**
**
*/
-#include "objacces.h"
-#include "sdo.h"
-#include "dcf.h"
-#include "sysdep.h"
-/**
-**
-**
-** @param d fuck fuck fuck
-** @param nodeId
-** @param index
-** @param subIndex
-** @param count
-** @param dataType
-** @param data
-** @param Callback
-** @param endianize
-*/
+#include "data.h"
+#include "sysdep.h"
+
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;
+
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
+
+/* Seek to next NodeID's DCF */
+#define SEEK_NEXT_DCF() \
+ nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \
+ if(nodeId==0) nodeId=1; \
+ d->dcf_cursor = NULL;
/**
**
*/
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
{
- UNS32 abortCode;
+ UNS32 abortCode = 0;
if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
{
}
closeSDOtransfer(d, nodeId, SDO_CLIENT);
- decompo_dcf(d,nodeId);
+ /* Timedout ? */
+ if(abortCode == SDOABT_TIMED_OUT){
+ /* Node may not be ready, try another one */
+ /* Warning, this might leed to endless attempts */
+ /* if node does never answer */
+ SEEK_NEXT_DCF()
+ }
+ send_consise_dcf_loop(d,nodeId);
}
+
/**
**
**
**
** @return
*/
-UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
+UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
{
- UNS32 errorCode;
- UNS16 target_Index;
- UNS8 target_Subindex;
- UNS32 target_Size;
- UNS32 res;
- ODCallback_t *Callback;
-
- ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
- if (errorCode != OD_SUCCESSFUL)
- {
- return errorCode;
- }
-
- /** Loop on all Nodes supported in DCF subindexes*/
- while (nodeId < ptrTable->bSubCount){
- UNS32 nb_targets;
-
- UNS8 szData = ptrTable->pSubindex[nodeId].size;
- UNS8* dcfend;
+ UNS8 szData;
+ /* 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;
+ }
- {
- UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
- dcfend = dcf + szData;
- if (!d->dcf_cursor){
- d->dcf_cursor = (UNS8*)dcf + 4;
- d->dcf_count_targets = 0;
- }
- nb_targets = UNS32_LE(*((UNS32*)dcf));
- }
+ szData = d->dcf_odentry->pSubindex[nodeId].size;
+
+ /* if the entry for the nodeId is not empty. */
+ if(szData!=0){
+ /* if the entry for the nodeId is already been processing, quit.*/
+ if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
+
+ d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
+ d->dcf_request++;
+ if(d->dcf_request==1)
+ send_consise_dcf_loop(d,nodeId);
+ return 1;
+ }
+
+ DCF_finish:
+ return 0;
+}
- /** condition on consise DCF string for NodeID, if big enough */
- if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
- {
- /** 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*/
- nodeId, /** UNS8 nodeId*/
- target_Index, /** UNS16 index*/
- target_Subindex, /** UNS8 subindex*/
- target_Size, /** UNS8 count*/
- 0, /** UNS8 dataType*/
- d->dcf_cursor,/** void *data*/
- CheckSDOAndContinue,/** SDOCallback_t
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
+{
+ /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
+ //while (nodeId < d->dcf_odentry->bSubCount){
+ while (d->dcf_request>0){
+ if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){
+ UNS8* dcfend;
+ UNS32 nb_entries;
+ UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
+
+ {
+ UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
+ dcfend = dcf + szData;
+ if (!d->dcf_cursor){
+ d->dcf_cursor = (UNS8*)dcf + 4;
+ d->dcf_entries_count = 0;
+ }
+ 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_entries_count < nb_entries){
+
+ UNS16 target_Index;
+ UNS8 target_Subindex;
+ UNS32 target_Size;
+
+ /* DCF data may not be 32/16b aligned,
+ * we cannot directly dereference d->dcf_cursor
+ * as UNS16 or UNS32
+ * Do it byte per byte taking care on endianess*/
+#ifdef CANOPEN_BIG_ENDIAN
+ target_Index = *(d->dcf_cursor++) << 8 |
+ *(d->dcf_cursor++);
+#else
+ memcpy(&target_Index, d->dcf_cursor,2);
+ d->dcf_cursor+=2;
+#endif
+
+ target_Subindex = *(d->dcf_cursor++);
+
+#ifdef CANOPEN_BIG_ENDIAN
+ target_Size = *(d->dcf_cursor++) << 24 |
+ *(d->dcf_cursor++) << 16 |
+ *(d->dcf_cursor++) << 8 |
+ *(d->dcf_cursor++);
+#else
+ memcpy(&target_Size, d->dcf_cursor,4);
+ d->dcf_cursor+=4;
+#endif
+
+ _writeNetworkDict(d, /* CO_Data* d*/
+ nodeId, /* UNS8 nodeId*/
+ target_Index, /* UNS16 index*/
+ target_Subindex, /* UNS8 subindex*/
+ target_Size, /* UNS8 count*/
+ 0, /* UNS8 dataType*/
+ d->dcf_cursor,/* void *data*/
+ CheckSDOAndContinue,/* SDOCallback_t
Callback*/
- 0); /** no endianize*/
- /** Push d->dcf_cursor to the end of data*/
-
- d->dcf_cursor += target_Size;
- d->dcf_count_targets++;
-
- return ;
- }
- nodeId++;
- d->dcf_cursor = NULL;
+ 0); /* no endianize*/
+ /* Push d->dcf_cursor to the end of data*/
+
+ d->dcf_cursor += target_Size;
+ d->dcf_entries_count++;
+
+ /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
+ return;
+ }
+ else
+ {
+ /* We have finished with the dcf entry. Change the flag, decrement the request
+ * and execute the bootup callback. */
+ d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
+ d->dcf_request--;
+ (*d->post_SlaveBootup)(d, nodeId);
+ }
+ }
+
+ SEEK_NEXT_DCF()
}
- /** Switch Master to preOperational state */
- (*d->preOperational)();
}
projects / CanFestival-3.git / blobdiff