CanFestival: src/states.c Source File

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00032 #include "states.h"
-00033 #include "def.h"
-00034 #include "dcf.h"
-00035 #include "nmtSlave.h"
-00036 
-00044 void switchCommunicationState(CO_Data* d, 
-00045         s_state_communication *newCommunicationState);
-00046         
-00054 e_nodeState getState(CO_Data* d)
-00055 {
-00056   return d->nodeState;
-00057 }
-00058 
-00065 void canDispatch(CO_Data* d, Message *m)
-00066 {
-00067          switch(m->cob_id.w >> 7)
-00068         {
-00069                 case SYNC:
-00070                         if(d->CurrentCommunicationState.csSYNC)
-00071                                 proceedSYNC(d,m);
-00072                         break;
-00073                 /* case TIME_STAMP: */
-00074                 case PDO1tx:
-00075                 case PDO1rx:
-00076                 case PDO2tx:
-00077                 case PDO2rx:
-00078                 case PDO3tx:
-00079                 case PDO3rx:
-00080                 case PDO4tx:
-00081                 case PDO4rx:
-00082                         if (d->CurrentCommunicationState.csPDO)
-00083                                 proceedPDO(d,m);
-00084                         break;
-00085                 case SDOtx:
-00086                 case SDOrx:
-00087                         if (d->CurrentCommunicationState.csSDO)
-00088                                 proceedSDO(d,m);
-00089                         break;
-00090                 case NODE_GUARD:
-00091                         if (d->CurrentCommunicationState.csHeartbeat)
-00092                                 proceedNODE_GUARD(d,m);
-00093                         break;
-00094                 case NMT:
-00095                         if (*(d->iam_a_slave))
-00096                         {
-00097                                 proceedNMTstateChange(d,m);
-00098                         }
-00099         }
-00100 }
-00101 
-00102 #define StartOrStop(CommType, FuncStart, FuncStop) \
-00103         if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\
-00104                 MSG_WAR(0x9999,#FuncStart, 9999);\
-00105                 d->CurrentCommunicationState.CommType = 1;\
-00106                 FuncStart;\
-00107         }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\
-00108                 MSG_WAR(0x9999,#FuncStop, 9999);\
-00109                 d->CurrentCommunicationState.CommType = 0;\
-00110                 FuncStop;\
-00111         }
-00112 #define None
-00113 
-00120 void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
-00121 {
-00122         StartOrStop(csSDO,      None,           resetSDO(d))
-00123         StartOrStop(csSYNC,     startSYNC(d),           stopSYNC(d))
-00124         StartOrStop(csHeartbeat,        heartbeatInit(d),       heartbeatStop(d))
-00125 /*      StartOrStop(Emergency,,) */
-00126         StartOrStop(csPDO,      PDOInit(d),     PDOStop(d))
-00127         StartOrStop(csBoot_Up,  None,   slaveSendBootUp(d))
-00128 }
-00129 
-00138 UNS8 setState(CO_Data* d, e_nodeState newState)
-00139 {
-00140         UNS16 wIndex = 0x1F22;
-00141         const indextable *ptrTable;
-00142         ODCallback_t *Callback;
-00143         UNS32 errorCode;
-00144         while(newState != d->nodeState){
-00145                 switch( newState ){
-00146                         case Initialisation:
-00147                         {
-00148                                 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
-00149                                 /* This will force a second loop for the state switch */
-00150                                 d->nodeState = Initialisation;
-00151                                 newState = Pre_operational;
-00152                                 switchCommunicationState(d, &newCommunicationState);
-00153                                 /* call user app related state func. */
-00154                                 (*d->initialisation)();
-00155                                 
-00156                         }
-00157                         break;
-00158                                                                 
-00159                         case Pre_operational:
-00160                         {
-00161                                 
-00162                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
-00163                                 d->nodeState = Pre_operational;
-00164                                 newState = Pre_operational;
-00165                                 switchCommunicationState(d, &newCommunicationState);
-00166                                 if (!(*(d->iam_a_slave)))
-00167                                 {
-00168                                         ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
-00169                                         
-00170                                         if (errorCode != OD_SUCCESSFUL)
-00171                                                 {
-00172                                                         (*d->preOperational)();
-00173                                                 }
-00174                                         else
-00175                                                 {
-00176                                                         UNS32 res;
-00177                                                         res = decompo_dcf(d,0x01);
-00178                                                 }                               
-00179                                 }
-00180                                 else 
-00181                                 {
-00182                                         (*d->preOperational)();
-00183                                 }
-00184                         }
-00185                         break;
-00186                                                                 
-00187                         case Operational:
-00188                         if(d->nodeState == Initialisation) return 0xFF;
-00189                         {
-00190                                 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
-00191                                 d->nodeState = Operational;
-00192                                 newState = Operational;
-00193                                 switchCommunicationState(d, &newCommunicationState);
-00194                                 (*d->operational)();
-00195                         }
-00196                         break;
-00197                                                 
-00198                         case Stopped:
-00199                         if(d->nodeState == Initialisation) return 0xFF;
-00200                         {
-00201                                 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
-00202                                 d->nodeState = Stopped;
-00203                                 newState = Stopped;
-00204                                 switchCommunicationState(d, &newCommunicationState);
-00205                                 (*d->stopped)();
-00206                         }
-00207                         break;
-00208                         
-00209                         default:
-00210                                 return 0xFF;
-00211                 }/* end switch case */
-00212         
-00213         }
-00214         return 0;
-00215 }
-00216 
-00224 UNS8 getNodeId(CO_Data* d)
-00225 {
-00226   return *d->bDeviceNodeId;
-00227 }
-00228 
-00235 void setNodeId(CO_Data* d, UNS8 nodeId)
-00236 {
-00237   UNS16 offset = d->firstIndex->SDO_SVR;
-00238   if(offset){
-00239       /* cob_id_client = 0x600 + nodeId; */
-00240       *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
-00241       /* cob_id_server = 0x580 + nodeId; */
-00242       *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
-00243       /* node Id client. As we do not know the value, we put the node Id Server */
-00244       /* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */
-00245   }
-00246 
-00247   /* 
-00248         Initialize the server(s) SDO parameters
-00249         Remember that only one SDO server is allowed, defined at index 0x1200   
-00250                 
-00251         Initialize the client(s) SDO parameters         
-00252         Nothing to initialize (no default values required by the DS 401)        
-00253         Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 
-00254   */
-00255   {
-00256     UNS8 i = 0;
-00257     UNS16 offset = d->firstIndex->PDO_RCV;
-00258     UNS16 lastIndex = d->lastIndex->PDO_RCV;
-00259     UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
-00260     if( offset ) while( (offset <= lastIndex) && (i < 4)) {
-00261       if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
-00262               *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
-00263       i ++;
-00264       offset ++;
-00265     }
-00266   }
-00267   /* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */
-00268   {
-00269     UNS8 i = 0;
-00270     UNS16 offset = d->firstIndex->PDO_TRS;
-00271     UNS16 lastIndex = d->lastIndex->PDO_TRS;
-00272     UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
-00273     i = 0;
-00274     if( offset ) while ((offset <= lastIndex) && (i < 4)) {
-00275       if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
-00276               *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
-00277       i ++;
-00278       offset ++;
-00279     }
-00280   }
-00281   /* bDeviceNodeId is defined in the object dictionary. */
-00282   *d->bDeviceNodeId = nodeId;
-00283 }
-00284 
-00285 void _initialisation(){}
-00286 void _preOperational(){}
-00287 void _operational(){}
-00288 void _stopped(){}
-