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 */
-00022 
-00023 #include <data.h>
-00024 #include "lifegrd.h"
-00025 #include "canfestival.h"
-00026 
-00027 /* Prototypes for internals functions */
-00028 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
-00029 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
-00030 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-00031 
-00032 /*****************************************************************************/
-00033 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
-00034 {
-00035         e_nodeState networkNodeState = d->NMTable[nodeId];
-00036         return networkNodeState;
-00037 }
+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 /* The Consumer Timer Callback */
-00041 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
-00042 {
-00043         /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
-00044         
-00045         /* call heartbeat error with NodeId */
-00046         (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
-00047 }
-00048 
-00049 /*****************************************************************************/
-00050 void proceedNODE_GUARD(CO_Data* d, Message* m )
-00051 {
-00052   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
-00053   
-00054   if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
-00055   { /* Receiving a NMT NodeGuarding (request of the state by the master) */
-00056     /*  only answer to the NMT NodeGuarding request, the master is not checked (not implemented) */
-00057     if (nodeId == *d->bDeviceNodeId )
-00058     {
-00059       Message msg;
-00060       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00061       msg.len = (UNS8)0x01;
-00062       msg.rtr = 0;
-00063       msg.data[0] = d->nodeState; 
-00064       if (d->toggle)
-00065       {
-00066         msg.data[0] |= 0x80 ;
-00067         d->toggle = 0 ;
-00068       }
-00069       else
-00070         d->toggle = 1 ; 
-00071       /* send the nodeguard response. */
-00072       MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
-00073       canSend(d->canHandle,&msg );
-00074     }  
-00075 
-00076   }else{ /* Not a request CAN */
-00077 
-00078     MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
-00079     /* the slave's state receievd is stored in the NMTable */
-00080       /* The state is stored on 7 bit */
-00081     d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
-00082     
-00083     /* Boot-Up frame reception */
-00084     if ( d->NMTable[nodeId] == Initialisation)
-00085       {
-00086         /* The device send the boot-up message (Initialisation) */
-00087         /* to indicate the master that it is entered in pre_operational mode */
-00088         /* Because the  device enter automaticaly in pre_operational mode, */
-00089         /* the pre_operational mode is stored */
-00090 /*        NMTable[bus_id][nodeId] = Pre_operational; */
-00091         MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
-00092       }
-00093       
-00094     if( d->NMTable[nodeId] != Unknown_state ) {
-00095         UNS8 index, ConsummerHeartBeat_nodeId ;
-00096         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00097         {
-00098             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
-00099             if ( nodeId == ConsummerHeartBeat_nodeId )
-00100             {
-00101                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
-00102                 /* Renew alarm for next heartbeat. */
-00103                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
-00104                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
-00105             }
-00106         }
-00107     }
-00108   }
-00109 }
-00110 
-00111 /*****************************************************************************/
-00112 /* The Consumer Timer Callback */
-00113 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
-00114 {
-00115         if(*d->ProducerHeartBeatTime)
-00116         {
-00117                 Message msg;
-00118                 /* Time expired, the heartbeat must be sent immediately
-00119                  * generate the correct node-id: this is done by the offset 1792
-00120                  * (decimal) and additionaly
-00121                  * the node-id of this device.
-00122                  */
-00123                 
-00124                 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00125                 msg.len = (UNS8)0x01;
-00126                 msg.rtr = 0;
-00127                 msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
-00128                 /* send the heartbeat */
-00129                 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
-00130                 canSend(d->canHandle,&msg );
-00131         
-00132         }else{
-00133                 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
-00134         }
-00135 }
-00136 
-00137 /*****************************************************************************/
-00138 /* This is called when Index 0x1017 is updated.*/
-00139 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-00140 {
-00141         heartbeatStop(d);
-00142         heartbeatInit(d);
-00143         return 0;
-00144 }
-00145 /*****************************************************************************/
-00146 
-00147 void heartbeatInit(CO_Data* d)
-00148 {
-00149                 
-00150     UNS8 index; /* Index to scan the table of heartbeat consumers */
-00151         RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
-00152     
-00153     d->toggle = 0;
-00154         
-00155     for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00156     {
-00157         TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
-00158         /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
-00159         if ( time )
-00160         {
-00161                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
-00162         }
-00163     }
-00164 
-00165     if ( *d->ProducerHeartBeatTime )
-00166     {
-00167         TIMEVAL time = *d->ProducerHeartBeatTime;
-00168         d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
-00169     }
-00170 }
-00171 
-00172 /*****************************************************************************/
-00173 void heartbeatStop(CO_Data* d)
-00174 {
-00175     UNS8 index;
-00176     for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
-00177     {
-00178         d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
-00179     }
-00180 
-00181     d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
-00182 }
-00183 
-00184 void _heartbeatError(UNS8 heartbeatID){}
-
/home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c
