CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/dcf.c Source File

00001 /*
nico@207: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@207: 00003 
nico@207: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 00005 
nico@207: 00006 See COPYING file for copyrights details.
nico@207: 00007 
nico@207: 00008 This library is free software; you can redistribute it and/or
nico@207: 00009 modify it under the terms of the GNU Lesser General Public
nico@207: 00010 License as published by the Free Software Foundation; either
nico@207: 00011 version 2.1 of the License, or (at your option) any later version.
nico@207: 00012 
nico@207: 00013 This library is distributed in the hope that it will be useful,
nico@207: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207: 00016 Lesser General Public License for more details.
nico@207: 00017 
nico@207: 00018 You should have received a copy of the GNU Lesser General Public
nico@207: 00019 License along with this library; if not, write to the Free Software
nico@207: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@207: 00021 */
nico@207: 00022 
nico@207: 00023 #include "objacces.h"
nico@207: 00024 #include "sdo.h"
nico@207: 00025 #include "dcf.h"
nico@207: 00026 #include "sysdep.h"
nico@207: 00027 
nico@207: 00028 
nico@207: 00029 
nico@207: 00030 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
nico@207: 00031                        UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
nico@207: 00032 
nico@207: 00033 const indextable *ptrTable;
nico@207: 00034 
nico@207: 00035 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
nico@207: 00036 {
nico@207: 00037         UNS32 abortCode;
nico@207: 00038         
nico@207: 00039         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
nico@207: 00040         {
nico@207: 00041                 MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
nico@207: 00042                 MSG_WAR(0x2A02, "server node : ", nodeId);
nico@207: 00043         }
nico@207: 00044 
nico@207: 00045         closeSDOtransfer(d, nodeId, SDO_CLIENT);
nico@207: 00046         decompo_dcf(d,nodeId);
nico@207: 00047 }
nico@207: 00048 
nico@207: 00049 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
nico@207: 00050 {
nico@207: 00051                 UNS32 errorCode;
nico@207: 00052                 UNS16 target_Index;
nico@207: 00053                 UNS8 target_Subindex;
nico@207: 00054                 UNS32 target_Size;
nico@207: 00055                 UNS32 res;
nico@207: 00056                 ODCallback_t *Callback;
nico@207: 00057 
nico@207: 00058                 ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
nico@207: 00059                 if (errorCode != OD_SUCCESSFUL)
nico@207: 00060                 {
nico@207: 00061                 return errorCode;
nico@207: 00062                 }
nico@207: 00063 
nico@207: 00064                 /*Loop on all Nodes supported in DCF subindexes*/
nico@207: 00065                 while (nodeId < ptrTable->bSubCount){
nico@207: 00066                         UNS32 nb_targets;
nico@207: 00067                         
nico@207: 00068                         UNS8 szData = ptrTable->pSubindex[nodeId].size;
nico@207: 00069                         UNS8* dcfend;
nico@207: 00070                         
nico@207: 00071                         {
nico@207: 00072                                 UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
nico@207: 00073                                 dcfend = dcf + szData;
nico@207: 00074                                 if (!d->dcf_cursor)     {
nico@207: 00075                                         d->dcf_cursor = (UNS8*)dcf + 4;
nico@207: 00076                                         d->dcf_count_targets = 0;
nico@207: 00077                                 }
nico@207: 00078                                 nb_targets = UNS32_LE(*((UNS32*)dcf));
nico@207: 00079                         }
nico@207: 00080                         
nico@207: 00081                         // condition on consise DCF string for NodeID, if big enough
nico@207: 00082                         if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
nico@207: 00083                         {
nico@207: 00084                                 // pointer to the DCF string for NodeID
nico@207: 00085                                 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
nico@207: 00086                                 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
nico@207: 00087                                 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
nico@207: 00088                                         
nico@207: 00089                                         /*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/
nico@207: 00090                                         res = _writeNetworkDict(d, /*CO_Data* d*/
nico@207: 00091                                                         nodeId, /*UNS8 nodeId*/
nico@207: 00092                                                         target_Index, /*UNS16 index*/
nico@207: 00093                                                         target_Subindex, /*UNS8 subindex*/
nico@207: 00094                                                         target_Size, /*UNS8 count*/
nico@207: 00095                                                         0, /*UNS8 dataType*/
nico@207: 00096                                                         d->dcf_cursor,/*void *data*/
nico@207: 00097                                                         CheckSDOAndContinue,/*SDOCallback_t Callback*/  
nico@207: 00098                                                         0); /* no endianize             */
nico@207: 00099                                         /*Push d->dcf_cursor to the end of data*/
nico@207: 00100                                         
nico@207: 00101                                         d->dcf_cursor += target_Size;
nico@207: 00102                                         d->dcf_count_targets++;
nico@207: 00103                                         
nico@207: 00104                                         return ;
nico@207: 00105                         }                       
nico@207: 00106                                 nodeId++;
nico@207: 00107                                 d->dcf_cursor = NULL;
nico@207: 00108                 }
nico@207: 00109                 /* Switch Master to preOperational state */
nico@207: 00110                 (*d->preOperational)();
nico@207: 00111                 
nico@207: 00112 }
nico@207: