etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <data.h>
etisserant@0: #include "lifegrd.h"
etisserant@0: 
frdupin@71: /* Prototypes for internals functions */
frdupin@53: void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
frdupin@53: void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
frdupin@53: 
frdupin@53: 
frdupin@53: /*****************************************************************************/
etisserant@0: e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
etisserant@0: {
etisserant@0: 	e_nodeState networkNodeState = d->NMTable[nodeId];
etisserant@0: 	return networkNodeState;
etisserant@0: }
etisserant@0: 
frdupin@53: /*****************************************************************************/
frdupin@71: /* The Consumer Timer Callback */
etisserant@0: void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
frdupin@71:         /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
etisserant@0: 	
frdupin@71: 	/* call heartbeat error with NodeId */
etisserant@0: 	(*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
etisserant@0: }
etisserant@0: 
frdupin@53: /*****************************************************************************/
etisserant@0: void proceedNODE_GUARD(CO_Data* d, Message* m )
etisserant@0: {
etisserant@0:   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
etisserant@0:   
etisserant@0:   if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
frdupin@71:   { /* Receiving a NMT NodeGuarding (request of the state by the master) */
frdupin@71:     /*  only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */
etisserant@0:     if (nodeId == *d->bDeviceNodeId )
etisserant@0:     {
etisserant@0:       Message msg;
etisserant@0:       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
etisserant@0:       msg.len = (UNS8)0x01;
etisserant@0:       msg.rtr = 0;
etisserant@0:       msg.data[0] = d->nodeState; 
etisserant@0:       if (d->toggle)
etisserant@0:       {
etisserant@0:         msg.data[0] |= 0x80 ;
etisserant@0:         d->toggle = 0 ;
etisserant@0:       }
etisserant@0:       else
etisserant@0:         d->toggle = 1 ; 
frdupin@71:       /* send the nodeguard response. */
etisserant@0:       MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
etisserant@0:       (*d->canSend)(&msg );
etisserant@0:     }  
etisserant@0: 
frdupin@71:   }else{ /* Not a request CAN */
etisserant@0: 
etisserant@0:     MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
etisserant@0:     /* the slave's state receievd is stored in the NMTable */
frdupin@71:       /* The state is stored on 7 bit */
etisserant@0:     d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
etisserant@0:     
etisserant@0:     /* Boot-Up frame reception */
etisserant@0:     if ( d->NMTable[nodeId] == Initialisation)
etisserant@0:       {
frdupin@71:         /* The device send the boot-up message (Initialisation) */
frdupin@71:         /* to indicate the master that it is entered in pre_operational mode */
frdupin@71:         /* Because the  device enter automaticaly in pre_operational mode, */
frdupin@71:         /* the pre_operational mode is stored */
frdupin@71: /*        NMTable[bus_id][nodeId] = Pre_operational; */
etisserant@0:         MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
etisserant@0:       }
etisserant@0:       
etisserant@0:     if( d->NMTable[nodeId] != Unknown_state ) {
etisserant@0:         UNS8 index, ConsummerHeartBeat_nodeId ;
etisserant@0:         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
etisserant@0:         {
etisserant@0:             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
etisserant@0:             if ( nodeId == ConsummerHeartBeat_nodeId )
etisserant@0:             {
etisserant@0:                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
frdupin@71:             	/* Renew alarm for next heartbeat. */
etisserant@0:             	DelAlarm(d->ConsumerHeartBeatTimers[index]);
etisserant@0:             	d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
etisserant@0:             }
etisserant@0:         }
etisserant@0:     }
etisserant@0:   }
etisserant@0: }
etisserant@0: 
frdupin@53: /*****************************************************************************/
frdupin@71: /* The Consumer Timer Callback */
etisserant@0: void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
etisserant@0: 	if(*d->ProducerHeartBeatTime)
etisserant@0: 	{
etisserant@0: 		Message msg;
frdupin@71: 		/* Time expired, the heartbeat must be sent immediately
frdupin@71: 		 * generate the correct node-id: this is done by the offset 1792
frdupin@71: 		 * (decimal) and additionaly
frdupin@71: 		 * the node-id of this device.
frdupin@71: 		 */
etisserant@0: 		msg.cob_id.w = *d->bDeviceNodeId + 0x700;
etisserant@0: 		msg.len = (UNS8)0x01;
etisserant@0: 		msg.rtr = 0;
frdupin@71: 		msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
frdupin@71: 		/* send the heartbeat */
etisserant@0:       		MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
etisserant@0:       		(*d->canSend)(&msg );
etisserant@0: 	}else{
etisserant@0: 		d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
frdupin@53: /*****************************************************************************/
etisserant@0: void heartbeatInit(CO_Data* d)
etisserant@0: {
frdupin@71:     UNS8 index; /* Index to scan the table of heartbeat consumers */
etisserant@0: 
etisserant@0:     d->toggle = 0;
etisserant@0: 
etisserant@0:     for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
etisserant@0:     {
etisserant@0:         TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
frdupin@71:         /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
etisserant@0:         if ( time )
etisserant@0:         {
etisserant@0:             	d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
etisserant@0:         }
etisserant@0:     }
etisserant@0: 
etisserant@0:     if ( *d->ProducerHeartBeatTime )
etisserant@0:     {
etisserant@0:     	TIMEVAL time = *d->ProducerHeartBeatTime;
etisserant@0:     	d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
etisserant@0:     }
etisserant@0: }
etisserant@0: 
frdupin@53: /*****************************************************************************/
etisserant@0: void heartbeatStop(CO_Data* d)
etisserant@0: {
etisserant@0:     UNS8 index;
etisserant@0:     for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
etisserant@0:     {
etisserant@0:         d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
etisserant@0:     }
etisserant@0: 
etisserant@0:     d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
etisserant@0: }
etisserant@0: