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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/pdo.c Source File</title>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/pdo.c</h1><a href="pdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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210
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<a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span>
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<a name="l00003"></a>00003 <span class="comment"> Stack.</span>
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<a name="l00004"></a>00004 <span class="comment"></span>
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<a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00006"></a>00006 <span class="comment"></span>
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<a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span>
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25 |
<a name="l00008"></a>00008 <span class="comment"></span>
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<a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span>
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<a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span>
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<a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
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30 |
<a name="l00013"></a>00013 <span class="comment"></span>
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<a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span>
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<a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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33 |
<a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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34 |
<a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span>
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35 |
<a name="l00018"></a>00018 <span class="comment"></span>
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36 |
<a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span>
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37 |
<a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span>
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38 |
<a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span>
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39 |
<a name="l00022"></a>00022 <span class="comment"> USA</span>
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40 |
<a name="l00023"></a>00023 <span class="comment">*/</span>
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41 |
<a name="l00024"></a>00024 <span class="preprocessor">#include "pdo.h"</span>
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42 |
<a name="l00025"></a>00025 <span class="preprocessor">#include "objacces.h"</span>
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43 |
<a name="l00026"></a>00026 <span class="preprocessor">#include "canfestival.h"</span>
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44 |
<a name="l00027"></a>00027
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45 |
<a name="l00037"></a><a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">00037</a> UNS8 <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(CO_Data* d, s_PDO pdo, UNS8 req)
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46 |
<a name="l00038"></a>00038 {
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47 |
<a name="l00039"></a>00039 UNS8 i;
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48 |
<a name="l00040"></a>00040 <span class="keywordflow">if</span>( d->nodeState == Operational ) {
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49 |
<a name="l00041"></a>00041 Message m;
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50 |
<a name="l00042"></a>00042
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51 |
<a name="l00044"></a>00044 m.cob_id.w = pdo.cobId & 0x7FF;
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52 |
<a name="l00046"></a>00046 <span class="keywordflow">if</span> ( req == NOT_A_REQUEST ) {
|
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53 |
<a name="l00047"></a>00047 UNS8 i;
|
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|
54 |
<a name="l00048"></a>00048 m.rtr = NOT_A_REQUEST;
|
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55 |
<a name="l00049"></a>00049 m.len = pdo.len;
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56 |
<a name="l00052"></a>00052 <span class="keywordflow">for</span> (i = 0 ; i < pdo.len ; i++)
