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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): Edouard TISSERANT and Francis DUPIN

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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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/** @defgroup pdo Process Data Object (PDO)

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 *  PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.

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 *  It is an uncomfirmed communication service without protocol overhead.

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 *  @ingroup comobj

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 */

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#ifndef __pdo_h__

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#define __pdo_h__

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#include <applicfg.h>

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#include <def.h>

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#include "can.h"

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typedef struct struct_s_PDO_status s_PDO_status;

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#include "data.h"

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/* Status of the TPDO : */

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#define PDO_INHIBITED 0x01

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#define PDO_RTR_SYNC_READY 0x01

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/** The PDO structure */

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struct struct_s_PDO_status {

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  UNS8 transmit_type_parameter;

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  TIMER_HANDLE event_timer;

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  TIMER_HANDLE inhibit_timer;

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  Message last_message;

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};

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#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}

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/** definitions of the different types of PDOs' transmission

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 * 

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 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.

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 */

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#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */

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#define TRANS_SYNC_ACYCLIC    0    /* Trans after reception of n SYNC. n = 1 to 240 */

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#define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */

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#define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */

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#define TRANS_RTR_SYNC        252  /* Transmission on request */

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#define TRANS_RTR             253  /* Transmission on request */

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#define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */

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#define TRANS_EVENT_PROFILE   255  /* Transmission on event */

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/** 

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 * @brief Copy all the data to transmit in process_var

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 * Prepare the PDO defined at index to be sent

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 * *pwCobId : returns the value of the cobid. (subindex 1)

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 * @param *d Pointer on a CAN object data structure

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 * @param numPdo The PDO number

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 * @param *pdo Pointer on a CAN message structure

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 * @return 0 or 0xFF if error.

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 */

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UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);

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/** 

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 * @ingroup pdo

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 * @brief Transmit a PDO request frame on the bus bus_id

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 * to the slave.

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 * bus_id is hardware dependant

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 * @param *d Pointer on a CAN object data structure

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 * @param RPDOIndex Index of the receive PDO

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 * @return 0xFF if error, other in success.

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 */

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UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );

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/**

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 * @brief Compute a PDO frame reception

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 * bus_id is hardware dependant

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 * @param *d Pointer on a CAN object data structure

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 * @param *m Pointer on a CAN message structure

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 * @return 0xFF if error, else return 0

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 */

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UNS8 proceedPDO (CO_Data* d, Message *m);

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/** 

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 * @brief Used by the application to signal changes in process data

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 * that could be mapped to some TPDO.

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 * This do not necessarily imply PDO emission.

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 * Function iterates on all TPDO and look TPDO transmit 

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 * type and content change before sending it.    

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 * @param *d Pointer on a CAN object data structure

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 */

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UNS8 sendPDOevent (CO_Data* d);

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/** 

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 * @ingroup pdo

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 * @brief Function iterates on all TPDO and look TPDO transmit 

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 * type and content change before sending it.

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 * @param *d Pointer on a CAN object data structure

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 * @param isSyncEvent

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 */

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UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);

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/** 

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 * @brief Initialize PDO feature 

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 * @param *d Pointer on a CAN object data structure

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 */

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void PDOInit(CO_Data* d);

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/** 

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 * @brief Stop PDO feature 

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 * @param *d Pointer on a CAN object data structure

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 */

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void PDOStop(CO_Data* d);

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/** 

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 * @ingroup pdo

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 * @brief Set timer for PDO event

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 * @param *d Pointer on a CAN object data structure

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 * @param pdoNum The PDO number

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 */

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void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);

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/** 

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 * @ingroup pdo

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 * @brief Inhibit timer for PDO event

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 * @param *d Pointer on a CAN object data structure

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 * @param pdoNum The PDO number

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 */

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void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);

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/* copy bit per bit in little endian */

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void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);

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#endif