src/pdo.c
author lbessard
Thu, 18 Oct 2007 10:23:45 +0200
changeset 310 1975e546178b
parent 298 dba062c5c3c1
child 315 1d3bf87b8658
permissions -rw-r--r--
Bugs on EDS import fixed
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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#include "pdo.h"
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#include "objacces.h"
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#include "canfestival.h"
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/*!
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** @file   pdo.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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/*!
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**
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**
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** @param d
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** @param TPDO_com TPDO communication parameters OD entry
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** @param TPDO_map TPDO mapping parameters OD entry
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**
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** @return
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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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	const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo; 
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	const indextable* TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
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	UNS8 prp_j = 0x00;
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	UNS8 offset = 0x00;
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	const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;
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	pdo->cob_id.w = *(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF;
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	pdo->rtr = NOT_A_REQUEST;
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	MSG_WAR(0x3009, "  PDO CobId is : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);
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	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
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	do{
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		UNS8 dataType; /* Unused */
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		UNS8 tmp[]= {0,0,0,0,0,0,0,0}; /* temporary space to hold bits */
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		/* pointer fo the var which holds the mapping parameter of an mapping entry  */
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		UNS32* pMappingParameter = (UNS32*) TPDO_map->pSubindex[prp_j + 1].pObject;
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		UNS16 index = (UNS16)((*pMappingParameter) >> 16);
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		UNS8 Size = (UNS8)(*pMappingParameter); /* Size in bits */
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		UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
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		UNS8 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
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		MSG_WAR(0x300F, "  got mapping parameter : ", *pMappingParameter);
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		MSG_WAR(0x3050, "    at index : ", TPDO_map->index);
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		MSG_WAR(0x3051, "    sub-index : ", prp_j + 1);
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		if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){
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			MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
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			return 0xFF;
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		}
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		/* copy bit per bit in little endian*/
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		CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);
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		offset += Size ;
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		prp_j++;
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	}while( prp_j < *pMappingCount );
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	pdo->len = 1 + ((offset - 1) >> 3);
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	MSG_WAR(0x3015, "  End scan mapped variable", 0);
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	return 0;
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}
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/*!
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**
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**
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** @param d
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** @param cobId
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**
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** @return
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**/
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UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex )
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{
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  UNS32 * pwCobId;
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  UNS16 offset = d->firstIndex->PDO_RCV;
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  UNS16 lastIndex = d->lastIndex->PDO_RCV;
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  /* Sending the request only if the cobid have been found on the PDO
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     receive */
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  /* part dictionary */
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  MSG_WAR(0x3930, "sendPDOrequest RPDO Index : ",RPDOIndex);
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  if (offset && RPDOIndex >= 0x1400){
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    offset += RPDOIndex - 0x1400;  
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    if (offset <= lastIndex) {
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      /* get the CobId*/
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      pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
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      MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
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      {
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          Message pdo;
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          pdo.cob_id.w = *pwCobId;
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          pdo.rtr = REQUEST;
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          pdo.len = 0;      
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          return canSend(d->canHandle,&pdo);
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      }
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    }
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  }
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  MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
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  return 0xFF;
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}
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/*!
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**
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**
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** @param d
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** @param m
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**
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** @return
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**/
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UNS8 proceedPDO(CO_Data* d, Message *m)
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{
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  UNS8   numPdo;
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  UNS8   numMap;  /* Number of the mapped varable */
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  UNS8 i;
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  UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
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  /* pointer to the var which is mapped to a pdo... */
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  /*  void *     pMappedAppObject = NULL;   */
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  /* pointer fo the var which holds the mapping parameter of an
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     mapping entry */
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  UNS32 *    pMappingParameter = NULL;
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  UNS8  *    pTransmissionType = NULL; /* pointer to the transmission
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                                         type */
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  UNS32 *    pwCobId = NULL;
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  UNS8       Size;
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  UNS8       dataType;
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  UNS8       offset;
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  UNS8       status;
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  UNS32      objDict;
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  UNS16      offsetObjdict;
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  UNS16      lastIndex;
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diff changeset
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  status = state2;
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  MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
0
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  offset = 0x00;
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  numPdo = 0;
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  numMap = 0;
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  if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
208
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                                     request. */
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   175
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    offsetObjdict = d->firstIndex->PDO_RCV;
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    lastIndex = d->lastIndex->PDO_RCV;
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diff changeset
   178
