/**-------------------------------------------------------------------------------------------
// sends a can message
// description:
// this operation send a canmessage (not CANopen!) to the pci-can board. therefore this
// operation has to fill the correct data (corresponding to the values wriiten in the
// gui) into the can-message struct.
//------------------------------------------------------------------------------------------*/
void CANFestivalGui::sendCan( )
{
Message m;
unsigned char data[8];
int ID;
if( ui->canCountOfByteActiv->isChecked( ) )
{ // the user has given a message length ( from 0 up to 8 bytes)
m.len = ui->canCountOfByte->text( ).toInt( );
}
else
{ // the length of the value is calculated automatically
m.len = getLength( canDataList );
}
// converts the data written in the gui to integer values (remember: the gui is able to
// handle hex, decimal and binary values
for( int i=0; i<m.len; i++ ) {
if( ui->canHexFormat->isChecked( ) ) {
data[i] = strtol( canDataList.at( i )->text( ).toStdString().c_str(), NULL, 16 );
} else if( ui->canBinFormat->isChecked( ) ) {
data[i] = strtol( canDataList.at( i )->text( ).toStdString().c_str(), NULL, 2 );
} else {
data[i] = canDataList.at( i )->text( ).toInt( );
}
}
// converts the can identifier into decimal data
if( ui->canHexFormat->isChecked( ) ) {
ID = strtol( ui->canIdentifier->text( ).toStdString().c_str(), NULL, 16 );
} else if( ui->canBinFormat->isChecked( ) ) {
ID = strtol( ui->canIdentifier->text( ).toStdString().c_str(), NULL, 2 );
} else {
ID = ui->canIdentifier->text( ).toInt( );
}
m.cob_id.w = ID;
// sets the RTR bit (retrieve bit)
if( ui->canRTR->isChecked( ) ) {
m.rtr = 0x01;
} else {
m.rtr = 0x00;
}
// copies the data into the can-message struct (could have be done directly...)
memcpy(&(m.data), &(data[0]), m.len);
// now send the data onto the bus
f_can_send( 0, &m );
}
UNS8 sendPDO(UNS8 bus_id, s_PDO *pdo, UNS8 req)
{
UNS8 i;
if( nodeState == Operational )
{
//Message m;
/* Message copy for sending */
//m.cob_id =
pdo->cob_id &= 0x7FF; // Because the cobId is 11 bytes length
if ( req == DONNEES )
{
// UNS8 i;
//m.rtr = DONNEES;
pdo->rtr= DONNEES;
// m.len = pdo->len;
// for (i = 0 ; i < pdo->len ; i++)
// m.data[i] = pdo->data[i];
}
else
{
//m.rtr = REQUETE;
//m.len = 0;
pdo->len = 0;
pdo->rtr = REQUETE;
}
MSG_WAR(0x3901, "sendPDO cobId :", pdo->cob_id);
MSG_WAR(0x3902, " Nb octets : ", pdo->len);
//for (i = 0 ; i < m.len ; i++)
//{
//MSG_WAR(0x3920," data : ", m->data[i]);
//}
return f_can_send(bus_id,pdo);
} // end if
return 0xFF;
}
/* Retourne le node-id */
UNS8 proceedNMTerror(UNS8 bus_id, Message* m )
{
// UNS16 time, should_time;
// UNS8 * pbConsumerHeartbeatCount;
// Pointer to HBConsumerTimeArray (Array of expected heartbeat cycle time for each node.
// HBConsumerTimeArray is defined in objdict.c * \param CheckAccess if other than 0, do not read if the data is Write Only
// UNS32 * pbConsumerHeartbeatEntry;// Index 1016 on 32 bits
UNS8 * pdwSize;
UNS8 dwSize;//, count, ConsummerHeartBeat_nodeId ;
// UNS8 index; // Index to scan the table of heartbeat consumers
UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
pdwSize = &dwSize;
if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
{ // Receiving a NMT NodeGuarding (request of the state by the master)
// only answer to the NMT NodeGuarding request, the master is not checked (not implemented)
if (nodeId == bDeviceNodeId )
{
Message msg;
msg.cob_id = bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = getState();
if (toggle)
{
msg.data[0] |= 0x80 ;
toggle = 0 ;
}
else
toggle = 1 ;
// send the nodeguard response.
MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", nodeState);
f_can_send( bus_id, &msg );
}
return 1 ;
}
if (m->rtr == 0) // Not a request CAN
{
MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
/* the slave's state receievd is stored in the NMTable */
// The state is stored on 7 bit
// NMTable[bus_id][nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
/* Boot-Up frame reception */
// if ( NMTable[bus_id][nodeId] == Initialisation)
// {
// The device send the boot-up message (Initialisation)
// to indicate the master that it is entered in pre_operational mode
// Because the device enter automaticaly in pre_operational mode,
// the pre_operational mode is stored
// NMTable[bus_id][nodeId] = Pre_operational;
// MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
// return 1;
// }
/* if( NMTable[bus_id][nodeId] != Unknown_state )
{
if( getODentry( (UNS16)0x1016, (UNS8)0x0,
(void * *) &pbConsumerHeartbeatCount,
pdwSize, 0 ) == OD_SUCCESSFUL )
{
if (*pbConsumerHeartbeatCount > (UNS8)NB_OF_HEARTBEAT_PRODUCERS)
count = (UNS8)NB_OF_HEARTBEAT_PRODUCERS ;
else
count = *pbConsumerHeartbeatCount ;
for( index = (UNS8)0x00; index < count; index++ )
{
if( getODentry( (UNS16)0x1016, (UNS8)index + 1,
(void * *)&pbConsumerHeartbeatEntry,
pdwSize, 0 ) == OD_SUCCESSFUL )
{
should_time = (UNS16) ( (*pbConsumerHeartbeatEntry) & (UNS32)0x0000FFFF ) ;
ConsummerHeartBeat_nodeId = (UNS8)( ((*pbConsumerHeartbeatEntry) & (UNS32)0x00FF0000) >> (UNS8)16 );
if (( should_time )&&( nodeId == ConsummerHeartBeat_nodeId ))
{
time = getTime16( &(heartBeatTable[index].time) );
MSG_WAR(0x3105, "HeartBeat received from node : ", nodeId );
MSG_WAR(0x3106, " at time : ", time);
setTime16( &heartBeatTable[index].time, (UNS8)0x0000 );
if( bErrorOccured == TRUE )
{
lifeguardCallback( (UNS8)CONNECTION_OK ); // a little strange
return 0 ;
}
}
}
} // end for
}
} //End if( NMTable[bus_id][nodeId] != Unknown_state)
*/
} // End if (m->rtr == 0)
return 1;
}
UNS8 sendSDO(UNS8 bus_id, s_SDO sdo)
{
UNS32 objDict;
if( (nodeState == Operational) || (nodeState == Pre_operational ))
{
Message m;
UNS8 i;
UNS32 * pwCobId = NULL;
UNS8 * pwNodeId = NULL;
UNS8 * pSize;
UNS8 size;
pSize = &size;
MSG_WAR(0x3A00, "sendSDO",0);
/*get the communication CobId*/
if ( sdo.nodeId == bDeviceNodeId ) /*case server*/
getODentry( 0x1200, (UNS8)2, (void * *)&pwCobId, pSize, 0);
else
{ /*case client*/
UNS16 sdoNum = 0;
for( ; sdoNum < dict_cstes.max_count_of_client_SDO; sdoNum++)
{
MSG_WAR(0x3A52,"Reading index : ", 0x1280 + sdoNum);
objDict = getODentry( (UNS16)0x1280 + sdoNum, (UNS8)3, (void * *)&pwNodeId, pSize, 0);
MSG_WAR(0x3A53, "Read in dict, nodeId = ", *pwNodeId);
if (objDict == OD_SUCCESSFUL)
{
if(*pwNodeId == sdo.nodeId)
{
break;
}
}
else
{
MSG_ERR(0x1A50, "Erreur dans les SDO client, subindex 2, index : ", (UNS16)1280 + sdoNum);
return 0xFF;
}
}
if (sdoNum == dict_cstes.max_count_of_client_SDO)
{
MSG_WAR (0x2A51, "No SDO client corresponds to the mesage sent to node ", sdo.nodeId);
return 0xFF;
}
getODentry( (UNS16)0x1280 + sdoNum, (UNS8)1, (void * *)&pwCobId, pSize, 0);
}
/* message copy for sending */
m.cob_id = *pwCobId;
m.rtr = DONNEES;
//the length of SDO must be 8
m.len = 8;
//memcpy(&m.data, &sdo.body, m.len);
// This Memcpy depends on packing structure. Avoid
if (sdo.len > 0)
m.data[0] = sdo.body.SCS;
for (i = 1 ; i < sdo.len ; i++)
{
m.data[i] = sdo.body.data[i - 1];
}
for (i = sdo.len ; i < 8; i++)
m.data[i]=0;
return f_can_send(bus_id,&m);
}
return 0xFF;
}
