00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
@@ -49,92 +49,92 @@
 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);
+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;
+00045 const indextable *ptrTable;
 00046 
-00053 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+00053 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 00054 {
-00055   UNS32 abortCode;
+00055   UNS32 abortCode;
 00056 
-00057   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+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);
+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);
+00063   closeSDOtransfer(d, nodeId, SDO_CLIENT);
+00064   decompo_dcf(d,nodeId);
 00065 }
 00066 
-00075 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
+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;
+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)
+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;
+00092     UNS32 nb_targets;
 00093 
-00094     UNS8 szData = ptrTable->pSubindex[nodeId].size;
-00095     UNS8* dcfend;
+00094     UNS8 szData = ptrTable->pSubindex[nodeId].size;
+00095     UNS8* dcfend;
 00096 
 00097     {
-00098       UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
+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;
+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));
+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)
+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;
+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*/
+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*/
+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++;
+00129         d->dcf_cursor += target_Size;
+00130         d->dcf_count_targets++;
 00131 
 00132         return ;
 00133       }
 00134     nodeId++;
-00135     d->dcf_cursor = NULL;
+00135     d->dcf_cursor = NULL;
 00136   }
 00137   /*  Switch Master to preOperational state */
-00138   (*d->preOperational)();
+00138   (*d->preOperational)();
 00139 
 00140 }
-
dcf.c
