CanFestival: src/lifegrd.c Source File

00001 /*
nico@210: 00002   This file is part of CanFestival, a library implementing CanOpen
nico@210: 00003   Stack.
nico@210: 00004 
nico@210: 00005   Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@210: 00006 
nico@210: 00007   See COPYING file for copyrights details.
nico@210: 00008 
nico@210: 00009   This library is free software; you can redistribute it and/or
nico@210: 00010   modify it under the terms of the GNU Lesser General Public
nico@210: 00011   License as published by the Free Software Foundation; either
nico@210: 00012   version 2.1 of the License, or (at your option) any later version.
nico@210: 00013 
nico@210: 00014   This library is distributed in the hope that it will be useful,
nico@210: 00015   but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@210: 00016   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@210: 00017   Lesser General Public License for more details.
nico@210: 00018 
nico@210: 00019   You should have received a copy of the GNU Lesser General Public
nico@210: 00020   License along with this library; if not, write to the Free Software
nico@210: 00021   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
nico@210: 00022   USA
nico@210: 00023 */
nico@210: 00024 
nico@215: 00035 #include <data.h>
nico@215: 00036 #include "lifegrd.h"
nico@215: 00037 #include "canfestival.h"
nico@207: 00038 
nico@210: 00039 
nico@215: 00040 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
nico@210: 00041 
nico@210: 00042 
nico@215: 00043 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
nico@210: 00044 
nico@215: 00045 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
nico@210: 00046 
nico@215: 00055 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
nico@210: 00056 {
nico@215: 00057   e_nodeState networkNodeState = d->NMTable[nodeId];
nico@210: 00058   return networkNodeState;
nico@210: 00059 }
nico@210: 00060 
nico@215: 00067 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
nico@210: 00068 {
nico@210: 00069   /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
nico@210: 00070 
nico@215: 00072   (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
nico@210: 00073 }
nico@210: 00074 
nico@215: 00081 void proceedNODE_GUARD(CO_Data* d, Message* m )
nico@210: 00082 {
nico@215: 00083   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
nico@210: 00084 
nico@215: 00085   if((m->rtr == 1) )
nico@210: 00090     {
nico@215: 00097       if (nodeId == *d->bDeviceNodeId )
nico@210: 00098         {
nico@215: 00099           Message msg;
nico@215: 00100           msg.cob_id.w = *d->bDeviceNodeId + 0x700;
nico@215: 00101           msg.len = (UNS8)0x01;
nico@215: 00102           msg.rtr = 0;
nico@215: 00103           msg.data[0] = d->nodeState;
nico@215: 00104           if (d->toggle)
nico@210: 00105             {
nico@215: 00106               msg.data[0] |= 0x80 ;
nico@215: 00107               d->toggle = 0 ;
nico@210: 00108             }
nico@210: 00109           else
nico@215: 00110             d->toggle = 1 ;
nico@215: 00111           /* send the nodeguard response. */
nico@215: 00112           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
nico@215: 00113           canSend(d->canHandle,&msg );
nico@210: 00114         }
nico@210: 00115 
nico@215: 00116     }else{ /* Not a request CAN */
nico@215: 00117 
nico@215: 00118       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
nico@215: 00119       /* the slave's state receievd is stored in the NMTable */
nico@215: 00120       /* The state is stored on 7 bit */
nico@215: 00121       d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
nico@210: 00122 
nico@215: 00123       /* Boot-Up frame reception */
nico@215: 00124       if ( d->NMTable[nodeId] == Initialisation)
nico@210: 00125         {
nico@215: 00126           /*
nico@215: 00127           ** The device send the boot-up message (Initialisation)
nico@215: 00128           ** to indicate the master that it is entered in
nico@215: 00129           ** pre_operational mode
nico@215: 00130           ** Because the  device enter automaticaly in pre_operational
nico@215: 00131           ** mode,
nico@215: 00132           ** the pre_operational mode is stored
nico@215: 00133           ** NMTable[bus_id][nodeId] = Pre_operational
nico@215: 00134           */
nico@215: 00135           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
nico@210: 00136         }
nico@210: 00137 
nico@215: 00138       if( d->NMTable[nodeId] != Unknown_state ) {
nico@215: 00139         UNS8 index, ConsummerHeartBeat_nodeId ;
nico@215: 00140         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@210: 00141           {
nico@215: 00142             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
nico@210: 00143             if ( nodeId == ConsummerHeartBeat_nodeId )
nico@210: 00144               {
nico@215: 00145                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@210: 00146                 /* Renew alarm for next heartbeat. */
nico@215: 00147                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
nico@215: 00148                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
nico@210: 00149               }
nico@210: 00150           }
nico@210: 00151       }
nico@210: 00152     }
nico@210: 00153 }
nico@210: 00154 
nico@215: 00161 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
nico@210: 00162 {
nico@215: 00163   if(*d->ProducerHeartBeatTime)
nico@210: 00164     {
nico@215: 00165       Message msg;
nico@215: 00166       /* Time expired, the heartbeat must be sent immediately
nico@215: 00167       ** generate the correct node-id: this is done by the offset 1792
nico@215: 00168       ** (decimal) and additionaly
nico@215: 00169       ** the node-id of this device.
nico@215: 00170       */
nico@215: 00171 
nico@215: 00172       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
nico@215: 00173       msg.len = (UNS8)0x01;
nico@215: 00174       msg.rtr = 0;
nico@215: 00175       msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
nico@215: 00176       /* send the heartbeat */
nico@215: 00177       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
nico@215: 00178       canSend(d->canHandle,&msg );
nico@210: 00179 
nico@210: 00180     }else{
nico@215: 00181       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
nico@210: 00182     }
nico@210: 00183 }
nico@210: 00184 
nico@215: 00194 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
nico@210: 00195 {
nico@215: 00196   heartbeatStop(d);
nico@215: 00197   heartbeatInit(d);
nico@210: 00198   return 0;
nico@210: 00199 }
nico@210: 00200 
nico@215: 00206 void heartbeatInit(CO_Data* d)
nico@210: 00207 {
nico@210: 00208 
nico@215: 00209   UNS8 index; /* Index to scan the table of heartbeat consumers */
nico@215: 00210   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
nico@210: 00211 
nico@215: 00212   d->toggle = 0;
nico@210: 00213 
nico@215: 00214   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@210: 00215     {
nico@215: 00216       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@215: 00217       /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
nico@210: 00218       if ( time )
nico@210: 00219         {
nico@215: 00220           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
nico@210: 00221         }
nico@210: 00222     }
nico@210: 00223 
nico@215: 00224   if ( *d->ProducerHeartBeatTime )
nico@210: 00225     {
nico@215: 00226       TIMEVAL time = *d->ProducerHeartBeatTime;
nico@215: 00227       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
nico@210: 00228     }
nico@210: 00229 }
nico@210: 00230 
nico@215: 00236 void heartbeatStop(CO_Data* d)
nico@210: 00237 {
nico@215: 00238   UNS8 index;
nico@215: 00239   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@210: 00240     {
nico@215: 00241       d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
nico@210: 00242     }
nico@210: 00243 
nico@215: 00244   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
nico@210: 00245 }
nico@210: 00246 
nico@215: 00252 void _heartbeatError(UNS8 heartbeatID){}
nico@215: