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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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#ifndef __pdo_h__

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#define __pdo_h__

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#include <applicfg.h>

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#include <def.h>

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/* The process_var structure

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 Used to store the PDO before the transmission or the reception.

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*/

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typedef struct struct_s_process_var {

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  UNS8 count; // Size of data. Ex : for a PDO of 6 bytes of data, count = 6

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  // WARNING s_process_var.data is subject to ENDIANISATION 

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  // (with respect to CANOPEN_BIG_ENDIAN)

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  UNS8 data[PDO_MAX_LEN];

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}s_process_var;

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#include "data.h"

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/** The PDO structure */

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typedef struct struct_s_PDO {

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  UNS32 cobId;	  // COB-ID

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  UNS8           len;	  // Number of data transmitted (in data[])

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  UNS8           data[8]; // Contain the data

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}s_PDO;

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/** Transmit a PDO data frame on the bus bus_id

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 * pdo is a structure which contains the pdo to transmit

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 * bus_id is hardware dependant

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 * return canSend(bus_id,&m) or 0xFF if error

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 * request can take the value  REQUEST or NOT_A_REQUEST

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 */

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UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);

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/** Prepare a PDO frame transmission, 

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 * whose different parameters are stored in process_var table,

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 * to the slave.

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 * bus_id is hardware dependant

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 * call the function sendPDO

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 * return the result of the function sendPDO or 0xFF if error

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 */

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UNS8 PDOmGR (CO_Data* d, UNS32 cobId);

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/** Prepare the PDO defined at index to be sent by  PDOmGR

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 * Copy all the data to transmit in process_var

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

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 * Return 0 or 0xFF if error.

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 */

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UNS8 buildPDO (CO_Data* d, UNS16 index);

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/** Transmit a PDO request frame on the bus bus_id

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 * to the slave.

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 * bus_id is hardware dependant

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 * Returns 0xFF if error, other in success.

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 */

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UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);

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/** Compute a PDO frame reception

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 * bus_id is hardware dependant

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 * return 0xFF if error, else return 0

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 */

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

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/* used by the application to send a variable by PDO.

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 * Check in which PDO the variable is mapped, and send the PDO. 

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 * of course, the others variables mapped in the PDO are also sent !

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 * ( ie when a specific event occured)

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 * bus_id is hardware dependant

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 * variable is a pointer to the variable which has to be sent. Must be

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 * defined in the object dictionary

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 * return 0xFF if error, else return 0

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 */

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UNS8 sendPDOevent (CO_Data* d, void * variable);

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#endif