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

00001 /*
+
+src
+sync.c
Go to the documentation of this file.00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
@@ -37,213 +41,222 @@
 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 00021 */
 00022 
-00033 #include "data.h"
-00034 #include "sync.h"
-00035 #include "canfestival.h"
+00033 #include "data.h"
+00034 #include "sync.h"
+00035 #include "canfestival.h"
 00036 
 00037 /* Prototypes for internals functions */
 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);
+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 
-00055 void SyncAlarm(CO_Data* d, UNS32 id)
+00055 void SyncAlarm(CO_Data* d, UNS32 id)
 00056 {
-00057         sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
+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)
+00069 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
 00070 {
-00071         startSYNC(d);
+00071         startSYNC(d);
 00072         return 0;
 00073 }
 00074 
-00080 void startSYNC(CO_Data* d)
+00080 void startSYNC(CO_Data* d)
 00081 {
-00082         RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
-00083         RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
+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);
+00085         if(d->syncTimer != TIMER_NONE){
+00086                 stopSYNC(d);
 00087         }
 00088         
-00089         if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
+00089         if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
 00090         {
-00091                 d->syncTimer = SetAlarm(
-00092                                 d,
+00091                 d->syncTimer = SetAlarm(
+00092                                 d,
 00093                                 0 /*No id needed*/,
 00094                                 &SyncAlarm,
-00095                                 US_TO_TIMEVAL(*d->Sync_Cycle_Period), 
-00096                                 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
+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)
+00105 void stopSYNC(CO_Data* d)
 00106 {
-00107         d->syncTimer = DelAlarm(d->syncTimer);
+00107         d->syncTimer = DelAlarm(d->syncTimer);
 00108 }
 00109 
-00118 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
+00118 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
 00119 {
-00120   Message m;
-00121   UNS8 resultat ;
+00120   Message m;
+00121   UNS8 resultat ;
 00122   
-00123   MSG_WAR(0x3001, "sendSYNC ", 0);
+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) ; 
+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)
+00141 UNS8 proceedSYNC(CO_Data* d, Message *m)
 00142 {
 00143 
-00144   UNS8  pdoNum,       /* number of the actual processed pdo-nr. */
+00144   UNS8  pdoNum,       /* number of the actual processed pdo-nr. */
 00145         prp_j;
 00146 
-00147   const UNS8 *     pMappingCount = NULL;      /* count of mapped objects...*/
+00147   const UNS8 *     pMappingCount = NULL;      /* count of mapped objects...*/
+00148   /* pointer to the var which is mapped to a pdo */
 00149   /* void *     pMappedAppObject = NULL; */
-00151   UNS32 *    pMappingParameter = NULL;  
-00153   UNS8 *     pTransmissionType = NULL;  
-00154   UNS32 *    pwCobId = NULL;    
+00150   /* pointer fo the var which holds the mapping parameter of an mapping entry  */
+00151   UNS32 *    pMappingParameter = NULL;  
+00152   /* pointer to the transmissiontype...*/
+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;
+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;
+00167   status = state3;
 00168   pdoNum = 0x00;
 00169   prp_j = 0x00;
 00170   offset = 0x00;
 00171   
-00172   MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
+00172   MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
 00173   
-00174   (*d->post_sync)();
+00174   (*d->post_sync)();
 00175 
-00177   if( d->nodeState != Operational ) 
+00176   /* only operational state allows PDO transmission */
+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;
+00180   /* So, the node is in operational state */
+00181   /* study all PDO stored in the objects dictionary */  
+00182  
+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);
+00190     case state3:    /* get the PDO transmission type */
+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; 
+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;
+00199     case state4:        /* check if transmission type is after (this) SYNC */
+00200                         /* The message may not be transmited every SYNC but every n SYNC */      
+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 : ", 
+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;
+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;
+00217     case state5:        /* get PDO CobId */
+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;
+00222     case state7:  /* get mapped objects number to transmit with this PDO */
+00223       pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
+00224         MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
+00225         status = state8;
+00226     case state8:        /* get mapping parameters */
+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:        
+00233     case state9:        /* get data to transmit */ 
 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); /* Size in bits */
+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); /* Size in bits */
 00240           ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
-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);
+00241           objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
+00242           /* copy bit per bit in little endian*/
+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));
+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);
+00251         d->process_var.count = 1 + ((offset - 1) >> 3);
 00252         prp_j++;
-00253         status = state10;        
+00253         status = state10;        
 00254         break;                                  
 00255       
-00256     case state10:       
+00256     case state10:       /* loop to get all the data to transmit */
 00257       if( prp_j < *pMappingCount ){
-00258         MSG_WAR(0x3014, "  next variable mapped : ", prp_j);
-00259         status = state8;
+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);
+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;
+00271         status = state11;
 00272         break;
 00273       }
 00274       
-00275     case state11:     
-00276       MSG_WAR(0x3017, "next pdo index : ", pdoNum);
-00277       status = state3;
+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);
+00281       MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
 00282       return 0xFF;
 00283     }/* end switch case */
 00284     
 00285   }/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */
 00286    
-00287   (*d->post_TPDO)();
+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 
+00293 void _post_sync(){}
+00294 void _post_TPDO(){}
+