Index: trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 1137) +++ trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 1138) @@ -1,2 +1,33 @@ +/* ======================================================================== *\ +! +! * +! * This file is part of Stesy, the MAGIC Steering System +! * Software. It is distributed to you in the hope that it can be a useful +! * and timesaving tool in analysing Data of imaging Cerenkov telescopes. +! * It is distributed WITHOUT ANY WARRANTY. +! * +! * Permission to use, copy, modify and distribute this software and its +! * documentation for any purpose is hereby granted without fee, +! * provided that the above copyright notice appear in all copies and +! * that both that copyright notice and this permission notice appear +! * in supporting documentation. It is provided "as is" without express +! * or implied warranty. +! * +! +! +! Author(s): Thomas Bretz, 2001 +! +! Copyright: MAGIC Software Development, 2000-2001 +! +! +\* ======================================================================== */ + +/////////////////////////////////////////////////////////////////////// +// +// CanOpen +// +// implements the canopen layer over the raw device driver +// +/////////////////////////////////////////////////////////////////////// #include "canopen.h" @@ -6,4 +37,9 @@ ClassImp(CanOpen); +// -------------------------------------------------------------------------- +// +// Initializes a conditional and a mutex semaphore for all possible +// PDO combinations +// CanOpen::CanOpen(const char *dev, const int baud, MLog &out) : VmodIcan(dev, baud, out) { @@ -17,4 +53,8 @@ } +// -------------------------------------------------------------------------- +// +// Destroys all conditional and mutex semaphores +// CanOpen::~CanOpen() { @@ -27,4 +67,15 @@ } +// -------------------------------------------------------------------------- +// +// This overloads VmodIcan::HandleCanMessage. It is called if a can +// message was received with all message relevant data (COBId, data, time) +// It distributes the data depending on its function code to several +// functions (to be obverloaded) +// In case of a PDO the conditional semaphore corresponding to this PDO +// is raised (WaitForNextPDO) +// HandleSDO: handles a SDO message +// HandlePDO1/2/3/4:handles received PDOs +// void CanOpen::HandleCanMessage(WORD_t cobid, BYTE_t *data, struct timeval *tv) { @@ -95,4 +146,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables can messaged for a given node ID and function code. +// void CanOpen::EnableCanMsg(BYTE_t node, BYTE_t fcode, int flag) { @@ -103,4 +158,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables Emergency messages for a given node +// void CanOpen::EnableEmcy(BYTE_t node) { @@ -109,4 +168,8 @@ +// -------------------------------------------------------------------------- +// +// Enables SDO rx messages for a given node +// void CanOpen::EnableSdoRx(BYTE_t node) { @@ -114,4 +177,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables PDO1 tx messages for a given node +// void CanOpen::EnablePdo1Rx(BYTE_t node) { @@ -119,4 +186,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables PDO2 tx messages for a given node +// void CanOpen::EnablePdo2Rx(BYTE_t node) { @@ -124,4 +195,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables PDO3 rx messages for a given node +// void CanOpen::EnablePdo3Rx(BYTE_t node) { @@ -129,4 +204,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables PDO4 rx messages for a given node +// void CanOpen::EnablePdo4Rx(BYTE_t node) { @@ -134,4 +213,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO1 message with the given data to the given node +// void CanOpen::SendPDO1(BYTE_t node, BYTE_t data[8]) { @@ -139,4 +222,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO2 message with the given data to the given node +// void CanOpen::SendPDO2(BYTE_t node, BYTE_t data[8]) { @@ -144,4 +231,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO3 message with the given data to the given node +// void CanOpen::SendPDO3(BYTE_t node, BYTE_t data[8]) { @@ -149,4 +240,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO4 message with the given data to the given node +// void CanOpen::SendPDO4(BYTE_t node, BYTE_t data[8]) { @@ -154,4 +249,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO1 message with the given data to the given node +// void CanOpen::SendPDO1(BYTE_t node, BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, @@ -162,4 +261,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO2 message with the given data to the given node +// void CanOpen::SendPDO2(BYTE_t node, BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, @@ -170,4 +273,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO3 message with the given data to the given node +// void CanOpen::SendPDO3(BYTE_t node, BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, @@ -178,4 +285,8 @@ } +// -------------------------------------------------------------------------- +// +// Sends a PDO4 message with the given data to the given node +// void CanOpen::SendPDO4(BYTE_t node, BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, @@ -186,4 +297,13 @@ } +// -------------------------------------------------------------------------- +// +// Sends a SDO message with the given data to the given node: +// - index describing the dictionary index to set +// - subindex describing the dictionary subindex of theindex to set +// - val describing the value to set. +// - store describes whether the sdo should be stored in a list to +// be able to wait for an answer +// void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, BYTE_t val, bool store) { @@ -195,4 +315,13 @@ } +// -------------------------------------------------------------------------- +// +// Sends a SDO message with the given data to the given node: +// - index describing the dictionary index to set +// - subindex describing the dictionary subindex of theindex to set +// - val describing the value to set. +// - store describes whether the sdo should be stored in a list to +// be able to wait for an answer +// void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, WORD_t val, bool store) { @@ -205,4 +334,13 @@ } +// -------------------------------------------------------------------------- +// +// Sends a SDO message with the given data to the given node: +// - index describing the dictionary index to set +// - subindex describing the dictionary subindex of theindex to set +// - val describing the value