diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/sync_8c-source.html
--- a/doc/doxygen/html/sync_8c-source.html Tue Jun 05 17:34:33 2007 +0200
+++ b/doc/doxygen/html/sync_8c-source.html Tue Jun 05 18:43:21 2007 +0200
@@ -37,231 +37,213 @@
00020
00021
00022
-00023
-00024 #include "data.h"
-00025 #include "sync.h"
-00026 #include "canfestival.h"
-00027
-00028
-00029 void SyncAlarm(CO_Data* d, UNS32 id);
-00030 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
-00031 UNS8 unsused_bSubindex);
-00032
-00033
-00034
-00035
-00036 void SyncAlarm(CO_Data* d, UNS32 id)
-00037 {
-00038 sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
-00039 }
-00040
-00041
-00042
-00043 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-00044 {
-00045 startSYNC(d);
-00046 return 0;
-00047 }
+00033 #include "data.h"
+00034 #include "sync.h"
+00035 #include "canfestival.h"
+00036
+00037
+00038
+00045 void SyncAlarm(CO_Data* d, UNS32 id);
+00046 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
+00047 UNS8 unsused_bSubindex);
00048
-00049
-00050 void startSYNC(CO_Data* d)
-00051 {
-00052 RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
-00053 RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
-00054
-00055 if(d->syncTimer != TIMER_NONE){
-00056 stopSYNC(d);
-00057 }
-00058
-00059 if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
-00060 {
-00061 d->syncTimer = SetAlarm(
-00062 d,
-00063 0 ,
-00064 &SyncAlarm,
-00065 US_TO_TIMEVAL(*d->Sync_Cycle_Period),
-00066 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
-00067 }
-00068 }
-00069
-00070
-00071 void stopSYNC(CO_Data* d)
-00072 {
-00073 d->syncTimer = DelAlarm(d->syncTimer);
-00074 }
-00075
-00076
-00077 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
-00078 {
-00079 Message m;
-00080 UNS8 resultat ;
-00081
-00082 MSG_WAR(0x3001, "sendSYNC ", 0);
-00083
-00084 m.cob_id.w = cob_id ;
-00085 m.rtr = NOT_A_REQUEST;
-00086 m.len = 0;
-00087 resultat = canSend(d->canHandle,&m) ;
-00088 proceedSYNC(d, &m) ;
-00089 return resultat ;
-00090 }
-00091
-00092
-00093 UNS8 proceedSYNC(CO_Data* d, Message *m)
-00094 {
-00095
-00096 UNS8 pdoNum,
-00097 prp_j;
-00098
-00099 const UNS8 * pMappingCount = NULL;
-00100
-00101
-00102
-00103 UNS32 * pMappingParameter = NULL;
-00104
-00105 UNS8 * pTransmissionType = NULL;
-00106 UNS32 * pwCobId = NULL;
-00107
-00108 UNS8 dataType;
-00109 UNS16 index;
-00110 UNS8 subIndex;
-00111 UNS8 offset;
-00112 UNS8 status;
-00113 UNS8 Size;
-00114 UNS32 objDict;
-00115 UNS16 offsetObjdict;
-00116 UNS16 offsetObjdictMap;
-00117 UNS16 lastIndex;
-00118
-00119 status = state3;
-00120 pdoNum = 0x00;
-00121 prp_j = 0x00;
-00122 offset = 0x00;
-00123
-00124 MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
-00125
-00126 (*d->post_sync)();
-00127
-00128
-00129 if( d->nodeState != Operational )
-00130 return 0;
-00131
-00132
-00133
-00134
-00135 offsetObjdict = d->firstIndex->PDO_TRS;
-00136 lastIndex = d->lastIndex->PDO_TRS;
-00137 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
-00138
-00139 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
-00140 switch( status ) {
-00141
-00142 case state3:
-00143 if (d->objdict[offsetObjdict].bSubCount <= 2) {
-00144 MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum);
-00145 return 0xFF;
-00146 }
-00147 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
-00148 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
-00149 status = state4;
-00150 break;
-00151 case state4:
-00152
-00153 if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
-00154 (++d->count_sync[pdoNum] == *pTransmissionType) ) {
-00155 d->count_sync[pdoNum] = 0;
-00156 MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
-00157 status = state5;
-00158 break;
-00159 }
-00160 else {
-00161 MSG_WAR(0x3008, " Not on synchro or not at this SYNC. Trans type : ",
-00162 *pTransmissionType);
-00163 pdoNum++;
-00164 offsetObjdict++;