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57 |
<a name="l00053"></a>00053 m.data[i] = pdo.data[i];
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58 |
<a name="l00054"></a>00054 }
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59 |
<a name="l00055"></a>00055 <span class="keywordflow">else</span> {
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60 |
<a name="l00056"></a>00056 m.rtr = REQUEST;
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61 |
<a name="l00057"></a>00057 m.len = 0;
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62 |
<a name="l00058"></a>00058 }
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207
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63 |
<a name="l00059"></a>00059
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64 |
<a name="l00060"></a>00060 MSG_WAR(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.cob_id.w);
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65 |
<a name="l00061"></a>00061 MSG_WAR(0x3902, <span class="stringliteral">" Nb octets : "</span>, m.len);
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66 |
<a name="l00062"></a>00062 <span class="keywordflow">for</span> (i = 0 ; i < m.len ; i++) {
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67 |
<a name="l00063"></a>00063 MSG_WAR(0x3903,<span class="stringliteral">" data : "</span>, m.data[i]);
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68 |
<a name="l00064"></a>00064 }
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69 |
<a name="l00065"></a>00065
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70 |
<a name="l00066"></a>00066 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
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71 |
<a name="l00067"></a>00067 }
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72 |
<a name="l00068"></a>00068 <span class="keywordflow">return</span> 0xFF;
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73 |
<a name="l00069"></a>00069 }
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74 |
<a name="l00070"></a>00070
|
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75 |
<a name="l00079"></a><a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">00079</a> UNS8 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(CO_Data* d, UNS32 cobId)
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76 |
<a name="l00080"></a>00080 {
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77 |
<a name="l00081"></a>00081 UNS8 res;
|
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78 |
<a name="l00082"></a>00082 UNS8 i;
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|
79 |
<a name="l00083"></a>00083 s_PDO pdo;
|
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|
80 |
<a name="l00084"></a>00084
|
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|
81 |
<a name="l00085"></a>00085 MSG_WAR(0x3905, <span class="stringliteral">"PDOmGR"</span>,0);
|
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82 |
<a name="l00086"></a>00086
|
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83 |
<a name="l00089"></a>00089 pdo.cobId = cobId;
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84 |
<a name="l00090"></a>00090 pdo.len = d->process_var.count;
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85 |
<a name="l00092"></a>00092 <span class="comment">/* Ce memcpy devrait tre portable */</span>
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86 |
<a name="l00093"></a>00093 <span class="keywordflow">for</span> ( i = 0 ; i < pdo.len ; i++)
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87 |
<a name="l00094"></a>00094 pdo.data[i] = d->process_var.data[i];
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88 |
<a name="l00095"></a>00095
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89 |
<a name="l00096"></a>00096 res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, NOT_A_REQUEST);
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90 |
<a name="l00097"></a>00097
|
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91 |
<a name="l00098"></a>00098 <span class="keywordflow">return</span> res;
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92 |
<a name="l00099"></a>00099 }
|
|
|
93 |
<a name="l00100"></a>00100
|
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94 |
<a name="l00101"></a>00101 <span class="preprocessor">#if 0</span>
|
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95 |
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span>
|
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96 |