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    /* study of all the PDO stored in the dictionary */
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    if(offsetObjdict)
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      while (offsetObjdict <= lastIndex) {
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        switch( status ) {
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        case state2:
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          /* get CobId of the dictionary correspondant to the received
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             PDO */
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          pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
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          /* check the CobId coherance */
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          /*pwCobId is the cobId read in the dictionary at the state 3
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            */
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          if ( *pwCobId == (*m).cob_id.w ){
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            /* The cobId is recognized */
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            status = state4;
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            MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
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            break;
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          }
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          else {
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            /* cobId received does not match with those write in the
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              dictionnary */
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            numPdo++;
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            offsetObjdict++;
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            status = state2;
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            break;
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          }
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            case state4:/* Get Mapped Objects Number */
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               /* The cobId of the message received has been found in the
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                 dictionnary. */
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               offsetObjdict = d->firstIndex->PDO_RCV_MAP;
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             lastIndex = d->lastIndex->PDO_RCV_MAP;
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             pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
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             numMap = 0;
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             while (numMap < *pMappingCount) {
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               UNS8 tmp[]= {0,0,0,0,0,0,0,0};
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               UNS8 ByteSize;
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               pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
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               if (pMappingParameter == NULL) {
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                 MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
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                 return 0xFF;
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               }
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               /* Get the addresse of the mapped variable. */
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               /* detail of *pMappingParameter : */
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               /* The 16 hight bits contains the index, the medium 8 bits
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                 contains the subindex, */
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               /* and the lower 8 bits contains the size of the mapped
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                 variable. */
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               Size = (UNS8)(*pMappingParameter);
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               /* copy bit per bit in little endian */
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               CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
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               ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
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                                                   2, ... */
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               objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
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                                    (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
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                                 tmp, &ByteSize, 0 );
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               if(objDict != OD_SUCCESSFUL) {
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                 MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
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                 MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
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                 MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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                 return 0xFF;
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               }
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               MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
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               MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
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               MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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               /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */
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               offset += Size;
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               numMap++;
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               /*TODO :  check that offset is not not greater that message size (in bit) */
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             } /* end loop while on mapped variables */
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             offset=0x00;
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             numMap = 0;
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             return 0;
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        }/* end switch status*/
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      }/* end while*/
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  }/* end if Donnees */
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  else if ((*m).rtr == REQUEST ){
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    MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
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    status = state1;
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    offsetObjdict = d->firstIndex->PDO_TRS;
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    lastIndex = d->lastIndex->PDO_TRS;
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    if(offsetObjdict) while( offsetObjdict  <= lastIndex ){
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      /* study of all PDO stored in the objects dictionary */
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      switch( status ){
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      case state1:/* check the CobId */
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        /* get CobId of the dictionary which match to the received PDO
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         */
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        pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
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        if ( *pwCobId == (*m).cob_id.w ) {
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          status = state4;
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          break;
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   281
        }
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        else {
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          numPdo++;
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          offsetObjdict++;
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        }
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        status = state1;
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        break;
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   288
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   289
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      case state4:/* check transmission type */
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        pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
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        /* If PDO is to be sampled and send on RTR, do it*/
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        if ( (*pTransmissionType == TRANS_RTR)) {
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          status = state5;
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          break;
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        /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
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        }else if ((*pTransmissionType == TRANS_RTR_SYNC )) {
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    	  if(d->PDO_status[numPdo].transmit_type_parameter & PDO_RTR_SYNC_READY){
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            /*Data ready, just send*/
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    	    canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
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            return 0;
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    	  }else{
