src/dcf.c

   1 /*
   2   This file is part of CanFestival, a library implementing CanOpen
   3   Stack.
   4
   5   Copyright (C): Edouard TISSERANT and Francis DUPIN
   6
   7   See COPYING file for copyrights details.
   8
   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.
  13
  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.
  18
  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
  22   USA
  23 */
  24
  25
  26 /**
  27 ** @file   dcf.c
  28 ** @author Edouard TISSERANT and Francis DUPIN
  29 ** @date   Mon Jun  4 17:06:12 2007
  30 **
  31 ** @brief EXEMPLE OF SOMMARY
  32 **
  33 **
  34 */
  35
  36
  37 #include "objacces.h"
  38 #include "sdo.h"
  39 #include "dcf.h"
  40 #include "sysdep.h"
  41
  42 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
  43                                UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
  44
  45
  46 static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
  47
  48 /**
  49 **
  50 **
  51 ** @param d
  52 ** @param nodeId
  53 */
  54 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
  55 {
  56   UNS32 abortCode;
  57
  58   if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
  59     {
  60       MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
  61       MSG_WAR(0x2A02, "server node : ", nodeId);
  62     }
  63
  64   closeSDOtransfer(d, nodeId, SDO_CLIENT);
  65   send_consise_dcf_loop(d,nodeId);
  66 }
  67
  68
  69 /**
  70 **
  71 **
  72 ** @param d
  73 ** @param nodeId
  74 **
  75 ** @return
  76 */
  77 UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
  78 {
  79   /* Fetch DCF OD entry, if not already done */
  80   if(!d->dcf_odentry)
  81   {
  82     UNS32 errorCode;
  83     ODCallback_t *Callback;
  84     d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
  85     /* If DCF entry do not exist... Nothing to do.*/
  86     if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
  87   }
  88
  89   UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
  90   /* if the entry for the nodeId is not empty. */
  91   if(szData!=0){
  92         /* if the entry for the nodeId is already been processing, quit.*/
  93         if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
  94
  95         d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
  96         d->dcf_request++;
  97         if(d->dcf_request==1)
  98                 send_consise_dcf_loop(d,nodeId);
  99         return 1;
 100   }
 101
 102   DCF_finish:
 103   return 0;
 104 }
 105
 106 static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
 107 {
 108   /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
 109   //while (nodeId < d->dcf_odentry->bSubCount){
 110   while (d->dcf_request>0){
 111         if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){
 112                 UNS32 nb_entries;
 113                 UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
 114                 UNS8* dcfend;
 115
 116                 {
 117                         UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
 118                         dcfend = dcf + szData;
 119                         if (!d->dcf_cursor){
 120                         d->dcf_cursor = (UNS8*)dcf + 4;
 121                         d->dcf_entries_count = 0;
 122                         }
 123                         nb_entries = UNS32_LE(*((UNS32*)dcf));
 124                 }
 125
 126         /* condition on consise DCF string for NodeID, if big enough */
 127         if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
 128
 129                 UNS16 target_Index;
 130                 UNS8 target_Subindex;
 131                 UNS32 target_Size;
 132
 133                 /* pointer to the DCF string for NodeID */
 134                 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
 135                 target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
 136                 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
 137
 138             _writeNetworkDict(d, /* CO_Data* d*/
 139                                 nodeId, /* UNS8 nodeId*/
 140                                 target_Index, /* UNS16 index*/
 141                                 target_Subindex, /* UNS8 subindex*/
 142                                 target_Size, /* UNS8 count*/
 143                                 0, /* UNS8 dataType*/
 144                                 d->dcf_cursor,/* void *data*/
 145                                 CheckSDOAndContinue,/* SDOCallback_t
 146                                                       Callback*/
 147                                 0); /* no endianize*/
 148                 /* Push d->dcf_cursor to the end of data*/
 149
 150                 d->dcf_cursor += target_Size;
 151                 d->dcf_entries_count++;
 152
 153                 /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
 154                 return;
 155         }
 156         else
 157         {
 158                 /* We have finished with the dcf entry. Change the flag, decrement the request
 159                  *  and execute the bootup callback. */
 160                 d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
 161                 d->dcf_request--;
 162                 (*d->post_SlaveBootup)(nodeId);
 163         }
 164         }
 165         else
 166         {
 167                 /* Check the next element*/
 168                 //nodeId++;
 169                 nodeId=(nodeId+1) % d->dcf_odentry->bSubCount;
 170                 if(nodeId==d->dcf_odentry->bSubCount)nodeId=1;
 171                 d->dcf_cursor = NULL;
 172         }
 173   }
 174
 175   //DCF_finish:
 176   /*  Switch Master to preOperational state */
 177
 178   //(*d->preOperational)();
 179 }