2 This file is part of CanFestival, a library implementing CanOpen
5 Copyright (C): Edouard TISSERANT and Francis DUPIN
7 See COPYING file for copyrights details.
9 This library is free software; you can redistribute it and/or
10 modify it under the terms of the GNU Lesser General Public
11 License as published by the Free Software Foundation; either
12 version 2.1 of the License, or (at your option) any later version.
14 This library is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 Lesser General Public License for more details.
19 You should have received a copy of the GNU Lesser General Public
20 License along with this library; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
27 ** @author Edouard TISSERANT
28 ** @date Mon Jun 4 17:19:24 2007
37 #include "canfestival.h"
41 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
44 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
46 UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
56 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
58 e_nodeState networkNodeState = d->NMTable[nodeId];
59 return networkNodeState;
63 ** The Consumer Timer Callback
68 void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
70 /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
72 /* timer have been notified and is now free (non periodic)*/
73 /* -> avoid deleting re-assigned timer if message is received too late*/
74 d->ConsumerHeartBeatTimers[id]=TIMER_NONE;
75 /*! call heartbeat error with NodeId */
76 (*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
85 void proceedNODE_GUARD(CO_Data* d, Message* m )
87 UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
91 ** Notice that only the master can have sent this
92 ** node guarding request
96 ** Receiving a NMT NodeGuarding (request of the state by the
98 ** Only answer to the NMT NodeGuarding request, the master is
99 ** not checked (not implemented)
101 if (nodeId == *d->bDeviceNodeId )
104 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
105 msg.len = (UNS8)0x01;
107 msg.data[0] = d->nodeState;
110 msg.data[0] |= 0x80 ;
115 /* send the nodeguard response. */
116 MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
117 canSend(d->canHandle,&msg );
120 }else{ /* Not a request CAN */
122 MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
123 /* the slave's state receievd is stored in the NMTable */
124 /* The state is stored on 7 bit */
125 d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
127 /* Boot-Up frame reception */
128 if ( d->NMTable[nodeId] == Initialisation)
131 ** The device send the boot-up message (Initialisation)
132 ** to indicate the master that it is entered in
133 ** pre_operational mode
134 ** Because the device enter automaticaly in pre_operational
136 ** the pre_operational mode is stored
137 ** NMTable[bus_id][nodeId] = Pre_operational
139 MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
141 if(!send_consise_dcf(d,nodeId)){
142 /* call post SlaveBootup with NodeId */
143 (*d->post_SlaveBootup)(nodeId);
147 if( d->NMTable[nodeId] != Unknown_state ) {
148 UNS8 index, ConsummerHeartBeat_nodeId ;
149 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
151 ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
152 if ( nodeId == ConsummerHeartBeat_nodeId )
154 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
155 /* Renew alarm for next heartbeat. */
156 DelAlarm(d->ConsumerHeartBeatTimers[index]);
157 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
164 /*! The Consumer Timer Callback
170 void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
172 if(*d->ProducerHeartBeatTime)
175 /* Time expired, the heartbeat must be sent immediately
176 ** generate the correct node-id: this is done by the offset 1792
177 ** (decimal) and additionaly
178 ** the node-id of this device.
181 msg.cob_id.w = *d->bDeviceNodeId + 0x700;
182 msg.len = (UNS8)0x01;
184 msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
185 /* send the heartbeat */
186 MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
187 canSend(d->canHandle,&msg );
190 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
194 /*! This is called when Index 0x1017 is updated.
198 ** @param unsused_indextable
199 ** @param unsused_bSubindex
203 UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
215 void heartbeatInit(CO_Data* d)
218 UNS8 index; /* Index to scan the table of heartbeat consumers */
219 RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
223 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
225 TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
226 /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
229 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
233 if ( *d->ProducerHeartBeatTime )
235 TIMEVAL time = *d->ProducerHeartBeatTime;
236 d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
245 void heartbeatStop(CO_Data* d)
248 for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
250 d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
253 d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
259 ** @param heartbeatID
261 void _heartbeatError(UNS8 heartbeatID){}
262 void _post_SlaveBootup(UNS8 SlaveID){}