src/sync.c
author etisserant
Thu, 12 Apr 2007 16:20:22 +0200
changeset 154 1b3165f2d17d
parent 153 1c1ad874fe8f
child 201 2966cd34162a
permissions -rw-r--r--
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
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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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#include "data.h"
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#include "sync.h"
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#include "canfestival.h"
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/* Prototypes for internals functions */
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void SyncAlarm(CO_Data* d, UNS32 id);
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, 
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	UNS8 unsused_bSubindex);
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/*****************************************************************************/
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void SyncAlarm(CO_Data* d, UNS32 id)
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{
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	sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
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}
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/*****************************************************************************/
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/* This is called when Index 0x1005 is updated.*/
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	startSYNC(d);
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	return 0;
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}
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/*****************************************************************************/
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void startSYNC(CO_Data* d)
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{
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	RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
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	RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
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	if(d->syncTimer != TIMER_NONE){
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		stopSYNC(d);
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	}
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	if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
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	{
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		d->syncTimer = SetAlarm(
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				d,
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				0 /*No id needed*/,
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				&SyncAlarm,
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				US_TO_TIMEVAL(*d->Sync_Cycle_Period), 
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				US_TO_TIMEVAL(*d->Sync_Cycle_Period));
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	}
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}
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/*****************************************************************************/
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void stopSYNC(CO_Data* d)
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{
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	d->syncTimer = DelAlarm(d->syncTimer);
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}
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/*********************************************************************/
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UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
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{
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  Message m;
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  UNS8 resultat ;
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  MSG_WAR(0x3001, "sendSYNC ", 0);
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  m.cob_id.w = cob_id ;
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  m.rtr = NOT_A_REQUEST;
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  m.len = 0;
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  resultat = canSend(d->canHandle,&m) ;
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  proceedSYNC(d, &m) ; 
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  return resultat ;
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}
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/*****************************************************************************/
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UNS8 proceedSYNC(CO_Data* d, Message *m)
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{
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  UNS8 	pdoNum,       /* number of the actual processed pdo-nr. */
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        prp_j;
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  const 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 mapping entry  */
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  UNS32 *    pMappingParameter = NULL;  
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  /* pointer to the transmissiontype...*/
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  UNS8 *     pTransmissionType = NULL;  
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  UNS32 *    pwCobId = NULL;	
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  UNS8      dataType;
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  UNS16 index;
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  UNS8 subIndex;
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  UNS8 offset;
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  UNS8 status;
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  UNS8 sizeData;
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  UNS32   objDict;	
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  UNS16 offsetObjdict;
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  UNS16 offsetObjdictMap;
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  UNS16 lastIndex;
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  status = state3;
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  pdoNum = 0x00;
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  prp_j = 0x00;
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  offset = 0x00;
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  MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
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  (*d->post_sync)();
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  /* only operational state allows PDO transmission */
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  if( d->nodeState != Operational ) 
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    return 0;
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  /* So, the node is in operational state */
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  /* study all PDO stored in the objects dictionary */	
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  offsetObjdict = d->firstIndex->PDO_TRS;
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  lastIndex = d->lastIndex->PDO_TRS;
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  offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
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  if(offsetObjdict) while( offsetObjdict <= lastIndex) {  
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    switch( status ) {
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    case state3:    /* get the PDO transmission type */
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      if (d->objdict[offsetObjdict].bSubCount <= 2) {
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	  MSG_ERR(0x1004, "Subindex 2  not found at index ", 0x1800 + pdoNum);
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	  return 0xFF;
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	}
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      pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;    
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      MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
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      status = state4; 
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      break;     
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    case state4:	/* check if transmission type is after (this) SYNC */
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                        /* The message may not be transmited every SYNC but every n SYNC */      
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      if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
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          (++d->count_sync[pdoNum] == *pTransmissionType) ) {	
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	d->count_sync[pdoNum] = 0;
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	MSG_WAR(0x3007, "  PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
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	status = state5;
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	break;
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      }
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      else {
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	MSG_WAR(0x3008, "  Not on synchro or not at this SYNC. Trans type : ", 
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		*pTransmissionType);
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	pdoNum++;
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	offsetObjdict++;
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	offsetObjdictMap++;
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	status = state11;
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	break;
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      }      
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    case state5:	/* get PDO CobId */
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        pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;     
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	MSG_WAR(0x3009, "  PDO CobId is : ", *pwCobId);
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	status = state7;
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	break;     
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    case state7:  /* get mapped objects number to transmit with this PDO */
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      pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
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	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
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	status = state8;
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    case state8:	/* get mapping parameters */
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      pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
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	MSG_WAR(0x300F, "  got mapping parameter : ", *pMappingParameter);
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	MSG_WAR(0x3050, "    at index : ", 0x1A00 + pdoNum);
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	MSG_WAR(0x3051, "    sub-index : ", prp_j + 1);
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	status = state9;
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    case state9:	/* get data to transmit */ 
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      index = (UNS16)((*pMappingParameter) >> 16);
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      subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
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      /* <<3 because in *pMappingParameter the size is in bits */
0
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      sizeData = (UNS8) ((*pMappingParameter & (UNS32)0x000000FF) >> 3) ;
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        objDict = getODentry(d, index, subIndex, (void *)&d->process_var.data[offset], &sizeData, &dataType, 0 ); 
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        if( objDict != 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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	offset += sizeData ;
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	d->process_var.count = offset;
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	prp_j++;
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	status = state10;	 
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	break;					
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    case state10:	/* loop to get all the data to transmit */
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      if( prp_j < *pMappingCount ){
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	MSG_WAR(0x3014, "  next variable mapped : ", prp_j);
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	status = state8;
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	break;
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      }
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      else {
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	MSG_WAR(0x3015, "  End scan mapped variable", 0);
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	PDOmGR( d, *pwCobId );	
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	MSG_WAR(0x3016, "  End of this pdo. Should have been sent", 0);
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	pdoNum++;
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	offsetObjdict++;
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	offsetObjdictMap++;
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	offset = 0x00;
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	prp_j = 0x00;
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	status = state11;
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	break;
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      }
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    case state11:     
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      MSG_WAR(0x3017, "next pdo index : ", pdoNum);
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      status = state3;
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      break;
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    default:
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      MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
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      return 0xFF;
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    }/* end switch case */
0
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  }/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */
0
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  (*d->post_TPDO)();
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  return 0;
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}
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void _post_sync(){}
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void _post_TPDO(){}