-00165 offsetObjdictMap++;
-00166 status = state11;
-00167 break;
-00168 }
-00169 case state5:
-00170 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
-00171 MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId);
-00172 status = state7;
-00173 break;
-00174 case state7:
-00175 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
-00176 MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
-00177 status = state8;
-00178 case state8:
-00179 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
-00180 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
-00181 MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum);
-00182 MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
-00183 status = state9;
-00184
-00185 case state9:
-00186 {
-00187 UNS8 ByteSize;
-00188 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
-00189 index = (UNS16)((*pMappingParameter) >> 16);
-00190 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
-00191 Size = (UNS8)(*pMappingParameter);
-00192 ByteSize = 1 + ((Size - 1) >> 3);
-00193 objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
-00194
-00195 CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
-00196 }
-00197 if( objDict != OD_SUCCESSFUL ){
-00198 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
-00199 return 0xFF;
-00200 }
-00201
-00202 offset += Size ;
-00203 d->process_var.count = 1 + ((offset - 1) >> 3);
-00204 prp_j++;
-00205 status = state10;
-00206 break;
-00207
-00208 case state10:
-00209 if( prp_j < *pMappingCount ){
-00210 MSG_WAR(0x3014, " next variable mapped : ", prp_j);
-00211 status = state8;
-00212 break;
-00213 }
-00214 else {
-00215 MSG_WAR(0x3015, " End scan mapped variable", 0);
-00216 PDOmGR( d, *pwCobId );
-00217 MSG_WAR(0x3016, " End of this pdo. Should have been sent", 0);
-00218 pdoNum++;
-00219 offsetObjdict++;
-00220 offsetObjdictMap++;
-00221 offset = 0x00;
-00222 prp_j = 0x00;
-00223 status = state11;
-00224 break;
-00225 }
-00226
-00227 case state11:
-00228 MSG_WAR(0x3017, "next pdo index : ", pdoNum);
-00229 status = state3;
-00230 break;
-00231
-00232 default:
-00233 MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
-00234 return 0xFF;
-00235 }
-00236
-00237 }
-00238
-00239 (*d->post_TPDO)();
-00240
-00241 return 0;
-00242 }
-00243
-00244
-00245 void _post_sync(){}
-00246 void _post_TPDO(){}
-
Generated on Mon Jun 4 17:09:27 2007 for CanFestival by
+00055 void SyncAlarm(CO_Data* d, UNS32 id)
+00056 {
+00057 sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
+00058 }
+00059
+00069 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+00070 {
+00071 startSYNC(d);
+00072 return 0;
+00073 }
+00074
+00080 void startSYNC(CO_Data* d)
+00081 {
+00082 RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
+00083 RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
+00084
+00085 if(d->syncTimer != TIMER_NONE){
+00086 stopSYNC(d);
+00087 }
+00088
+00089 if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
+00090 {
+00091 d->syncTimer = SetAlarm(
+00092 d,
+00093 0 ,
+00094 &SyncAlarm,
+00095 US_TO_TIMEVAL(*d->Sync_Cycle_Period),
+00096 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
+00097 }
+00098 }
+00099
+00105 void stopSYNC(CO_Data* d)
+00106 {
+00107 d->syncTimer = DelAlarm(d->syncTimer);
+00108 }
+00109
+00118 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
+00119 {
+00120 Message m;
+00121 UNS8 resultat ;
+00122
+00123 MSG_WAR(0x3001, "sendSYNC ", 0);
+00124
+00125 m.cob_id.w = cob_id ;
+00126 m.rtr = NOT_A_REQUEST;
+00127 m.len = 0;
+00128 resultat = canSend(d->canHandle,&m) ;
+00129 proceedSYNC(d, &m) ;
+00130 return resultat ;
+00131 }
+00132
+00141 UNS8 proceedSYNC(CO_Data* d, Message *m)
+00142 {
+00143
+00144 UNS8 pdoNum,
+00145 prp_j;
+00146
+00147 const UNS8 * pMappingCount = NULL;
+00149
+00151 UNS32 * pMappingParameter = NULL;
+00153 UNS8 * pTransmissionType = NULL;
+00154 UNS32 * pwCobId = NULL;
+00155
