diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/states_8c-source.html
--- a/doc/doxygen/html/states_8c-source.html Tue Jun 05 17:34:33 2007 +0200
+++ b/doc/doxygen/html/states_8c-source.html Tue Jun 05 18:43:21 2007 +0200
@@ -36,223 +36,200 @@
00019
00020
00021
-00022
-00023 #include "states.h"
-00024 #include "def.h"
-00025 #include "dcf.h"
-00026 #include "nmtSlave.h"
-00027
-00028
-00029 void switchCommunicationState(CO_Data* d,
-00030 s_state_communication *newCommunicationState);
-00031
-00032
-00033 e_nodeState getState(CO_Data* d)
-00034 {
-00035 return d->nodeState;
-00036 }
-00037
-00038
-00039 void canDispatch(CO_Data* d, Message *m)
-00040 {
-00041 switch(m->cob_id.w >> 7)
-00042 {
-00043 case SYNC:
-00044 if(d->CurrentCommunicationState.csSYNC)
-00045 proceedSYNC(d,m);
-00046 break;
-00047
-00048 case PDO1tx:
-00049 case PDO1rx:
-00050 case PDO2tx:
-00051 case PDO2rx:
-00052 case PDO3tx:
-00053 case PDO3rx:
-00054 case PDO4tx:
-00055 case PDO4rx:
-00056 if (d->CurrentCommunicationState.csPDO)
-00057 proceedPDO(d,m);
-00058 break;
-00059 case SDOtx:
-00060 case SDOrx:
-00061 if (d->CurrentCommunicationState.csSDO)
-00062 proceedSDO(d,m);
-00063 break;
-00064 case NODE_GUARD:
-00065 if (d->CurrentCommunicationState.csHeartbeat)
-00066 proceedNODE_GUARD(d,m);
-00067 break;
-00068 case NMT:
-00069 if (*(d->iam_a_slave))
-00070 {
-00071 proceedNMTstateChange(d,m);
-00072 }
-00073 }
-00074 }
-00075
-00076 #define StartOrStop(CommType, FuncStart, FuncStop) \
-00077 if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\
-00078 MSG_WAR(0x9999,#FuncStart, 9999);\
-00079 d->CurrentCommunicationState.CommType = 1;\
-00080 FuncStart;\
-00081 }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\
-00082 MSG_WAR(0x9999,#FuncStop, 9999);\
-00083 d->CurrentCommunicationState.CommType = 0;\
-00084 FuncStop;\
-00085 }
-00086 #define None
-00087
-00088
-00089 void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
-00090 {
-00091 StartOrStop(csSDO, None, resetSDO(d))
-00092 StartOrStop(csSYNC, startSYNC(d), stopSYNC(d))
-00093 StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d))
-00094
-00095 StartOrStop(csPDO, None, None)
-00096 StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
-00097 }
-00098
-00099
-00100 UNS8 setState(CO_Data* d, e_nodeState newState)
-00101 {
-00102 UNS16 wIndex = 0x1F22;
-00103 const indextable *ptrTable;
-00104 ODCallback_t *Callback;
-00105 UNS32 errorCode;
-00106 while(newState != d->nodeState){
-00107 switch( newState ){
-00108 case Initialisation:
-00109 {
-00110 s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
-00111
-00112 d->nodeState = Initialisation;
-00113 newState = Pre_operational;
-00114 switchCommunicationState(d, &newCommunicationState);
-00115
-00116 (*d->initialisation)();
-00117
-00118 }
-00119 break;
-00120
-00121 case Pre_operational:
-00122 {
-00123
-00124 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
-00125 d->nodeState = Pre_operational;
-00126 newState = Pre_operational;
-00127 switchCommunicationState(d, &newCommunicationState);
-00128 if (!(*(d->iam_a_slave)))
-00129 {
-00130 ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
-00131
-00132 if (errorCode != OD_SUCCESSFUL)
-00133 {
-00134 (*d->preOperational)();
-00135 }
-00136 else
-00137 {
-00138 UNS32 res;
-00139 res = decompo_dcf(d,0x01);
-00140 }
-00141 }
-00142 else
-00143 {
-00144 (*d->preOperational)();
-00145 }
-00146 }
-00147 break;
-00148
-00149 case Operational:
-00150 if(d->nodeState == Initialisation) return 0xFF;
-00151 {
-00152 s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
-00153 d->nodeState = Operational;
-00154 newState = Operational;
-00155 switchCommunicationState(d, &newCommunicationState);
-00156 (*d->operational)();
-00157 }
-00158 break;
-00159
-00160 case Stopped:
-00161 if(d->nodeState == Initialisation) return 0xFF;
-00162 {
-00163 s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
-00164 d->nodeState = Stopped;
-00165 newState = Stopped;
-00166 switchCommunicationState(d, &newCommunicationState);
-00167 (*d->stopped)();
-00168 }
-00169 break;
-00170
-00171 default:
-00172 return 0xFF;
-00173 }
-00174
-00175 }
-00176 return 0;
-00177 }
-00178
-00179
-00180 UNS8 getNodeId(CO_Data* d)
-00181 {
-00182 return *d->bDeviceNodeId;
-00183 }
-00184
-00185
-00186 void setNodeId(CO_Data* d, UNS8 nodeId)
-00187 {
-00188 UNS16 offset = d->firstIndex->SDO_SVR;
-00189 if(offset){
-00190
-00191 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
-00192
-00193 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
-00194
-00195
-00196 }
-00197
-00198
-00199
-00200
-00201
-00202
-00203
-00204 {
-00205 UNS8 i = 0;
-00206 UNS16 offset = d->firstIndex->PDO_RCV;
-00207 UNS16 lastIndex = d->lastIndex->PDO_RCV;
-00208 UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
-00209 if( offset ) while( (offset <= lastIndex) && (i < 4)) {
-00210
-00211 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
-00212 i ++;
-00213 offset ++;
-00214 }
-00215 }
-00216
-00217 {
-00218 UNS8 i = 0;
-00219 UNS16 offset = d->firstIndex->PDO_TRS;
-00220 UNS16 lastIndex = d->lastIndex->PDO_TRS;
-00221 UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
-00222 i = 0;
-00223 if( offset ) while ((offset <= lastIndex) && (i < 4)) {
-00224
-00225 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
-00226 i ++;
-00227 offset ++;
-00228 }
-00229 }
-00230
-00231 *d->bDeviceNodeId = nodeId;
-00232 }
-00233
-00234 void _initialisation(){}
-00235 void _preOperational(){}
-00236 void _operational(){}
-00237 void _stopped(){}
-
Generated on Mon Jun 4 17:09:27 2007 for CanFestival by
+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;
+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
+00126 StartOrStop(csPDO, None, None)
+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};
+00150 d->nodeState = Initialisation;
+00151 newState = Pre_operational;
+00152 switchCommunicationState(d, &newCommunicationState);
+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 }
+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){
+00240 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
+00242 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
+00245 }
+00246
+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
+00262 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
+00263 i ++;
+00264 offset ++;
+00265 }
+00266 }
+00267
+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
+00276 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
+00277 i ++;
+00278 offset ++;
+00279 }
+00280 }
+00282 *d->bDeviceNodeId = nodeId;
+00283 }
+00284
+00285 void _initialisation(){}
+00286 void _preOperational(){}
+00287 void _operational(){}
+00288 void _stopped(){}
+
Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
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