<a name="l00103"></a>00103 <span class="comment">/* TODO : implement bit mapping */</span>
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97 |
<a name="l00104"></a>00104 <span class="comment">/*********************************************************************/</span>
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207
|
98 |
<a name="l00105"></a>00105
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210
|
99 |
<a name="l00106"></a>00106 UNS8 buildPDO(CO_Data* d, UNS16 index)
|
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100 |
<a name="l00107"></a>00107 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span>
|
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101 |
<a name="l00108"></a>00108 UNS16 ind;
|
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102 |
<a name="l00109"></a>00109 UNS8 subInd;
|
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103 |
<a name="l00110"></a>00110
|
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104 |
<a name="l00111"></a>00111 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span>
|
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|
105 |
<a name="l00112"></a>00112 <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
|
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106 |
<a name="l00113"></a>00113 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
|
|
|
107 |
<a name="l00114"></a>00114 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
|
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108 |
<a name="l00115"></a>00115
|
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|
109 |
<a name="l00116"></a>00116 UNS32 * pMappingParameter = NULL;
|
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|
110 |
<a name="l00117"></a>00117
|
|
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111 |
<a name="l00118"></a>00118 UNS8 Size;
|
|
|
112 |
<a name="l00119"></a>00119 UNS8 dataType;
|
|
|
113 |
<a name="l00120"></a>00120 UNS8 offset;
|
|
|
114 |
<a name="l00121"></a>00121 UNS16 offsetObjdict;
|
|
|
115 |
<a name="l00122"></a>00122 UNS16 offsetObjdictPrm;
|
|
|
116 |
<a name="l00123"></a>00123 UNS32 objDict;
|
|
|
117 |
<a name="l00124"></a>00124
|
|
|
118 |
<a name="l00125"></a>00125 subInd=(UNS8)0x00;
|
|
|
119 |
<a name="l00126"></a>00126 offset = 0x00;
|
|
|
120 |
<a name="l00127"></a>00127 ind = index - 0x1800;
|
|
|
121 |
<a name="l00128"></a>00128
|
|
|
122 |
<a name="l00129"></a>00129 MSG_WAR(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index);
|
|
|
123 |
<a name="l00130"></a>00130
|
|
|
124 |
<a name="l00132"></a>00132 <span class="keywordflow">if</span>( d->nodeState != Operational ) {
|
|
|
125 |
<a name="l00133"></a>00133 MSG_WAR(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index);
|
|
|
126 |
<a name="l00134"></a>00134 <span class="keywordflow">return</span> 0xFF;
|
|
|
127 |
<a name="l00135"></a>00135 }
|
|
|
128 |
<a name="l00136"></a>00136 offsetObjdictPrm = d->firstIndex->PDO_TRS;
|
|
|
129 |
<a name="l00137"></a>00137 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
130 |
<a name="l00138"></a>00138
|
|
|
131 |
<a name="l00139"></a>00139 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
|
|
|
132 |
<a name="l00140"></a>00140 {
|
|
|
133 |
<a name="l00142"></a>00142 pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
|
|
|
134 |
<a name="l00143"></a>00143 MSG_WAR(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount);
|
|
|
135 |
<a name="l00144"></a>00144 MSG_WAR(0x3913, <span class="stringliteral">" at index : "</span>, 0x1A00 + ind);
|
|
|
136 |
<a name="l00145"></a>00145 <span class="keywordflow">while</span> (subInd < *pMappingCount) {
|
|
|
137 |
<a name="l00147"></a>00147 pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
|
|
|
138 |
<a name="l00148"></a>00148 MSG_WAR(0x3914, <span class="stringliteral">"Get the mapping at index : "</span>, (UNS16)0x1A00 + ind);
|
|
|
139 |
<a name="l00149"></a>00149 MSG_WAR(0x3915, <span class="stringliteral">" subIndex : "</span>, subInd + 1);
|
|
|
140 |
<a name="l00150"></a>00150 MSG_WAR(0x3916, <span class="stringliteral">" value : "</span>, *(UNS32 *)pMappingParameter);
|
|
|
141 |
<a name="l00152"></a>00152 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
142 |
<a name="l00153"></a>00153 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) >> 16),
|
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|
143 |
<a name="l00154"></a>00154 (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
|
|
|
144 |
<a name="l00155"></a>00155 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 );
|
|
|
145 |
<a name="l00156"></a>00156
|
|
|
146 |
