CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/dcf.c Source File

00001 /*
+
+src
+dcf.c
Go to the documentation of this file.00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
 00004 
@@ -40,91 +44,97 @@
 00023 */
 00024 
 00025 
-00035 #include "objacces.h"
-00036 #include "sdo.h"
-00037 #include "dcf.h"
-00038 #include "sysdep.h"
-00039 
-00040 
-00054 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
-00055                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+00037 #include "objacces.h"
+00038 #include "sdo.h"
+00039 #include "dcf.h"
+00040 #include "sysdep.h"
+00041 
+00042 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+00043                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+00044 
+00045 const indextable *ptrTable;
+00046 
+00053 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+00054 {
+00055   UNS32 abortCode;
 00056 
-00057 const indextable *ptrTable;
-00058 
-00065 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
-00066 {
-00067   UNS32 abortCode;
-00068 
-00069   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-00070     {
-00071       MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
-00072       MSG_WAR(0x2A02, "server node : ", nodeId);
-00073     }
-00074 
-00075   closeSDOtransfer(d, nodeId, SDO_CLIENT);
-00076   decompo_dcf(d,nodeId);
-00077 }
-00078 
-00087 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
-00088 {
-00089   UNS32 errorCode;
-00090   UNS16 target_Index;
-00091   UNS8 target_Subindex;
-00092   UNS32 target_Size;
-00093   UNS32 res;
-00094   ODCallback_t *Callback;
-00095 
-00096   ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
-00097   if (errorCode != OD_SUCCESSFUL)
-00098     {
-00099       return errorCode;
-00100     }
-00101 
-00103   while (nodeId < ptrTable->bSubCount){
-00104     UNS32 nb_targets;
-00105 
-00106     UNS8 szData = ptrTable->pSubindex[nodeId].size;
-00107     UNS8* dcfend;
-00108 
-00109     {
-00110       UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
-00111       dcfend = dcf + szData;
-00112       if (!d->dcf_cursor){
-00113         d->dcf_cursor = (UNS8*)dcf + 4;
-00114         d->dcf_count_targets = 0;
-00115       }
-00116       nb_targets = UNS32_LE(*((UNS32*)dcf));
-00117     }
-00118 
-00120     if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
-00121       {
-00123         target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
-00124         target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
-00125         target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
-00126 
-00127         /* printf("Master : ConfigureSlaveNode %2.2x (Concise
-00128           DCF)\n",nodeId);*/
-00129         res = _writeNetworkDict(d, 
-00130                                 nodeId, 
-00131                                 target_Index, 
-00132                                 target_Subindex, 
-00133                                 target_Size, 
-00134                                 0, 
-00135                                 d->dcf_cursor,
-00136                                 CheckSDOAndContinue,
-00138                                 0); 
-00141         d->dcf_cursor += target_Size;
-00142         d->dcf_count_targets++;
-00143 
-00144         return ;
-00145       }
-00146     nodeId++;
-00147     d->dcf_cursor = NULL;
-00148   }
-00150   (*d->preOperational)();
-00151 
-00152 }
-
Generated on Tue Jun 5 18:32:05 2007 for CanFestival by 
+00057   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+00058     {
+00059       MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
+00060       MSG_WAR(0x2A02, "server node : ", nodeId);
+00061     }
+00062 
+00063   closeSDOtransfer(d, nodeId, SDO_CLIENT);
+00064   decompo_dcf(d,nodeId);
+00065 }
+00066 
+00075 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
+00076 {
+00077   UNS32 errorCode;
+00078   UNS16 target_Index;
+00079   UNS8 target_Subindex;
+00080   UNS32 target_Size;
+00081   UNS32 res;
+00082   ODCallback_t *Callback;
+00083 
+00084   ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
+00085   if (errorCode != OD_SUCCESSFUL)
+00086     {
+00087       return errorCode;
+00088     }
+00089 
+00090   /* Loop on all Nodes supported in DCF subindexes*/
+00091   while (nodeId < ptrTable->bSubCount){
+00092     UNS32 nb_targets;
+00093 
+00094     UNS8 szData = ptrTable->pSubindex[nodeId].size;
+00095     UNS8* dcfend;
+00096 
+00097     {
+00098       UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
+00099       dcfend = dcf + szData;
+00100       if (!d->dcf_cursor){
+00101         d->dcf_cursor = (UNS8*)dcf + 4;
+00102         d->dcf_count_targets = 0;
+00103       }
+00104       nb_targets = UNS32_LE(*((UNS32*)dcf));
+00105     }
+00106 
+00107     /* condition on consise DCF string for NodeID, if big enough */
+00108     if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
+00109       {
+00110         /* pointer to the DCF string for NodeID */
+00111         target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
+00112         target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
+00113         target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
+00114 
+00115         /* printf("Master : ConfigureSlaveNode %2.2x (Concise
+00116           DCF)\n",nodeId);*/
+00117         res = _writeNetworkDict(d, /* CO_Data* d*/
+00118                                 nodeId, /* UNS8 nodeId*/
+00119                                 target_Index, /* UNS16 index*/
+00120                                 target_Subindex, /* UNS8 subindex*/
+00121                                 target_Size, /* UNS8 count*/
+00122                                 0, /* UNS8 dataType*/
+00123                                 d->dcf_cursor,/* void *data*/
+00124                                 CheckSDOAndContinue,/* SDOCallback_t
+00125                                                       Callback*/
+00126                                 0); /* no endianize*/
+00127         /* Push d->dcf_cursor to the end of data*/
+00128 
+00129         d->dcf_cursor += target_Size;
+00130         d->dcf_count_targets++;
+00131 
+00132         return ;
+00133       }
+00134     nodeId++;
+00135     d->dcf_cursor = NULL;
+00136   }
+00137   /*  Switch Master to preOperational state */
+00138   (*d->preOperational)();
+00139 
+00140 }
+