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            /* if SYNC did never occur, force emission with current data */
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            /* DS301 do not tell what to do in such a case...*/
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            MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id.w);
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            status = state5;
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   307
    	  }
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          break;
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   309
        }else if(
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             (*pTransmissionType == TRANS_EVENT_PROFILE) ||
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             (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
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	  /* Zap all timers and inhibit flag */
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	  d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
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	  d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
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  	  d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
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  	  /* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
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          PDOEventTimerAlarm(d, numPdo);
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   318
          return 0;
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   319
        }else {
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          /* The requested PDO is not to send on request. So, does
208
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   321
            nothing. */
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   322
          MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
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   323
          return 0xFF;
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   324
        }
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   325
235
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   326
      case state5:/* build and send requested PDO */
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diff changeset
   327
      {
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diff changeset
   328
      	Message pdo;
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diff changeset
   329
    	if( buildPDO(d, numPdo, &pdo))
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diff changeset
   330
    	{
236
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   331
          MSG_ERR(0x1948, " Couldn't build TPDO n°", numPdo);
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diff changeset
   332
          return 0xFF;
235
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diff changeset
   333
    	}
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   334
    	canSend(d->canHandle,&pdo);
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   335
        return 0;
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   336
      }
215
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diff changeset
   337
      }/* end switch status */
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   338
    }/* end while */
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   339
  }/* end if Requete */
208
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diff changeset
   340
0
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diff changeset
   341
  return 0;
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   342
}
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   343
208
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diff changeset
   344
/*!
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   345
**
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diff changeset
   346
**
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diff changeset
   347
** @param NbBits
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diff changeset
   348
** @param SrcByteIndex
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diff changeset
   349
** @param SrcBitIndex
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diff changeset
   350
** @param SrcBigEndian
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diff changeset
   351
** @param DestByteIndex
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diff changeset
   352
** @param DestBitIndex
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diff changeset
   353
** @param DestBigEndian
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diff changeset
   354
**/
201
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diff changeset
   355
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
2966cd34162a Boolean variable mapped in PDO
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diff changeset
   356
{
215
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   357
  /* This loop copy as many bits that it can each time, crossing*/
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   358
  /* successively bytes*/
208
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   359
  // boundaries from LSB to MSB.
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diff changeset
   360
  while(NbBits > 0)
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diff changeset
   361
    {
215
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   362
      /* Bit missalignement between src and dest*/
208
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diff changeset
   363
      INTEGER8 Vect = DestBitIndex - SrcBitIndex;
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diff changeset
   364
215
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diff changeset
   365
      /* We can now get src and align it to dest*/
208
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diff changeset
   366
      UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
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diff changeset
   367
215
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diff changeset
   368
      /* Compute the nb of bit we will be able to copy*/
208
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diff changeset
   369
      UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
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   370
      UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
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diff changeset
   371
215
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   372
      /* Create a mask that will serve in:*/
208
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   373
      UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
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diff changeset
   374
215
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diff changeset
   375
      /* - Filtering src*/
208
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diff changeset
   376
      UNS8 Filtered = Aligned & ~Mask;
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diff changeset
   377
215
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diff changeset
   378
      /* - and erase bits where we write, preserve where we don't*/
208
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diff changeset
   379
      *DestByteIndex &= Mask;
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   380
215
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   381
      /* Then write.*/
208
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diff changeset
   382
      *DestByteIndex |= Filtered ;
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diff changeset
   383
215
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diff changeset
   384
      /*Compute next time cursors for src*/
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   385
      if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
208
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diff changeset
   386
        {
215
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   387
          SrcBitIndex = 0;/* First bit*/
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   388
          SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   389
        }
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   390
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   391
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diff changeset
   392
      /*Compute next time cursors for dest*/
208
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diff changeset
   393
      if((DestBitIndex += BitsToCopy)>7)
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   394
        {
215
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   395
          DestBitIndex = 0;/* First bit*/
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   396
          DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
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diff changeset
   397
        }
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diff changeset
   398
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diff changeset
   399
      /*And decrement counter.*/
208
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   400
      NbBits -= BitsToCopy;
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   401
    }
201
2966cd34162a Boolean variable mapped in PDO
greg
parents: 149
diff changeset
   402
2966cd34162a Boolean variable mapped in PDO
greg
parents: 149
diff changeset
   403
}
208
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   404
/*!
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   405
**
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   406
**
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   407
** @param d
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diff changeset
   408
**
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   409
** @return
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diff changeset
   410
**/
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   411
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   412
UNS8 sendPDOevent( CO_Data* d)
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   413
{
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   414
  /* Calls _sendPDOevent specifying it is not a sync event */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   415
  return _sendPDOevent(d, 0);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   416
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   417
	
