124 lines
2.3 KiB
C
124 lines
2.3 KiB
C
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#include <stdio.h>
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#include <string.h>
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#include "can.h"
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#include "lap.h"
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/****************************************************************************
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* STUBS: LAP Core Services
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*/
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// send ping to dst
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void lap_ping( can_addr dst )
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{
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pdo_message *msg = (pdo_message *)can_buffer_get();
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msg->addr_src = 0;
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msg->addr_dst = dst;
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msg->port_src = PORT_MGT;
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msg->port_dst = PORT_MGT;
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msg->dlc = 1;
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msg->cmd = FKT_MGT_PING;
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can_transmit( (can_message *)msg );
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}
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// send reset request to dst
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void lap_reset( can_addr dst )
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{
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pdo_message *msg = (pdo_message *)can_buffer_get();
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msg->addr_src = 0;
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msg->addr_dst = dst;
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msg->port_src = PORT_MGT;
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msg->port_dst = PORT_MGT;
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msg->dlc = 1;
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msg->cmd = FKT_MGT_RESET;
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can_transmit( (can_message *)msg );
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}
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/*
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char *sdo_readbuf(lap_message *first_msg,
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unsigned char int length, unsigned char &reallength)
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{
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unsigned char len = first_message->data[0];
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char *buf = malloc(length);
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char *cur = buf;
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reallength = 0;
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while( reallength < length ) {
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can_message *msg = can_get();
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if ( msg->addr_src != first_msg->addr_src ||
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msg->addr_dest != fisrt_msg->addr_dest ||
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msg->port_src != fisrt_msg->port_src ||
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msg->port_dest != fisrt_msg->port_dest )
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{
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return buf;
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}
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memcpy(cur, msg->data, msg->dlc);
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reallength+=msg->dlc;
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msg->flags = 0x00;
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}
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return buf;
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}
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// unsigned char sdo_sendpacket(lap_message *msg)
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// {
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// }
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//
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// unsigned char sdo_sendpacket_nb(lap_message *msg)
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// {
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// }
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unsigned char sdo_sendbuf(lap_message *fst_msg, unsigned char *buf, unsigned char len)
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{
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while(len > 0) {
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can_message *msg = can_buffer_get();
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msg->addr_src = fst_msg->addr_src;
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msg->addr_dest = fst_msg->addr_dest;
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msg->port_src = fst_msg->port_src;
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msg->port_dest = fst_msg->port_dest;
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msg->dlc = len > 8 ? 8 : len;
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memcpy(msg->data, buf, msg->dlc);
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msg->flags = 0x01;
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can_transmit();
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}
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// XXX wait for ACK
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}
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unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned char len)
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{
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while(len > 0) {
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can_message *msg = can_buffer_get();
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msg->addr_src = fst_msg->addr_src;
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msg->addr_dest = fst_msg->addr_dest;
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msg->port_src = fst_msg->port_src;
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msg->port_dest = fst_msg->port_dest;
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msg->dlc = len > 8 ? 8 : len;
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memcpy(msg->data, buf, msg->dlc);
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msg->flags = 0x01;
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can_transmit();
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}
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// XXX wait for ACK
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}
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*/
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