CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/dcf.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 */
+00022 
+00023 #include "objacces.h"
+00024 #include "sdo.h"
+00025 #include "dcf.h"
+00026 #include "sysdep.h"
+00027 
+00028 
+00029 
+00030 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
+00031                        UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+00032 
+00033 const indextable *ptrTable;
+00034 
+00035 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+00036 {
+00037         UNS32 abortCode;
+00038         
+00039         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+00040         {
+00041                 MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
+00042                 MSG_WAR(0x2A02, "server node : ", nodeId);
+00043         }
+00044 
+00045         closeSDOtransfer(d, nodeId, SDO_CLIENT);
+00046         decompo_dcf(d,nodeId);
+00047 }
+00048 
+00049 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
+00050 {
+00051                 UNS32 errorCode;
+00052                 UNS16 target_Index;
+00053                 UNS8 target_Subindex;
+00054                 UNS32 target_Size;
+00055                 UNS32 res;
+00056                 ODCallback_t *Callback;
+00057 
+00058                 ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
+00059                 if (errorCode != OD_SUCCESSFUL)
+00060                 {
+00061                 return errorCode;
+00062                 }
+00063 
+00064                 /*Loop on all Nodes supported in DCF subindexes*/
+00065                 while (nodeId < ptrTable->bSubCount){
+00066                         UNS32 nb_targets;
+00067                         
+00068                         UNS8 szData = ptrTable->pSubindex[nodeId].size;
+00069                         UNS8* dcfend;
+00070                         
+00071                         {
+00072                                 UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
+00073                                 dcfend = dcf + szData;
+00074                                 if (!d->dcf_cursor)     {
+00075                                         d->dcf_cursor = (UNS8*)dcf + 4;
+00076                                         d->dcf_count_targets = 0;
+00077                                 }
+00078                                 nb_targets = UNS32_LE(*((UNS32*)dcf));
+00079                         }
+00080                         
+00081                         // condition on consise DCF string for NodeID, if big enough
+00082                         if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
+00083                         {
+00084                                 // pointer to the DCF string for NodeID
+00085                                 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
+00086                                 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
+00087                                 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
+00088                                         
+00089                                         /*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/
+00090                                         res = _writeNetworkDict(d, /*CO_Data* d*/
+00091                                                         nodeId, /*UNS8 nodeId*/
+00092                                                         target_Index, /*UNS16 index*/
+00093                                                         target_Subindex, /*UNS8 subindex*/
+00094                                                         target_Size, /*UNS8 count*/
+00095                                                         0, /*UNS8 dataType*/
+00096                                                         d->dcf_cursor,/*void *data*/
+00097                                                         CheckSDOAndContinue,/*SDOCallback_t Callback*/  
+00098                                                         0); /* no endianize             */
+00099                                         /*Push d->dcf_cursor to the end of data*/
+00100                                         
+00101                                         d->dcf_cursor += target_Size;
+00102                                         d->dcf_count_targets++;
+00103                                         
+00104                                         return ;
+00105                         }                       
+00106                                 nodeId++;
+00107                                 d->dcf_cursor = NULL;
+00108                 }
+00109                 /* Switch Master to preOperational state */
+00110                 (*d->preOperational)();
+00111                 
+00112 }
+