states.c

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
#include "states.h"
#include "def.h"
#include "dcf.h"
#include "nmtSlave.h"

void switchCommunicationState(CO_Data* d, 
        s_state_communication *newCommunicationState);
        
e_nodeState getState(CO_Data* d)
{
  return d->nodeState;
}

void canDispatch(CO_Data* d, Message *m)
{
         switch(m->cob_id.w >> 7)
        {
                case SYNC:
                        if(d->CurrentCommunicationState.csSYNC)
                                proceedSYNC(d,m);
                        break;
                /* case TIME_STAMP: */
                case PDO1tx:
                case PDO1rx:
                case PDO2tx:
                case PDO2rx:
                case PDO3tx:
                case PDO3rx:
                case PDO4tx:
                case PDO4rx:
                        if (d->CurrentCommunicationState.csPDO)
                                proceedPDO(d,m);
                        break;
                case SDOtx:
                case SDOrx:
                        if (d->CurrentCommunicationState.csSDO)
                                proceedSDO(d,m);
                        break;
                case NODE_GUARD:
                        if (d->CurrentCommunicationState.csHeartbeat)
                                proceedNODE_GUARD(d,m);
                        break;
                case NMT:
                        if (*(d->iam_a_slave))
                        {
                                proceedNMTstateChange(d,m);
                        }
        }
}

#define StartOrStop(CommType, FuncStart, FuncStop) \
        if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\
                MSG_WAR(0x9999,#FuncStart, 9999);\
                d->CurrentCommunicationState.CommType = 1;\
                FuncStart;\
        }else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\
                MSG_WAR(0x9999,#FuncStop, 9999);\
                d->CurrentCommunicationState.CommType = 0;\
                FuncStop;\
        }
#define None

void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
{
        StartOrStop(csSDO,      None,           resetSDO(d))
        StartOrStop(csSYNC,     startSYNC(d),           stopSYNC(d))
        StartOrStop(csHeartbeat,        heartbeatInit(d),       heartbeatStop(d))
/*      StartOrStop(Emergency,,) */
        StartOrStop(csPDO,      PDOInit(d),     PDOStop(d))
        StartOrStop(csBoot_Up,  None,   slaveSendBootUp(d))
}

UNS8 setState(CO_Data* d, e_nodeState newState)
{
        UNS16 wIndex = 0x1F22;
        const indextable *ptrTable;
        ODCallback_t *Callback;
        UNS32 errorCode;
        while(newState != d->nodeState){
                switch( newState ){
                        case Initialisation:
                        {
                                s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0};
                                /* This will force a second loop for the state switch */
                                d->nodeState = Initialisation;
                                newState = Pre_operational;
                                switchCommunicationState(d, &newCommunicationState);
                                /* call user app related state func. */
                                (*d->initialisation)();
                                
                        }
                        break;
                                                                
                        case Pre_operational:
                        {
                                
                                s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
                                d->nodeState = Pre_operational;
                                newState = Pre_operational;
                                switchCommunicationState(d, &newCommunicationState);
                                if (!(*(d->iam_a_slave)))
                                {
                                        ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
                                        
                                        if (errorCode != OD_SUCCESSFUL)
                                                {
                                                        (*d->preOperational)();
                                                }
                                        else
                                                {
                                                        UNS32 res;
                                                        res = decompo_dcf(d,0x01);
                                                }                               
                                }
                                else 
                                {
                                        (*d->preOperational)();
                                }
                        }
                        break;
                                                                
                        case Operational:
                        if(d->nodeState == Initialisation) return 0xFF;
                        {
                                s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
                                d->nodeState = Operational;
                                newState = Operational;
                                switchCommunicationState(d, &newCommunicationState);
                                (*d->operational)();
                        }
                        break;
                                                
                        case Stopped:
                        if(d->nodeState == Initialisation) return 0xFF;
                        {
                                s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
                                d->nodeState = Stopped;
                                newState = Stopped;
                                switchCommunicationState(d, &newCommunicationState);
                                (*d->stopped)();
                        }
                        break;
                        
                        default:
                                return 0xFF;
                }/* end switch case */
        
        }
        return 0;
}

UNS8 getNodeId(CO_Data* d)
{
  return *d->bDeviceNodeId;
}

void setNodeId(CO_Data* d, UNS8 nodeId)
{
  UNS16 offset = d->firstIndex->SDO_SVR;
  if(offset){
      /* cob_id_client = 0x600 + nodeId; */
      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
      /* cob_id_server = 0x580 + nodeId; */
      *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
      /* node Id client. As we do not know the value, we put the node Id Server */
      /* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */
  }

  /* 
        Initialize the server(s) SDO parameters
        Remember that only one SDO server is allowed, defined at index 0x1200   
                
        Initialize the client(s) SDO parameters         
        Nothing to initialize (no default values required by the DS 401)        
        Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403 
  */
  {
    UNS8 i = 0;
    UNS16 offset = d->firstIndex->PDO_RCV;
    UNS16 lastIndex = d->lastIndex->PDO_RCV;
    UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
    if( offset ) while( (offset <= lastIndex) && (i < 4)) {
      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
              *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
      i ++;
      offset ++;
    }
  }
  /* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */
  {
    UNS8 i = 0;
    UNS16 offset = d->firstIndex->PDO_TRS;
    UNS16 lastIndex = d->lastIndex->PDO_TRS;
    UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
    i = 0;
    if( offset ) while ((offset <= lastIndex) && (i < 4)) {
      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
              *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
      i ++;
      offset ++;
    }
  }
  /* bDeviceNodeId is defined in the object dictionary. */
  *d->bDeviceNodeId = nodeId;
}

void _initialisation(){}
void _preOperational(){}
void _operational(){}
void _stopped(){}

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