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/*

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This file is part of CanFestival, a library implementing CanOpen Stack.

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Copyright (C): Andreas GLAUSER

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"

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// Includes for the Canfestival

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#include "ds401.h"

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unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)

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{

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  unsigned char loops, i, input, transmission = 0;

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  loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;

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  for (i=0; i < loops; i++)

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  {

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    input = *newInput ^ Polarity_Input_8_Bit[i];

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    if (Read_Inputs_8_Bit[i] != input)

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    {

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      if (Global_Interrupt_Enable_Digital)

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      {

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        if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input)) 

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	 || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)

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	 || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))

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	   transmission = 1;

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      }

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      // update object dict

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      Read_Inputs_8_Bit[i] = input;

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    }

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    newInput++;

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  }

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  if (transmission)

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  {

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  /* force emission of PDO by artificially changing last emitted*/

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    d->PDO_status[0].last_message.cob_id = 0;

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    sendPDOevent(d);

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  }

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  return 1;

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}

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unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)

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{

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  unsigned char loops, i, error, type;

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  unsigned char varsize = 1;

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  loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;

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  for (i=0; i < loops; i++)

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  {

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    getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);

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    if ((getState(d) == Stopped) || (error != 0))	// node stopped or error

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    {

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      Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);

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      Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);

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    }

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    *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];

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    newOutput++;

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  }

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  return 1;

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}

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unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)

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{

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  return 0;

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}

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unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)

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{

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  return 0;

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}

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