diff -r 6787754b251b -r b6572d0336c3 doc/doxygen/html/lifegrd_8c-source.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/doc/doxygen/html/lifegrd_8c-source.html Mon Jun 04 17:59:50 2007 +0200 @@ -0,0 +1,206 @@ + + +CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c Source File + + + + +
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/home/epimerde/documents/tc11/CanFestival-3/src/lifegrd.c

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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 }
+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){}
+
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