--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/.cproject Mon Dec 03 11:30:38 2007 +0100
@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject>
+<storageModule moduleId="org.eclipse.cdt.core.settings">
+<cconfiguration id="converted.config.1524392451">
+<storageModule moduleId="scannerConfiguration">
+<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
+<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+<buildOutputProvider>
+<openAction enabled="true" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="specsFile">
+<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+<parser enabled="true"/>
+</scannerInfoProvider>
+</profile>
+<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+<buildOutputProvider>
+<openAction enabled="false" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="makefileGenerator">
+<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
+<parser enabled="false"/>
+</scannerInfoProvider>
+</profile>
+<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
+<buildOutputProvider>
+<openAction enabled="false" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="specsFile">
+<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+<parser enabled="false"/>
+</scannerInfoProvider>
+</profile>
+<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
+<buildOutputProvider>
+<openAction enabled="false" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="specsFile">
+<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+<parser enabled="false"/>
+</scannerInfoProvider>
+</profile>
+</storageModule>
+<storageModule moduleId="org.eclipse.cdt.core.pathentry">
+<pathentry kind="src" path=""/>
+<pathentry kind="out" path=""/>
+<pathentry kind="con" path="org.eclipse.cdt.make.core.DISCOVERED_SCANNER_INFO"/>
+</storageModule>
+<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+<buildTargets>
+<target name="all" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments/>
+<buildTarget>all</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+</target>
+<target name="clean" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments/>
+<buildTarget>clean</buildTarget>
+<stopOnError>false</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+</target>
+</buildTargets>
+</storageModule>
+<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="converted.config.1524392451" moduleId="org.eclipse.cdt.core.settings" name="convertedConfig">
+<externalSettings/>
+<extensions>
+<extension id="org.eclipse.cdt.core.domsourceindexer" point="org.eclipse.cdt.core.CIndexer"/>
+<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+</extensions>
+</storageModule>
+</cconfiguration>
+</storageModule>
+</cproject>
--- a/include/data.h Thu Nov 29 11:58:02 2007 +0100
+++ b/include/data.h Mon Dec 03 11:30:38 2007 +0100
@@ -93,8 +93,9 @@
storeODSubIndex_t storeODSubIndex;
/* DCF concise */
+ indextable* dcf_odentry;
UNS8* dcf_cursor;
- UNS32 dcf_count_targets;
+ UNS32 dcf_entries_count;
/* EMCY */
e_errorState error_state;
@@ -191,8 +192,10 @@
NULL, /* canSend */\
NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\
_storeODSubIndex, /* storeODSubIndex */\
+ /* DCF concise */\
+ NULL, /*dcf_odentry*/\
NULL, /*dcf_cursor*/\
- 1, /*dcf_count_targets*/\
+ 1, /*dcf_entries_count*/\
\
/* EMCY */\
Error_free, /* error_state */\
--- a/include/dcf.h Thu Nov 29 11:58:02 2007 +0100
+++ b/include/dcf.h Mon Dec 03 11:30:38 2007 +0100
@@ -21,4 +21,4 @@
*/
-UNS32 decompo_dcf(CO_Data* d, UNS8 nodeId);
+void send_consise_dcf(CO_Data* d, UNS8 nodeId);
--- a/include/def.h Thu Nov 29 11:58:02 2007 +0100
+++ b/include/def.h Mon Dec 03 11:30:38 2007 +0100
@@ -60,9 +60,12 @@
/* Should not be modified */
#define Rx 0
#define Tx 1
+#ifndef TRUE
#define TRUE 1
+#endif
+#ifndef FALSE
#define FALSE 0
-
+#endif
/** Status of the SDO transmission
*/
--- a/src/dcf.c Thu Nov 29 11:58:02 2007 +0100
+++ b/src/dcf.c Mon Dec 03 11:30:38 2007 +0100