<a name="l00157"></a>00157 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {
|
|
|
147 |
<a name="l00158"></a>00158 MSG_WAR(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1);
|
|
|
148 |
<a name="l00159"></a>00159 MSG_WAR(0x2920, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
149 |
<a name="l00160"></a>00160 MSG_WAR(0x2921, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
150 |
<a name="l00161"></a>00161 <span class="keywordflow">return</span> 0xFF;
|
|
|
151 |
<a name="l00162"></a>00162 }
|
|
|
152 |
<a name="l00163"></a>00163
|
|
|
153 |
<a name="l00164"></a>00164 offset += Size;
|
|
|
154 |
<a name="l00165"></a>00165 d->process_var.count = offset;
|
|
|
155 |
<a name="l00166"></a>00166 subInd++;
|
|
|
156 |
<a name="l00167"></a>00167 }
|
|
|
157 |
<a name="l00168"></a>00168 }
|
|
|
158 |
<a name="l00169"></a>00169 <span class="keywordflow">return</span> 0;
|
|
|
159 |
<a name="l00170"></a>00170 }
|
|
|
160 |
<a name="l00171"></a>00171 <span class="preprocessor">#endif</span>
|
|
|
161 |
<a name="l00172"></a>00172 <span class="preprocessor"></span>
|
|
|
162 |
<a name="l00181"></a><a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">00181</a> UNS8 <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( CO_Data* d, UNS32 cobId )
|
|
|
163 |
<a name="l00182"></a>00182 {
|
|
|
164 |
<a name="l00183"></a>00183 UNS32 * pwCobId;
|
|
|
165 |
<a name="l00184"></a>00184 UNS16 offset;
|
|
|
166 |
<a name="l00185"></a>00185 UNS16 lastIndex;
|
|
|
167 |
<a name="l00186"></a>00186 UNS8 err;
|
|
|
168 |
<a name="l00187"></a>00187
|
|
|
169 |
<a name="l00188"></a>00188 MSG_WAR(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0);
|
|
|
170 |
<a name="l00192"></a>00192 offset = d->firstIndex->PDO_RCV;
|
|
|
171 |
<a name="l00193"></a>00193 lastIndex = d->lastIndex->PDO_RCV;
|
|
|
172 |
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (offset)
|
|
|
173 |
<a name="l00195"></a>00195 <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
|
174 |
<a name="l00197"></a>00197 pwCobId = d->objdict[offset].pSubindex[1].pObject;
|
|
|
175 |
<a name="l00198"></a>00198
|
|
|
176 |
<a name="l00199"></a>00199 <span class="keywordflow">if</span> ( *pwCobId == cobId ) {
|
|
|
177 |
<a name="l00200"></a>00200 s_PDO pdo;
|
|
|
178 |
<a name="l00201"></a>00201 pdo.cobId = *pwCobId;
|
|
|
179 |
<a name="l00202"></a>00202 pdo.len = 0;
|
|
|
180 |
<a name="l00203"></a>00203 err = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, REQUEST);
|
|
|
181 |
<a name="l00204"></a>00204 <span class="keywordflow">return</span> err;
|
|
|
182 |
<a name="l00205"></a>00205 }
|
|
|
183 |
<a name="l00206"></a>00206 offset++;
|
|
|
184 |
<a name="l00207"></a>00207 }
|
|
|
185 |
<a name="l00208"></a>00208 MSG_WAR(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId);
|
|
|
186 |
<a name="l00209"></a>00209 <span class="keywordflow">return</span> 0xFF;
|
|
|
187 |
<a name="l00210"></a>00210 }
|
|
|
188 |
<a name="l00211"></a>00211
|
|
|
189 |
<a name="l00212"></a>00212
|
|
|
190 |
<a name="l00221"></a><a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00221</a> UNS8 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(CO_Data* d, Message *m)
|
|
|
191 |
<a name="l00222"></a>00222 {
|
|
|
192 |
<a name="l00223"></a>00223 UNS8 numPdo;
|
|
|
193 |
<a name="l00224"></a>00224 UNS8 numMap;
|
|
|
194 |
<a name="l00225"></a>00225 UNS8 i;
|
|
|
195 |
<a name="l00226"></a>00226 UNS8 * pMappingCount = NULL;
|
|
|
196 |
<a name="l00231"></a>00231 UNS32 * pMappingParameter = NULL;
|
|
|
197 |
<a name="l00232"></a>00232 UNS8 * pTransmissionType = NULL;
|
|
|
198 |
<a name="l00234"></a>00234 UNS32 * pwCobId = NULL;
|
|
|
199 |
<a name="l00235"></a>00235 UNS8 Size;
|
|
|
200 |
<a name="l00236"></a>00236 UNS8 dataType;
|
|
|
201 |
<a name="l00237"></a>00237 UNS8 offset;
|
|
|
202 |
<a name="l00238"></a>00238 UNS8 status;
|
|
|
203 |
<a name="l00239"></a>00239 UNS32 objDict;
|
|
|
204 |
<a name="l00240"></a>00240 UNS16 offsetObjdict;
|
|
|
205 |
<a name="l00241"></a>00241 UNS16 lastIndex;
|
|
|
206 |
<a name="l00242"></a>00242 status = state1;
|
|
|
207 |
<a name="l00243"></a>00243
|
|
|
208 |
<a name="l00244"></a>00244 MSG_WAR(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff));
|
|
|
209 |
<a name="l00245"></a>00245 offset = 0x00;
|
|
|
210 |
<a name="l00246"></a>00246 numPdo = 0;
|
|
|
211 |
<a name="l00247"></a>00247 numMap = 0;
|
|
|
212 |
<a name="l00248"></a>00248 <span class="keywordflow">if</span>((*m).rtr == NOT_A_REQUEST ) {
|
|
|
213 |
<a name="l00250"></a>00250 offsetObjdict = d->firstIndex->PDO_RCV;
|
|
|
214 |
<a name="l00251"></a>00251 lastIndex = d->lastIndex->PDO_RCV;