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diff changeset
   418
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   419
void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   420
{
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   421
	/* This is needed to avoid deletion of re-attribuated timer */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   422
	d->PDO_status[pdoNum].event_timer = TIMER_NONE;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   423
	/* force emission of PDO by artificially changing last emitted*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   424
	d->PDO_status[pdoNum].last_message.cob_id.w = 0;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   425
	_sendPDOevent( d, 0 ); /* not a Sync Event*/	
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   426
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   427
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   428
void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   429
{
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   430
	/* This is needed to avoid deletion of re-attribuated timer */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   431
	d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
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diff changeset
   432
	/* Remove inhibit flag */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   433
	d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   434
	_sendPDOevent( d, 0 ); /* not a Sync Event*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   435
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   436
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   437
/*!
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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parents: 217
diff changeset
   438
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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parents: 217
diff changeset
   439
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   440
** @param d
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   441
** @param isSyncEvent
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   442
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   443
** @return
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   444
**/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   445
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   446
UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   447
{ 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   448
  UNS8 	pdoNum = 0x00;       /* number of the actual processed pdo-nr. */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   449
  UNS8* pTransmissionType = NULL;  
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   450
  UNS8 status = state3;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   451
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   452
  UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
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diff changeset
   453
  UNS16 lastIndex = d->lastIndex->PDO_TRS;  
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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parents: 217
diff changeset
   454
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   455
  /* study all PDO stored in the objects dictionary */	
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diff changeset
   456
  if(offsetObjdict){
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   457
   Message pdo = Message_Initializer;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   458
   while( offsetObjdict <= lastIndex) {  
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   459
    switch( status ) {
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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diff changeset
   460
    case state3:
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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diff changeset
   461
      if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/
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diff changeset
   462
          /* check if TPDO is not valid */ 
298
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   463
          *(UNS32*)d->objdict[offsetObjdict].pSubindex[1].pObject & 0x80000000) {
236
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diff changeset
   464
	  MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
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diff changeset
   465
	  /*Go next TPDO*/
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diff changeset
   466
	  status = state11;
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diff changeset
   467
	  break;
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   468
	}
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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diff changeset
   469
      /* get the PDO transmission type */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   470
      pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;    
236
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etisserant
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diff changeset
   471
      MSG_WAR(0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
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diff changeset
   472
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diff changeset
   473
      /* check if transmission type is SYNCRONOUS */
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diff changeset
   474
      /* The message is transmited every n SYNC with n=TransmissionType */      
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   475
      if( isSyncEvent && 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   476
      	  (*pTransmissionType >= TRANS_SYNC_MIN) &&
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   477
      	  (*pTransmissionType <= TRANS_SYNC_MAX) &&
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   478
          (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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parents: 235
diff changeset
   479
        /*Reset count of SYNC*/	
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   480
	d->PDO_status[pdoNum].transmit_type_parameter = 0;
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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parents: 235
diff changeset
   481
	MSG_WAR(0x3964, "  PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
252
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   482
 {
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   483
 Message msg_init = Message_Initializer;
b0dd37421d28 *** empty log message ***
leonid
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diff changeset
   484
 pdo = msg_init;
b0dd37421d28 *** empty log message ***
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diff changeset
   485
 }	
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   486
        if(buildPDO(d, pdoNum, &pdo))
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   487
        {
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
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diff changeset
   488
            MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   489
	    status = state11;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   490
	    break;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   491
        }
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   492
	status = state5;
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   493
      /* If transmission RTR, with data sampled on SYNC */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   494
      }else if( isSyncEvent && 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   495
      	  (*pTransmissionType == TRANS_RTR_SYNC)) {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   496
          if(buildPDO(d, pdoNum, &d->PDO_status[pdoNum].last_message))
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   497
          {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   498
             MSG_ERR(0x1966, " Couldn't build TPDO number : ", pdoNum);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   499
             d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY; 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   500
          }else{
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   501
             d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY; 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   502
          }
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   503
	  status = state11;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   504
	  break;
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   505
      /* If transmission on Event and not inhibited, check for changes */
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   506
      }else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   507
               *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   508
              !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   509
	MSG_WAR(0x3968, "  PDO is on EVENT. Trans type : ", *pTransmissionType);
252
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   510
 {
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   511
 Message msg_init = Message_Initializer;
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   512
 pdo = msg_init;
b0dd37421d28 *** empty log message ***
leonid
parents: 236
diff changeset
   513
 }	
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   514
        if(buildPDO(d, pdoNum, &pdo))
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   515
        {
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   516
            MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   517
	    status = state11;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   518
	    break;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   519
        }
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   520
        
