src/dcf.c

   1 /*
   2 This file is part of CanFestival, a library implementing CanOpen Stack.
   3
   4 Copyright (C): Edouard TISSERANT and Francis DUPIN
   5
   6 See COPYING file for copyrights details.
   7
   8 This library is free software; you can redistribute it and/or
   9 modify it under the terms of the GNU Lesser General Public
  10 License as published by the Free Software Foundation; either
  11 version 2.1 of the License, or (at your option) any later version.
  12
  13 This library is distributed in the hope that it will be useful,
  14 but WITHOUT ANY WARRANTY; without even the implied warranty of
  15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  16 Lesser General Public License for more details.
  17
  18 You should have received a copy of the GNU Lesser General Public
  19 License along with this library; if not, write to the Free Software
  20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  21 */
  22
  23 #include "objacces.h"
  24 #include "sdo.h"
  25 #include "dcf.h"
  26
  27 const indextable *ptrTable;
  28
  29 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
  30 {
  31         UNS32 res;
  32         UNS8 line;
  33         UNS8 err;
  34         UNS16 Index;
  35         UNS8 SubIndex;
  36         UNS32 abortCode;
  37
  38         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
  39                 printf("Master : Failed in initializing slave %2.2x, AbortCode :%4.4x \n", nodeId, abortCode);
  40
  41         closeSDOtransfer(d, nodeId, SDO_CLIENT);
  42         res = decompo_dcf(d,nodeId);
  43 }
  44
  45 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
  46 {
  47                 UNS32 errorCode;
  48                 UNS16 target_Index;
  49                 UNS8 target_Subindex;
  50                 UNS32 target_Size;
  51                 void* target_data = NULL;
  52                 UNS32 res;
  53                 ODCallback_t *Callback;
  54
  55                 ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
  56                 if (errorCode != OD_SUCCESSFUL)
  57                 {
  58                 return errorCode;
  59                 }
  60
  61                 /*Loop on all Nodes supported in DCF subindexes*/
  62                 while (nodeId < ptrTable->bSubCount){
  63                         UNS32 nb_targets;
  64
  65                         UNS8 szData = ptrTable->pSubindex[nodeId].size;
  66                         void* dcfend;
  67
  68                         {
  69                                 void* dcf = *((void**)ptrTable->pSubindex[nodeId].pObject);
  70                                 dcfend = dcf + szData;
  71                                 if (!d->dcf_cursor)     {
  72                                         d->dcf_cursor = dcf + 4;
  73                                         d->dcf_count_targets = 0;
  74                                 }
  75         #ifdef CANOPEN_BIG_ENDIAN
  76                                 nb_targets = ((UNS8*)d->dcf++) | ((UNS8*)d->dcf++) << 8 | ((UNS8*)d->dcf++) << 16 | ((UNS8*)d->dcf++) << 24;
  77         #else
  78                                 nb_targets = *((UNS32*)dcf);
  79         #endif
  80                         }
  81
  82                         // condition on consise DCF string for NodeID, if big enough
  83                         if(d->dcf_cursor + 7 < dcfend && d->dcf_count_targets < nb_targets)
  84                         {
  85                                 // pointer to the DCF string for NodeID
  86         #ifdef CANOPEN_BIG_ENDIAN
  87                                 target_Index = ((UNS8*)d->dcf_cursor++) | ((UNS8*)d->dcf_cursor++) << 8;
  88                                 target_Subindex = ((UNS8*)d->dcf_cursor++);
  89                                 target_Size = ((UNS8*)d->dcf_cursor++) | ((UNS8*)d->dcf_cursor++) << 8 | ((UNS8*)d->dcf_cursor++) << 16 | ((UNS8*)d->dcf_cursor++) << 24;
  90         #else
  91                                 target_Index = *((UNS16*)(d->dcf_cursor)); d->dcf_cursor += 2;
  92                                 target_Subindex = *((UNS8*)(d->dcf_cursor++));
  93                                 target_Size = *((UNS32*)(d->dcf_cursor)); d->dcf_cursor += 4;
  94         #endif
  95
  96                                         printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);
  97                                         res = writeNetworkDictCallBack(d, /*CO_Data* d*/
  98                                                         nodeId, /*UNS8 nodeId*/
  99                                                         target_Index, /*UNS16 index*/
 100                                                         target_Subindex, /*UNS8 subindex*/
 101                                                         target_Size, /*UNS8 count*/
 102                                                         0, /*UNS8 dataType*/
 103                                                         d->dcf_cursor,/*void *data*/
 104                                                         CheckSDOAndContinue); /*SDOCallback_t Callback*/
 105                                         /*Push d->dcf_cursor to the end of data*/
 106
 107                                         d->dcf_cursor += target_Size;
 108                                         d->dcf_count_targets++;
 109
 110                                         return ;
 111                         }
 112                                 nodeId++;
 113                                 d->dcf_cursor = NULL;
 114                 }
 115                 /* Switch Master to preOperational state */
 116                 (*d->preOperational)();
 117
 118 }