@@ -42,7 +42,6 @@
extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
-const indextable *ptrTable;
/**
**
@@ -61,7 +60,7 @@
}
closeSDOtransfer(d, nodeId, SDO_CLIENT);
- decompo_dcf(d,nodeId);
+ send_consise_dcf(d,nodeId);
}
/**
@@ -72,49 +71,48 @@
**
** @return
*/
-UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
+void send_consise_dcf(CO_Data* d,UNS8 nodeId)
{
- UNS32 errorCode;
- UNS16 target_Index;
- UNS8 target_Subindex;
- UNS32 target_Size;
- UNS32 res;
- ODCallback_t *Callback;
+ /* Fetch DCF OD entry, if not already done */
+ if(!d->dcf_odentry)
+ {
+ UNS32 errorCode;
+ ODCallback_t *Callback;
+ d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
+ /* If DCF entry do not exist... Nothing to do.*/
+ if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
+ }
- ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
- if (errorCode != OD_SUCCESSFUL)
- {
- return errorCode;
- }
+ /* Loop on all DCF subindexes, corresponding to nodes ID */
+ while (nodeId < d->dcf_odentry->bSubCount){
+ UNS32 nb_entries;
- /* Loop on all Nodes supported in DCF subindexes*/
- while (nodeId < ptrTable->bSubCount){
- UNS32 nb_targets;
-
- UNS8 szData = ptrTable->pSubindex[nodeId].size;
+ UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
UNS8* dcfend;
{
- UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
+ UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
dcfend = dcf + szData;
if (!d->dcf_cursor){
d->dcf_cursor = (UNS8*)dcf + 4;
- d->dcf_count_targets = 0;
+ d->dcf_entries_count = 0;
}
- nb_targets = UNS32_LE(*((UNS32*)dcf));
+ nb_entries = UNS32_LE(*((UNS32*)dcf));
}
/* condition on consise DCF string for NodeID, if big enough */
- if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
+ if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries)
{
+ UNS16 target_Index;
+ UNS8 target_Subindex;
+ UNS32 target_Size;
+
/* pointer to the DCF string for NodeID */
target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
- /* printf("Master : ConfigureSlaveNode %2.2x (Concise
- DCF)\n",nodeId);*/
- res = _writeNetworkDict(d, /* CO_Data* d*/
+ _writeNetworkDict(d, /* CO_Data* d*/
nodeId, /* UNS8 nodeId*/
target_Index, /* UNS16 index*/
target_Subindex, /* UNS8 subindex*/
@@ -127,14 +125,15 @@
/* Push d->dcf_cursor to the end of data*/
d->dcf_cursor += target_Size;
- d->dcf_count_targets++;
+ d->dcf_entries_count++;
- return ;
+ /* send_consise_dcf will be called by CheckSDOAndContinue for next DCF entry*/
+ return;
}
nodeId++;
d->dcf_cursor = NULL;
}
+ DCF_finish:
/* Switch Master to preOperational state */
(*d->preOperational)();
-
}
--- a/src/pdo.c Thu Nov 29 11:58:02 2007 +0100
+++ b/src/pdo.c Mon Dec 03 11:30:38 2007 +0100
@@ -146,7 +146,6 @@
{
UNS8 numPdo;
UNS8 numMap; /* Number of the mapped varable */
- UNS8 i;
UNS8 * pMappingCount = NULL; /* count of mapped objects... */
/* pointer to the var which is mapped to a pdo... */
/* void * pMappedAppObject = NULL; */
@@ -157,7 +156,6 @@
type */
UNS32 * pwCobId = NULL;
UNS8 Size;
- UNS8 dataType;
UNS8 offset;
UNS8 status;
UNS32 objDict;
@@ -605,7 +603,6 @@
case 3: /* Changed inhibit time */
case 5: /* Changed event time */
{
- UNS8 pTransmissionType = *(UNS8*) OD_entry->pSubindex[2].pObject;
const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
--- a/src/states.c Thu Nov 29 11:58:02 2007 +0100
+++ b/src/states.c Mon Dec 03 11:30:38 2007 +0100
@@ -143,10 +143,6 @@
**/
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:
@@ -171,17 +167,8 @@
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);
- }
+ send_consise_dcf(d,0x01);
+ /*(*d->preOperational)() will be called once dcf sent */
}
else
{
--- a/src/win32/CanFestival-3.def Thu Nov 29 11:58:02 2007 +0100
+++ b/src/win32/CanFestival-3.def Mon Dec 03 11:30:38 2007 +0100
@@ -25,8 +25,8 @@
EXPORTS
- ; dsf.h
- decompo_dcf
+ ; dcf.h
+ send_consise_dcf
; lifegrd.h
_heartbeatError