CanFestival: src/dcf.c Source File

00001 /*
-00002   This file is part of CanFestival, a library implementing CanOpen
-00003   Stack.
-00004 
-00005   Copyright (C): Edouard TISSERANT and Francis DUPIN
-00006 
-00007   See COPYING file for copyrights details.
-00008 
-00009   This library is free software; you can redistribute it and/or
-00010   modify it under the terms of the GNU Lesser General Public
-00011   License as published by the Free Software Foundation; either
-00012   version 2.1 of the License, or (at your option) any later version.
-00013 
-00014   This library is distributed in the hope that it will be useful,
-00015   but WITHOUT ANY WARRANTY; without even the implied warranty of
-00016   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00017   Lesser General Public License for more details.
-00018 
-00019   You should have received a copy of the GNU Lesser General Public
-00020   License along with this library; if not, write to the Free Software
-00021   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
-00022   USA
-00023 */
-00024 
-00025 
-00037 #include "objacces.h"
-00038 #include "sdo.h"
-00039 #include "dcf.h"
-00040 #include "sysdep.h"
-00041 
-00042 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
-00043                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
-00044 
-00045 const indextable *ptrTable;
-00046 
-00053 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
-00054 {
-00055   UNS32 abortCode;
-00056 
-00057   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-00058     {
-00059       MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
-00060       MSG_WAR(0x2A02, "server node : ", nodeId);
-00061     }
-00062 
-00063   closeSDOtransfer(d, nodeId, SDO_CLIENT);
-00064   decompo_dcf(d,nodeId);
-00065 }
-00066 
-00075 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
-00076 {
-00077   UNS32 errorCode;
-00078   UNS16 target_Index;
-00079   UNS8 target_Subindex;
-00080   UNS32 target_Size;
-00081   UNS32 res;
-00082   ODCallback_t *Callback;
-00083 
-00084   ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
-00085   if (errorCode != OD_SUCCESSFUL)
-00086     {
-00087       return errorCode;
-00088     }
-00089 
-00090   /* Loop on all Nodes supported in DCF subindexes*/
-00091   while (nodeId < ptrTable->bSubCount){
-00092     UNS32 nb_targets;
-00093 
-00094     UNS8 szData = ptrTable->pSubindex[nodeId].size;
-00095     UNS8* dcfend;
-00096 
-00097     {
-00098       UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
-00099       dcfend = dcf + szData;
-00100       if (!d->dcf_cursor){
-00101         d->dcf_cursor = (UNS8*)dcf + 4;
-00102         d->dcf_count_targets = 0;
-00103       }
-00104       nb_targets = UNS32_LE(*((UNS32*)dcf));
-00105     }
-00106 
-00107     /* condition on consise DCF string for NodeID, if big enough */
-00108     if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
-00109       {
-00110         /* pointer to the DCF string for NodeID */
-00111         target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
-00112         target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
-00113         target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
-00114 
-00115         /* printf("Master : ConfigureSlaveNode %2.2x (Concise
-00116           DCF)\n",nodeId);*/
-00117         res = _writeNetworkDict(d, /* CO_Data* d*/
-00118                                 nodeId, /* UNS8 nodeId*/
-00119                                 target_Index, /* UNS16 index*/
-00120                                 target_Subindex, /* UNS8 subindex*/
-00121                                 target_Size, /* UNS8 count*/
-00122                                 0, /* UNS8 dataType*/
-00123                                 d->dcf_cursor,/* void *data*/
-00124                                 CheckSDOAndContinue,/* SDOCallback_t
-00125                                                       Callback*/
-00126                                 0); /* no endianize*/
-00127         /* Push d->dcf_cursor to the end of data*/
-00128 
-00129         d->dcf_cursor += target_Size;
-00130         d->dcf_count_targets++;
-00131 
-00132         return ;
-00133       }
-00134     nodeId++;
-00135     d->dcf_cursor = NULL;
-00136   }
-00137   /*  Switch Master to preOperational state */
-00138   (*d->preOperational)();
-00139 
-00140 }
-