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

00001 /*
+
+src
+lifegrd.c
Go to the documentation of this file.00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
 00004 
@@ -39,142 +43,164 @@
 00022   USA
 00023 */
 00024 
-00035 #include <data.h>
-00036 #include "lifegrd.h"
-00037 #include "canfestival.h"
+00035 #include <data.h>
+00036 #include "lifegrd.h"
+00037 #include "canfestival.h"
 00038 
 00039 
-00040 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
+00040 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
 00041 
 00042 
-00043 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
+00043 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
 00044 
-00045 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
+00045 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
 00046 
-00055 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
+00055 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
 00056 {
-00057   e_nodeState networkNodeState = d->NMTable[nodeId];
+00057   e_nodeState networkNodeState = d->NMTable[nodeId];
 00058   return networkNodeState;
 00059 }
 00060 
-00067 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
+00067 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
 00068 {
 00069   /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
 00070 
-00072   (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
+00072   (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
 00073 }
 00074 
-00081 void proceedNODE_GUARD(CO_Data* d, Message* m )
+00081 void proceedNODE_GUARD(CO_Data* d, Message* m )
 00082 {
-00083   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
+00083   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
 00084 
-00085   if((m->rtr == 1) )
+00085   if((m->rtr == 1) )
 00090     {
-00097       if (nodeId == *d->bDeviceNodeId )
+00097       if (nodeId == *d->bDeviceNodeId )
 00098         {
-00099           Message msg;
-00100           msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00101           msg.len = (UNS8)0x01;
-00102           msg.rtr = 0;
-00103           msg.data[0] = d->nodeState;
-00104           if (d->toggle)
+00099           Message msg;
+00100           msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+00101           msg.len = (UNS8)0x01;
+00102           msg.rtr = 0;
+00103           msg.data[0] = d->nodeState;
+00104           if (d->toggle)
 00105             {
-00106               msg.data[0] |= 0x80 ;
-00107               d->toggle = 0 ;
+00106               msg.data[0] |= 0x80 ;
+00107               d->toggle = 0 ;
 00108             }
 00109           else
-00110             d->toggle = 1 ;
-00112           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
-00113           canSend(d->canHandle,&msg );
+00110             d->toggle = 1 ;
+00111           /* send the nodeguard response. */
+00112           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
+00113           canSend(d->canHandle,&msg );
 00114         }
 00115 
-00116     }else{ 
-00118       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
-00121       d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
+00116     }else{ /* Not a request CAN */
+00117 
+00118       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
+00119       /* the slave's state receievd is stored in the NMTable */
+00120       /* The state is stored on 7 bit */
+00121       d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
 00122 
-00124       if ( d->NMTable[nodeId] == Initialisation)
+00123       /* Boot-Up frame reception */
+00124       if ( d->NMTable[nodeId] == Initialisation)
 00125         {
-00135           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
+00126           /*
+00127           ** The device send the boot-up message (Initialisation)
+00128           ** to indicate the master that it is entered in
+00129           ** pre_operational mode
+00130           ** Because the  device enter automaticaly in pre_operational
+00131           ** mode,
+00132           ** the pre_operational mode is stored
+00133           ** NMTable[bus_id][nodeId] = Pre_operational
+00134           */
+00135           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
 00136         }
 00137 
-00138       if( d->NMTable[nodeId] != Unknown_state ) {
-00139         UNS8 index, ConsummerHeartBeat_nodeId ;
-00140         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+00138       if( d->NMTable[nodeId] != Unknown_state ) {
+00139         UNS8 index, ConsummerHeartBeat_nodeId ;
+00140         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
 00141           {
-00142             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
+00142             ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
 00143             if ( nodeId == ConsummerHeartBeat_nodeId )
 00144               {
-00145                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+00145                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
 00146                 /* Renew alarm for next heartbeat. */
-00147                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
-00148                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+00147                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
+00148                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
 00149               }
 00150           }
 00151       }
 00152     }
 00153 }
 00154 
-00161 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
+00161 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
 00162 {
-00163   if(*d->ProducerHeartBeatTime)
+00163   if(*d->ProducerHeartBeatTime)
 00164     {
-00165       Message msg;
-00172       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
-00173       msg.len = (UNS8)0x01;
-00174       msg.rtr = 0;
-00175       msg.data[0] = d->nodeState; 
-00177       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
-00178       canSend(d->canHandle,&msg );
+00165       Message msg;
+00166       /* Time expired, the heartbeat must be sent immediately
+00167       ** generate the correct node-id: this is done by the offset 1792
+00168       ** (decimal) and additionaly
+00169       ** the node-id of this device.
+00170       */
+00171 
+00172       msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+00173       msg.len = (UNS8)0x01;
+00174       msg.rtr = 0;
+00175       msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
+00176       /* send the heartbeat */
+00177       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
+00178       canSend(d->canHandle,&msg );
 00179 
 00180     }else{
-00181       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
+00181       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
 00182     }
 00183 }
 00184 
-00194 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+00194 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
 00195 {
-00196   heartbeatStop(d);
-00197   heartbeatInit(d);
+00196   heartbeatStop(d);
+00197   heartbeatInit(d);
 00198   return 0;
 00199 }
 00200 
-00206 void heartbeatInit(CO_Data* d)
+00206 void heartbeatInit(CO_Data* d)
 00207 {
 00208 
-00209   UNS8 index; 
-00210   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
+00209   UNS8 index; /* Index to scan the table of heartbeat consumers */
+00210   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
 00211 
-00212   d->toggle = 0;
+00212   d->toggle = 0;
 00213 
-00214   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+00214   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
 00215     {
-00216       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+00216       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+00217       /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
 00218       if ( time )
 00219         {
-00220           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+00220           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
 00221         }
 00222     }
 00223 
-00224   if ( *d->ProducerHeartBeatTime )
+00224   if ( *d->ProducerHeartBeatTime )
 00225     {
-00226       TIMEVAL time = *d->ProducerHeartBeatTime;
-00227       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+00226       TIMEVAL time = *d->ProducerHeartBeatTime;
+00227       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
 00228     }
 00229 }
 00230 
-00236 void heartbeatStop(CO_Data* d)
+00236 void heartbeatStop(CO_Data* d)
 00237 {
-00238   UNS8 index;
-00239   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+00238   UNS8 index;
+00239   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
 00240     {
-00241       d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
+00241       d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
 00242     }
 00243 
-00244   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
+00244   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
 00245 }
 00246 
-00252 void _heartbeatError(UNS8 heartbeatID){}
-
Generated on Tue Jun 5 18:32:05 2007 for CanFestival by 
+00252 void _heartbeatError(UNS8 heartbeatID){}
+