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   521
	/*Compare new and old PDO*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   522
	if(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.cob_id.w &&
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   523
	   d->PDO_status[pdoNum].last_message.len == pdo.len &&
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   524
	   *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   525
	   	/* No changes -> go to next pdo*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   526
		status = state11;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   527
	}else{
298
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   528
		
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   529
		UNS16 EventTimerDuration;
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   530
        UNS16 InhibitTimerDuration;
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   531
		
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   532
		MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   533
		/* Changes detected -> transmit message */
298
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   534
        EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject;
dba062c5c3c1 Checking if TPDO was valid was wrong (pdo.c)
luis
parents: 297
diff changeset
   535
        InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject;
297
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   536
        
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   537
		status = state5;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   538
		
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   539
		/* Start both event_timer and inhibit_timer*/
297
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   540
        if(EventTimerDuration){
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   541
           DelAlarm(d->PDO_status[pdoNum].event_timer);
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   542
           d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(EventTimerDuration), 0);
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   543
        }
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   544
		
297
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   545
        if(InhibitTimerDuration){
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   546
		   DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   547
		   d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(InhibitTimerDuration * 100), 0);
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   548
           /* and inhibit TPDO */
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   549
           d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
639e5ec5a120 Fixed some transmit type issues (for 254 255) with null event and/or inhibit time
etisserant
parents: 285
diff changeset
   550
        }
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   551
		
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   552
	}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   553
      }else{
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   554
	MSG_WAR(0x306C, "  PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   555
	status = state11;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   556
      }      
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   557
        break;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   558
    case state5: /*Send the pdo*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   559
	/*store_as_last_message*/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   560
	d->PDO_status[pdoNum].last_message = pdo;	
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   561
	MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id.w);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   562
	MSG_WAR(0x396E,  "     Nb octets  : ",  pdo.len);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   563
    	
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   564
    	canSend(d->canHandle,&pdo);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   565
	status = state11;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   566
	break;     
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   567
    case state11: /*Go to next TPDO*/     
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   568
	pdoNum++;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   569
	offsetObjdict++;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   570
	offsetObjdictMap++;
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   571
	MSG_WAR(0x3970, "next pdo index : ", pdoNum);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   572
	status = state3;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   573
	break;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   574
      