to set. +// - store describes whether the sdo should be stored in a list to +// be able to wait for an answer +// void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, LWORD_t val, bool store) { @@ -216,4 +354,10 @@ } +// -------------------------------------------------------------------------- +// +// Request a SDO message from the given node: +// - index describing the dictionary index to request +// - subindex describing the dictionary subindex of the index to request +// void CanOpen::RequestSDO(BYTE_t node, WORD_t idx, BYTE_t subidx) { @@ -223,4 +367,8 @@ } +// -------------------------------------------------------------------------- +// +// Send an NMT Message to the given node with command cmd +// void CanOpen::SendNMT(BYTE_t node, BYTE_t cmd) { @@ -228,4 +376,8 @@ } +// -------------------------------------------------------------------------- +// +// Decodes node and function code into a CobId +// WORD_t CanOpen::CobId(BYTE_t node, BYTE_t fcode) const { Index: trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/network.cc (revision 1137) +++ trunk/MagicSoft/Cosy/candrv/network.cc (revision 1138) @@ -1,2 +1,33 @@ +/* ======================================================================== *\ +! +! * +! * This file is part of Stesy, the MAGIC Steering System +! * Software. It is distributed to you in the hope that it can be a useful +! * and timesaving tool in analysing Data of imaging Cerenkov telescopes. +! * It is distributed WITHOUT ANY WARRANTY. +! * +! * Permission to use, copy, modify and distribute this software and its +! * documentation for any purpose is hereby granted without fee, +! * provided that the above copyright notice appear in all copies and +! * that both that copyright notice and this permission notice appear +! * in supporting documentation. It is provided "as is" without express +! * or implied warranty. +! * +! +! +! Author(s): Thomas Bretz, 2001 +! +! Copyright: MAGIC Software Development, 2000-2001 +! +! +\* ======================================================================== */ + +/////////////////////////////////////////////////////////////////////// +// +// Network +// +// is a collection of nodes which coordinates the network +// +/////////////////////////////////////////////////////////////////////// #include "network.h" @@ -6,4 +37,9 @@ ClassImp(Network); +// -------------------------------------------------------------------------- +// +// Start the canopen module +// Initialize all nodes (calling NodeDrv::Init() +// void Network::Start() { @@ -16,4 +52,8 @@ } +// -------------------------------------------------------------------------- +// +// Stop all nodes, stop the can module +// void Network::Stop() { @@ -26,4 +66,8 @@ } +// -------------------------------------------------------------------------- +// +// Initialize the network, set all nodes to NULL (n/a) +// Network::Network(const char *dev, const int baud, MLog &out) : CanOpen(dev, baud, out) { @@ -32,4 +76,13 @@ } +// -------------------------------------------------------------------------- +// +// Distributes the received SDO messages to the addressed nodes. +// Depending on the received command either HandleSDO, HandleSDOOK or +// HandleSDOError called. +// HandleSDO: Handles a received value +// HandleSDOOK: Handles the acknoledgment of a trasmitted SDO +// HandleSDOError: Handles error occursion (see CanOpen standard) +// void Network::HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, struct timeval *tv) { @@ -82,4 +135,8 @@ } +// -------------------------------------------------------------------------- +// +// Distributes PDO1 messages to the correspoding node calling HandlePDO1 +// void Network::HandlePDO1(BYTE_t node, BYTE_t *data, struct timeval *tv) { @@ -96,4 +153,8 @@ } +// -------------------------------------------------------------------------- +// +// Distributes PDO2 messages to the correspoding node calling HandlePDO2 +// void Network::HandlePDO2(BYTE_t node, BYTE_t *data, struct timeval *tv) { @@ -110,4 +171,8 @@ } +// -------------------------------------------------------------------------- +// +// Distributes PDO3 messages to the correspoding node calling HandlePDO3 +// void Network::HandlePDO3(BYTE_t node, BYTE_t *data, struct timeval *tv) { @@ -124,4 +189,8 @@ } +// -------------------------------------------------------------------------- +// +// Distributes PDO4 messages to the correspoding node calling HandlePDO4 +// void Network::HandlePDO4(BYTE_t node, BYTE_t *data, struct timeval *tv) { @@ -138,4 +207,8 @@ } +// -------------------------------------------------------------------------- +// +// Sets a node to a given nodedrv. The id is requested from the drv object. +// void Network::SetNode(NodeDrv *drv) { @@ -151,4 +224,8 @@ } +// -------------------------------------------------------------------------- +// +// Initializes all nodes calling InitDevice +// void Network::InitNodes() { @@ -163,4 +240,8 @@ } +// -------------------------------------------------------------------------- +// +// Stop all nodes calling StopDevice +// void Network::StopNodes() { @@ -174,4 +255,8 @@ } +// -------------------------------------------------------------------------- +// +// returns true if one of the nodes has the error-flag set (HasError). +// bool Network::HasError() const { Index: trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1137) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1138) @@ -140,5 +140,4 @@ // Sends the given PDO1 through the network to this device // A PDO is carrying up to eight bytes of information. -// PDO messages are broadcasts. // void NodeDrv::SendPDO1(BYTE_t data[8]) @@ -151,5 +150,4 @@ // Sends the given PDO2 through the network to this device // A PDO is carrying up to eight bytes of information. -// PDO messages are broadcasts. // void NodeDrv::SendPDO2(BYTE_t data[8]) @@ -162,5 +160,4 @@ // Sends the given PDO1 through the network to this device // A PDO is carrying up to eight bytes of information. -// PDO messages are broadcasts. // void NodeDrv::SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, @@ -174,5 +171,4 @@ // Sends the given PDO2 through the network to this device // A PDO is carrying up to eight bytes of information. -// PDO messages are broadcasts. // void NodeDrv::SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, Index: trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 1137) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 1138) @@ -23,5 +23,5 @@ BYTE_t fId; - char *fName; + TString fName; int fError;