CanFestival: src/lifegrd.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 
-00035 #include <data.h>
-00036 #include "lifegrd.h"
-00037 #include "canfestival.h"
-00038 
-00039 
-00040 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
-00041 
-00042 
-00043 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
-00044 
-00045 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-00046 
-00055 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
-00056 {
-00057   e_nodeState networkNodeState = d->NMTable[nodeId];
-00058   return networkNodeState;
-00059 }
-00060 
-00067 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
-00068 {
-00069   /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
-00070 
-00072   (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
-00073 }
-00074 
-00081 void proceedNODE_GUARD(CO_Data* d, Message* m )
-00082 {
-00083   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
-00084 
-00085   if((m->rtr == 1) )
-00090     {
-00097       if (nodeId == *d->bDeviceNodeId )
-00098         {
-00099           Message msg;
-00100           msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00101           msg.len = (UNS8)0x01;
-00102           msg.rtr = 0;
-00103           msg.data[0] = d->nodeState;
-00104           if (d->toggle)
-00105             {
-00106               msg.data[0] |= 0x80 ;
-00107               d->toggle = 0 ;
-00108             }
-00109           else
-00110             d->toggle = 1 ;
-00111           /* send the nodeguard response. */
-00112           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
-00113           canSend(d->canHandle,&msg );
-00114         }
-00115 
-00116     }else{ /* Not a request CAN */
-00117 
-00118       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
-00119       /* the slave's state receievd is stored in the NMTable */
-00120       /* The state is stored on 7 bit */
-00121       d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
-00122 
-00123       /* Boot-Up frame reception */
-00124       if ( d->NMTable[nodeId] == Initialisation)
-00125         {
-00126           /*
-00127           ** The device send the boot-up message (Initialisation)
-00128           ** to indicate the master that it is entered in
-00129           ** pre_operational mode
-00130           ** Because the  device enter automaticaly in pre_operational
-00131           ** mode,
-00132           ** the pre_operational mode is stored
-00133           ** NMTable[bus_id][nodeId] = Pre_operational
-00134           */
-00135           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
-00136         }
-00137 
-00138       if( d->NMTable[nodeId] != Unknown_state ) {
-00139         UNS8 index, ConsummerHeartBeat_nodeId ;
-00140         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00141           {
-00142             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
-00143             if ( nodeId == ConsummerHeartBeat_nodeId )
-00144               {
-00145                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
-00146                 /* Renew alarm for next heartbeat. */
-00147                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
-00148                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
-00149               }
-00150           }
-00151       }
-00152     }
-00153 }
-00154 
-00161 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
-00162 {
-00163   if(*d->ProducerHeartBeatTime)
-00164     {
-00165       Message msg;
-00166       /* Time expired, the heartbeat must be sent immediately
-00167       ** generate the correct node-id: this is done by the offset 1792
-00168       ** (decimal) and additionaly
-00169       ** the node-id of this device.
-00170       */
-00171 
-00172       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00173       msg.len = (UNS8)0x01;
-00174       msg.rtr = 0;
-00175       msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
-00176       /* send the heartbeat */
-00177       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
-00178       canSend(d->canHandle,&msg );
-00179 
-00180     }else{
-00181       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
-00182     }
-00183 }
-00184 
-00194 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-00195 {
-00196   heartbeatStop(d);
-00197   heartbeatInit(d);
-00198   return 0;
-00199 }
-00200 
-00206 void heartbeatInit(CO_Data* d)
-00207 {
-00208 
-00209   UNS8 index; /* Index to scan the table of heartbeat consumers */
-00210   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
-00211 
-00212   d->toggle = 0;
-00213 
-00214   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00215     {
-00216       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
-00217       /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
-00218       if ( time )
-00219         {
-00220           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
-00221         }
-00222     }
-00223 
-00224   if ( *d->ProducerHeartBeatTime )
-00225     {
-00226       TIMEVAL time = *d->ProducerHeartBeatTime;
-00227       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
-00228     }
-00229 }
-00230 
-00236 void heartbeatStop(CO_Data* d)
-00237 {
-00238   UNS8 index;
-00239   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00240     {
-00241       d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
-00242     }
-00243 
-00244   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
-00245 }
-00246 
-00252 void _heartbeatError(UNS8 heartbeatID){}
-