|
|
|
215 |
<a name="l00252"></a>00252
|
|
|
216 |
<a name="l00254"></a>00254 <span class="keywordflow">if</span>(offsetObjdict)
|
|
|
217 |
<a name="l00255"></a>00255 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) {
|
|
|
218 |
<a name="l00256"></a>00256
|
|
|
219 |
<a name="l00257"></a>00257 <span class="keywordflow">switch</span>( status ) {
|
|
|
220 |
<a name="l00258"></a>00258
|
|
|
221 |
<a name="l00259"></a>00259 <span class="keywordflow">case</span> state1:
|
|
|
222 |
<a name="l00262"></a>00262 <span class="keywordflow">for</span> ( i = 0 ; i < m->len ; i++)
|
|
|
223 |
<a name="l00263"></a>00263 d->process_var.data[i] = m->data[i];
|
|
|
224 |
<a name="l00264"></a>00264 d->process_var.count = (*m).len;
|
|
|
225 |
<a name="l00265"></a>00265
|
|
|
226 |
<a name="l00266"></a>00266 status = state2;
|
|
|
227 |
<a name="l00267"></a>00267 <span class="keywordflow">break</span>;
|
|
|
228 |
<a name="l00268"></a>00268
|
|
|
229 |
<a name="l00269"></a>00269 <span class="keywordflow">case</span> state2:
|
|
|
230 |
<a name="l00272"></a>00272 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
|
|
|
231 |
<a name="l00276"></a>00276 if ( *pwCobId == (*m).cob_id.w ){
|
|
|
232 |
<a name="l00278"></a>00278 status = state4;
|
|
|
233 |
<a name="l00279"></a>00279 MSG_WAR(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
|
|
|
234 |
<a name="l00280"></a>00280 <span class="keywordflow">break</span>;
|
|
|
235 |
<a name="l00281"></a>00281 }
|
|
|
236 |
<a name="l00282"></a>00282 <span class="keywordflow">else</span> {
|
|
|
237 |
<a name="l00285"></a>00285 numPdo++;
|
|
|
238 |
<a name="l00286"></a>00286 offsetObjdict++;
|
|
|
239 |
<a name="l00287"></a>00287 status = state2;
|
|
|
240 |
<a name="l00288"></a>00288 <span class="keywordflow">break</span>;
|
|
|
241 |
<a name="l00289"></a>00289 }
|
|
|
242 |
<a name="l00290"></a>00290
|
|
|
243 |
<a name="l00291"></a>00291 <span class="keywordflow">case</span> state4:
|
|
|
244 |
<a name="l00294"></a>00294 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
|
|
|
245 |
<a name="l00295"></a>00295 lastIndex = d->lastIndex->PDO_RCV_MAP;
|
|
|
246 |
<a name="l00296"></a>00296 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
|
247 |
<a name="l00297"></a>00297 numMap = 0;
|
|
|
248 |
<a name="l00298"></a>00298 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
|
|
|
249 |
<a name="l00299"></a>00299 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
|
|
|
250 |
<a name="l00300"></a>00300 UNS8 ByteSize;
|
|
|
251 |
<a name="l00301"></a>00301 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
|
252 |
<a name="l00302"></a>00302 <span class="keywordflow">if</span> (pMappingParameter == NULL) {
|
|
|
253 |
<a name="l00303"></a>00303 MSG_ERR(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
|
|
|
254 |
<a name="l00304"></a>00304 <span class="keywordflow">return</span> 0xFF;
|
|
|
255 |
<a name="l00305"></a>00305 }
|
|
|
256 |
<a name="l00313"></a>00313 Size = (UNS8)(*pMappingParameter);
|
|
207
|
257 |
<a name="l00314"></a>00314
|
|
210
|
258 |
<a name="l00316"></a>00316 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
|
|
|
259 |
<a name="l00317"></a>00317
|
|
|
260 |
<a name="l00318"></a>00318 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 =></span>
|
|
|
261 |
<a name="l00319"></a>00319 <span class="comment"> 2, ... */</span>
|
|
|
262 |
<a name="l00320"></a>00320
|
|
|
263 |
<a name="l00321"></a>00321 objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, (UNS16)((*pMappingParameter) >> 16),
|
|
|
264 |
<a name="l00322"></a>00322 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
|
|
|
265 |
<a name="l00323"></a>00323 tmp, &ByteSize, 0 );
|
|
|
266 |
<a name="l00324"></a>00324
|
|
|
267 |
<a name="l00325"></a>00325 <span class="keywordflow">if</span>(objDict != OD_SUCCESSFUL) {
|
|
|
268 |
<a name="l00326"></a>00326 MSG_ERR(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
|
|
|
269 |
<a name="l00327"></a>00327 MSG_WAR(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
270 |
<a name="l00328"></a>00328 MSG_WAR(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
271 |
<a name="l00329"></a>00329 <span class="keywordflow">return</span> 0xFF;
|
|
|
272 |
<a name="l00330"></a>00330 }
|
|
|
273 |
<a name="l00331"></a>00331
|
|
|
274 |
<a name="l00332"></a>00332 MSG_WAR(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m->cob_id.w);
|
|
|
275 |
<a name="l00333"></a>00333 MSG_WAR(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
276 |
<a name="l00334"></a>00334 MSG_WAR(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
277 |
