License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/*!
+** @file states.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date Tue Jun 5 09:32:32 2007
+**
+** @brief
+**
+**
+*/
#include "states.h"
#include "def.h"
-
+#include "dcf.h"
#include "nmtSlave.h"
-#ifdef LED_ENABLE
-#include "led.h"
-#else
-#define led_set_state(a,b)
-#endif
-
-// Prototypes for internals functions
+/** Prototypes for internals functions */
+/*!
+**
+**
+** @param d
+** @param newCommunicationState
+**/
void switchCommunicationState(CO_Data* d,
s_state_communication *newCommunicationState);
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+**
+** @return
+**/
e_nodeState getState(CO_Data* d)
{
return d->nodeState;
}
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+** @param m
+**/
void canDispatch(CO_Data* d, Message *m)
{
switch(m->cob_id.w >> 7)
if(d->CurrentCommunicationState.csSYNC)
proceedSYNC(d,m);
break;
- //case TIME_STAMP:
+ /* case TIME_STAMP: */
case PDO1tx:
case PDO1rx:
case PDO2tx:
proceedNODE_GUARD(d,m);
break;
case NMT:
- if (d->iam_a_slave)
+ if (*(d->iam_a_slave))
{
proceedNMTstateChange(d,m);
}
-#ifdef CANOPEN_LSS_ENABLE
- default:
- if (m->cob_id.w == 0x7E4 || m->cob_id.w == 0x705)
- {
- proceedLSS(d,m);
- }
-#endif
}
}
#define StartOrStop(CommType, FuncStart, FuncStop) \
if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\
- MSG_ERR(0x9999,#FuncStart, 9999);\
+ MSG_WAR(0x9999,#FuncStart, 9999);\
d->CurrentCommunicationState.CommType = 1;\
FuncStart;\
}else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\
- MSG_ERR(0x9999,#FuncStop, 9999);\
+ MSG_WAR(0x9999,#FuncStop, 9999);\
d->CurrentCommunicationState.CommType = 0;\
FuncStop;\
}
#define None
-
-/*****************************************************************************/
+
+/*!
+**
+**
+** @param d
+** @param newCommunicationState
+**/
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, None, None)
+/* StartOrStop(Emergency,,) */
+ StartOrStop(csPDO, PDOInit(d), PDOStop(d))
StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
}
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+** @param newState
+**
+** @return
+**/
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 = {
- csBoot_Up: 1,
- csSDO: 0,
- csEmergency: 0,
- csSYNC: 0,
- csHeartbeat: 0,
- csPDO: 0};
- // This will force a second loop for the state switch
+ 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.
+ /* call user app related state func. */
(*d->initialisation)();
+
}
break;
case Pre_operational:
{
- s_state_communication newCommunicationState = {
- csBoot_Up: 0,
- csSDO: 1,
- csEmergency: 1,
- csSYNC: 1,
- csHeartbeat: 1,
- csPDO: 0};
+
+ s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0};
d->nodeState = Pre_operational;
newState = Pre_operational;
switchCommunicationState(d, &newCommunicationState);
- (*d->preOperational)();
+ 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 = {
- csBoot_Up: 0,
- csSDO: 1,
- csEmergency: 1,
- csSYNC: 1,
- csHeartbeat: 1,
- csPDO: 1};
+ s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1};
d->nodeState = Operational;
newState = Operational;
switchCommunicationState(d, &newCommunicationState);
case Stopped:
if(d->nodeState == Initialisation) return 0xFF;
{
- s_state_communication newCommunicationState = {
- csBoot_Up: 0,
- csSDO: 0,
- csEmergency: 0,
- csSYNC: 0,
- csHeartbeat: 1,
- csPDO: 0};
+ s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0};
d->nodeState = Stopped;
newState = Stopped;
switchCommunicationState(d, &newCommunicationState);
default:
return 0xFF;
- }//end switch case
-
- led_set_state(d, newState);
+ }/* end switch case */
+
}
return 0;
}
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+**
+** @return
+**/
UNS8 getNodeId(CO_Data* d)
{
return *d->bDeviceNodeId;
}
-/*****************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+**/
void setNodeId(CO_Data* d, UNS8 nodeId)
{
UNS16 offset = d->firstIndex->SDO_SVR;
if(offset){
- //cob_id_client = 0x600 + nodeId;
+ /* cob_id_client = 0x600 + nodeId; */
*(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
- //cob_id_server = 0x580 + 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;
+ /* 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
+ /*
+ 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)
+ //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
+ /* ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803 */
{
UNS8 i = 0;
UNS16 offset = d->firstIndex->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)
+ //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.
+ /* bDeviceNodeId is defined in the object dictionary. */
*d->bDeviceNodeId = nodeId;
}
+
+void _initialisation(){}
+void _preOperational(){}
+void _operational(){}
+void _stopped(){}
projects / CanFestival-3.git / blobdiff