param d
nico@207: ** @param id
nico@207: **/
etisserant@0: void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
nico@207:   /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
nico@207: 
etisserant@352:   /* timer have been notified and is now free (non periodic)*/
etisserant@352:   /* -> avoid deleting re-assigned timer if message is received too late*/
etisserant@352:   d->ConsumerHeartBeatTimers[id]=TIMER_NONE;
nico@207:   /*! call heartbeat error with NodeId */
nico@207:   (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
nico@207: }
nico@207: 
nico@207: /*!
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: ** @param m
nico@207: **/
etisserant@0: void proceedNODE_GUARD(CO_Data* d, Message* m )
etisserant@0: {
etisserant@0:   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
nico@207: 
nico@207:   if((m->rtr == 1) )
nico@207:     /*!
nico@207:     ** Notice that only the master can have sent this
nico@207:     ** node guarding request
nico@207:     */
nico@207:     {
nico@207:       /*!
nico@207:       ** Receiving a NMT NodeGuarding (request of the state by the
nico@207:       ** master)
nico@207:       ** Only answer to the NMT NodeGuarding request, the master is
nico@207:       ** not checked (not implemented)
nico@207:       */
nico@207:       if (nodeId == *d->bDeviceNodeId )
nico@207:         {
nico@207:           Message msg;
nico@207:           msg.cob_id.w = *d->bDeviceNodeId + 0x700;
nico@207:           msg.len = (UNS8)0x01;
nico@207:           msg.rtr = 0;
nico@207:           msg.data[0] = d->nodeState;
nico@207:           if (d->toggle)
nico@207:             {
nico@207:               msg.data[0] |= 0x80 ;
nico@207:               d->toggle = 0 ;
nico@207:             }
nico@207:           else
nico@207:             d->toggle = 1 ;
nico@215:           /* send the nodeguard response. */
nico@207:           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
nico@207:           canSend(d->canHandle,&msg );
nico@207:         }
nico@207: 
nico@215:     }else{ /* Not a request CAN */
nico@207: 
nico@207:       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
nico@215:       /* the slave's state receievd is stored in the NMTable */
nico@215:       /* The state is stored on 7 bit */
nico@207:       d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
nico@207: 
nico@215:       /* Boot-Up frame reception */
nico@207:       if ( d->NMTable[nodeId] == Initialisation)
nico@207:         {
nico@215:           /*
nico@207:           ** The device send the boot-up message (Initialisation)
nico@207:           ** to indicate the master that it is entered in
nico@207:           ** pre_operational mode
nico@207:           ** Because the  device enter automaticaly in pre_operational
nico@207:           ** mode,
nico@207:           ** the pre_operational mode is stored
nico@207:           ** NMTable[bus_id][nodeId] = Pre_operational
nico@207:           */
nico@207:           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
etisserant@343:           
groke6@349:           if(!send_consise_dcf(d,nodeId)){
etisserant@343:              /* call post SlaveBootup with NodeId */
groke6@349: 		  	(*d->post_SlaveBootup)(nodeId);
groke6@349:           }
nico@207:         }
nico@207: 
nico@207:       if( d->NMTable[nodeId] != Unknown_state ) {
nico@207:         UNS8 index, ConsummerHeartBeat_nodeId ;
nico@207:         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:           {
nico@207:             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
nico@207:             if ( nodeId == ConsummerHeartBeat_nodeId )
nico@207:               {
nico@207:                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@207:                 /* Renew alarm for next heartbeat. */
nico@207:                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
nico@207:                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
nico@207:               }
nico@207:           }
nico@207:       }
nico@207:     }
nico@207: }
nico@207: 
nico@207: /*! The Consumer Timer Callback
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: ** @param id
nico@207: **/
nico@207: void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
nico@207: {
nico@207:   if(*d->ProducerHeartBeatTime)
etisserant@0:     {
etisserant@0:       Message msg;
nico@215:       /* Time expired, the heartbeat must be sent immediately
nico@207:       ** generate the correct node-id: this is done by the offset 1792
nico@207:       ** (decimal) and additionaly
nico@207:       ** the node-id of this device.
nico@207:       */
nico@207: 
etisserant@0:       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
etisserant@0:       msg.len = (UNS8)0x01;
etisserant@0:       msg.rtr = 0;
nico@215:       msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
nico@215:       /* send the heartbeat */
nico@207:       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
etisserant@149:       canSend(d->canHandle,&msg );
nico@207: 
nico@207:     }else{
nico@207:       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
nico@207:     }
nico@207: }
nico@207: 
nico@207: /*! This is called when Index 0x1017 is updated.
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: ** @param unsused_indextable
nico@207: ** @param unsused_bSubindex
nico@207: **
nico@207: ** @return
nico@207: **/
nico@207: UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
nico@207: {
nico@207:   heartbeatStop(d);
nico@207:   heartbeatInit(d);
nico@207:   return 0;
nico@207: }
nico@207: 
nico@207: /*!
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: **/
nico@207: void heartbeatInit(CO_Data* d)
nico@207: {
nico@207: 
nico@215:   UNS8 index; /* Index to scan the table of heartbeat consumers */
nico@207:   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
nico@207: 
nico@207:   d->toggle = 0;
nico@207: 
nico@207:   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:     {
nico@207:       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@215:       /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
nico@207:       if ( time )
etisserant@0:         {
nico@207:           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
etisserant@0:         }
etisserant@0:     }
nico@207: 
nico@207:   if ( *d->ProducerHeartBeatTime )
nico@207:     {
nico@207:       TIMEVAL time = *d->ProducerHeartBeatTime;
nico@207:       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
nico@207:     }
nico@207: }
nico@207: 
nico@207: /*!
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: **/
etisserant@0: void heartbeatStop(CO_Data* d)
etisserant@0: {
nico@207:   UNS8 index;
nico@207:   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:     {
nico@207:       d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
nico@207:     }
nico@207: 
nico@207:   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
nico@207: }
nico@207: 
nico@207: /*!
nico@207: **
nico@207: **
nico@207: ** @param heartbeatID
nico@207: **/
etisserant@149: void _heartbeatError(UNS8 heartbeatID){}
etisserant@343: void _post_SlaveBootup(UNS8 SlaveID){}