+00156 UNS8 dataType;
+00157 UNS16 index;
+00158 UNS8 subIndex;
+00159 UNS8 offset;
+00160 UNS8 status;
+00161 UNS8 Size;
+00162 UNS32 objDict;
+00163 UNS16 offsetObjdict;
+00164 UNS16 offsetObjdictMap;
+00165 UNS16 lastIndex;
+00166
+00167 status = state3;
+00168 pdoNum = 0x00;
+00169 prp_j = 0x00;
+00170 offset = 0x00;
+00171
+00172 MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
+00173
+00174 (*d->post_sync)();
+00175
+00177 if( d->nodeState != Operational )
+00178 return 0;
+00179
+00183 offsetObjdict = d->firstIndex->PDO_TRS;
+00184 lastIndex = d->lastIndex->PDO_TRS;
+00185 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
+00186
+00187 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
+00188 switch( status ) {
+00189
+00190 case state3:
+00191 if (d->objdict[offsetObjdict].bSubCount <= 2) {
+00192 MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum);
+00193 return 0xFF;
+00194 }
+00195 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
+00196 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
+00197 status = state4;
+00198 break;
+00199 case state4:
+00201 if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
+00202 (++d->count_sync[pdoNum] == *pTransmissionType) ) {
+00203 d->count_sync[pdoNum] = 0;
+00204 MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
+00205 status = state5;
+00206 break;
+00207 }
+00208 else {
+00209 MSG_WAR(0x3008, " Not on synchro or not at this SYNC. Trans type : ",
+00210 *pTransmissionType);
+00211 pdoNum++;
+00212 offsetObjdict++;
+00213 offsetObjdictMap++;
+00214 status = state11;
+00215 break;
+00216 }
+00217 case state5:
+00218 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+00219 MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId);
+00220 status = state7;
+00221 break;
+00222 case state7:
+00223 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
+00224 MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
+00225 status = state8;
+00226 case state8:
+00227 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
+00228 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
+00229 MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum);
+00230 MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
+00231 status = state9;
+00232
+00233 case state9:
+00234 {
+00235 UNS8 ByteSize;
+00236 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+00237 index = (UNS16)((*pMappingParameter) >> 16);
+00238 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
+00239 Size = (UNS8)(*pMappingParameter);
+00240 ByteSize = 1 + ((Size - 1) >> 3);
+00241 objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
+00243 CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
+00244 }
+00245 if( objDict != OD_SUCCESSFUL ){
+00246 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
+00247 return 0xFF;
+00248 }
+00249
+00250 offset += Size ;
+00251 d->process_var.count = 1 + ((offset - 1) >> 3);
+00252 prp_j++;
+00253 status = state10;
+00254 break;
+00255
+00256 case state10:
+00257 if( prp_j < *pMappingCount ){
+00258 MSG_WAR(0x3014, " next variable mapped : ", prp_j);
+00259 status = state8;
+00260 break;
+00261 }
+00262 else {
+00263 MSG_WAR(0x3015, " End scan mapped variable", 0);
+00264 PDOmGR( d, *pwCobId );
+00265 MSG_WAR(0x3016, " End of this pdo. Should have been sent", 0);
+00266 pdoNum++;
+00267 offsetObjdict++;
+00268 offsetObjdictMap++;
+00269 offset = 0x00;
+00270 prp_j = 0x00;
+00271 status = state11;
+00272 break;
+00273 }
+00274
+00275 case state11:
+00276 MSG_WAR(0x3017, "next pdo index : ", pdoNum);
+00277 status = state3;
+00278 break;
+00279
+00280 default:
+00281 MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
+00282 return 0xFF;
+00283 }
+00284
+00285 }
+00286
+00287 (*d->post_TPDO)();
+00288
+00289 return 0;
+00290 }
+00291
+00292
+00293 void _post_sync(){}
+00294 void _post_TPDO(){}
+
Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
1.5.1