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   575
    default:
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   576
      MSG_ERR(0x1972,"Unknown state has been reached : %d",status);
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   577
      return 0xFF;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   578
    }/* end switch case */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   579
    
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   580
  }/* end while */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   581
  }
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   582
  return 0;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   583
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   584
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   585
/*!
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   586
**
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   587
**
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   588
** @param d
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   589
** @param OD_entry
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   590
** @param bSubindex 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   591
** @return always 0
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   592
**/
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   593
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   594
UNS32 TPDO_Communication_Parameter_Callback(CO_Data* d, const indextable * OD_entry, UNS8 bSubindex)
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   595
{
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   596
  /* If PDO are actives */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   597
  if(d->CurrentCommunicationState.csPDO) switch(bSubindex)
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   598
  {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   599
  	case 2: /* Changed transmition type */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   600
  	case 3: /* Changed inhibit time */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   601
  	case 5: /* Changed event time */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   602
  	{
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   603
          UNS8 pTransmissionType = *(UNS8*) OD_entry->pSubindex[2].pObject;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   604
          const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS; 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   605
          UNS8 numPdo = OD_entry - TPDO_com;       /* number of the actual processed pdo-nr. */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   606
        
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   607
          /* Zap all timers and inhibit flag */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   608
          d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   609
          d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   610
          d->PDO_status[numPdo].transmit_type_parameter = 0;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   611
          /* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   612
          PDOEventTimerAlarm(d, numPdo);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   613
          return 0;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   614
  	}
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   615
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   616
  	default: /* other subindex are ignored*/
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   617
  	break;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   618
  }
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   619
  return 0;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   620
}
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   621
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   622
void PDOInit(CO_Data* d)
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   623
{
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   624
  /* For each TPDO mapping parameters */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   625
  UNS16	pdoIndex = 0x1800; /* OD index of TDPO */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   626
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   627
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   628
  UNS16 lastIndex = d->lastIndex->PDO_TRS;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   629
  if(offsetObjdict) while( offsetObjdict <= lastIndex) {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   630
    /* Assign callbacks to sensible TPDO mapping subindexes */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   631
    UNS32 errorCode;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   632
    ODCallback_t *CallbackList;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   633
    /* Find callback list */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   634
    scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   635
    if(errorCode == OD_SUCCESSFUL && CallbackList)
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   636
    {
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   637
      /*Assign callbacks to corresponding subindex*/
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   638
      /* Transmission type */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   639
      CallbackList[2] = &TPDO_Communication_Parameter_Callback;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   640
      /* Inhibit time */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   641
      CallbackList[3] = &TPDO_Communication_Parameter_Callback;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   642
      /* Event timer */
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   643
      CallbackList[5] = &TPDO_Communication_Parameter_Callback;
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    }
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   645
    pdoIndex++;
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   646
    offsetObjdict++;
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   647
  }  
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diff changeset
   648
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   649
  /* Trigger a non-sync event */
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   650
  _sendPDOevent( d, 0 );
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   651
}
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diff changeset
   652
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diff changeset
   653
void PDOStop(CO_Data* d)
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   654
{
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   655
  /* For each TPDO mapping parameters */
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   656
  UNS8 	pdoNum = 0x00;       /* number of the actual processed pdo-nr. */
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   657
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
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   658
  UNS16 lastIndex = d->lastIndex->PDO_TRS;
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   659
  if(offsetObjdict) while( offsetObjdict <= lastIndex) {
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   660
  	/* Delete TPDO timers */
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   661
	d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
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   662
	d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
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   663
	/* Reset transmit type parameter */
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   664
	d->PDO_status[pdoNum].transmit_type_parameter = 0;
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   665
	d->PDO_status[pdoNum].last_message.cob_id.w = 0;
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   666
	pdoNum++;
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   667
	offsetObjdict++;
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   668
  }  
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   669
}