<a name="l00336"></a>00336 offset += Size;
|
|
|
278 |
<a name="l00337"></a>00337 numMap++;
|
|
|
279 |
<a name="l00338"></a>00338 }
|
|
|
280 |
<a name="l00340"></a>00340 offset=0x00;
|
|
|
281 |
<a name="l00341"></a>00341 numMap = 0;
|
|
|
282 |
<a name="l00342"></a>00342 <span class="keywordflow">return</span> 0;
|
|
|
283 |
<a name="l00343"></a>00343
|
|
|
284 |
<a name="l00344"></a>00344 }
|
|
|
285 |
<a name="l00345"></a>00345 }
|
|
|
286 |
<a name="l00346"></a>00346 }
|
|
|
287 |
<a name="l00347"></a>00347 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == REQUEST ){
|
|
|
288 |
<a name="l00348"></a>00348 MSG_WAR(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m->cob_id.w);
|
|
|
289 |
<a name="l00349"></a>00349 status = state1;
|
|
|
290 |
<a name="l00350"></a>00350 offsetObjdict = d->firstIndex->PDO_TRS;
|
|
|
291 |
<a name="l00351"></a>00351 lastIndex = d->lastIndex->PDO_TRS;
|
|
|
292 |
<a name="l00352"></a>00352 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){
|
|
|
293 |
<a name="l00355"></a>00355 <span class="keywordflow">switch</span>( status ){
|
|
|
294 |
<a name="l00356"></a>00356
|
|
|
295 |
<a name="l00357"></a>00357 <span class="keywordflow">case</span> state1:
|
|
|
296 |
<a name="l00360"></a>00360 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
|
|
|
297 |
<a name="l00361"></a>00361 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
|
|
|
298 |
<a name="l00362"></a>00362 status = state4;
|
|
|
299 |
<a name="l00363"></a>00363 <span class="keywordflow">break</span>;
|
|
|
300 |
<a name="l00364"></a>00364 }
|
|
|
301 |
<a name="l00365"></a>00365 <span class="keywordflow">else</span> {
|
|
|
302 |
<a name="l00366"></a>00366 numPdo++;
|
|
|
303 |
<a name="l00367"></a>00367 offsetObjdict++;
|
|
|
304 |
<a name="l00368"></a>00368 }
|
|
|
305 |
<a name="l00369"></a>00369 status = state1;
|
|
|
306 |
<a name="l00370"></a>00370 <span class="keywordflow">break</span>;
|
|
|
307 |
<a name="l00371"></a>00371
|
|
|
308 |
<a name="l00372"></a>00372
|
|
|
309 |
<a name="l00373"></a>00373 <span class="keywordflow">case</span> state4:
|
|
|
310 |
<a name="l00374"></a>00374 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
|
|
|
311 |
<a name="l00375"></a>00375 <span class="keywordflow">if</span> ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
|
|
|
312 |
<a name="l00376"></a>00376 status = state5;
|
|
|
313 |
<a name="l00377"></a>00377 <span class="keywordflow">break</span>;
|
|
|
314 |
<a name="l00378"></a>00378 }
|
|
|
315 |
<a name="l00379"></a>00379 <span class="keywordflow">else</span> {
|
|
|
316 |
<a name="l00382"></a>00382 MSG_WAR(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m->cob_id.w);
|
|
|
317 |
<a name="l00383"></a>00383 <span class="keywordflow">return</span> 0xFF;
|
|
|
318 |
<a name="l00384"></a>00384 }
|
|
|
319 |
<a name="l00385"></a>00385
|
|
|
320 |
<a name="l00386"></a>00386 <span class="keywordflow">case</span> state5:
|
|
|
321 |
<a name="l00387"></a>00387 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
322 |
<a name="l00388"></a>00388 lastIndex = d->lastIndex->PDO_TRS_MAP;
|
|
|
323 |
<a name="l00389"></a>00389 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
|
324 |
<a name="l00390"></a>00390 numMap = 0;
|
|
|
325 |
<a name="l00391"></a>00391 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
|
|
|
326 |
<a name="l00392"></a>00392 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
|
327 |
<a name="l00394"></a>00394 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
328 |
<a name="l00395"></a>00395 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
|
|
|
329 |
<a name="l00396"></a>00396 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
|
|
|
330 |
<a name="l00397"></a>00397 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 );
|
|
|
331 |
<a name="l00398"></a>00398 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {
|
|
|
332 |
<a name="l00399"></a>00399 MSG_ERR(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
|
|
|
333 |
<a name="l00400"></a>00400 MSG_WAR(0x2949, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
334 |
<a name="l00401"></a>00401 MSG_WAR(0x2950, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
335 |
<a name="l00402"></a>00402 <span class="keywordflow">return</span> 0xFF;
|
|
|
336 |
<a name="l00403"></a>00403 }
|
|
|
337 |
<a name="l00404"></a>00404 offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
|
|
|
338 |
<a name="l00405"></a>00405 d->process_var.count = offset;
|
|
|
339 |
<a name="l00406"></a>00406 numMap++;
|
|
|
340 |
<a name="l00407"></a>00407
|
|
|
341 |
<a name="l00408"></a>00408 }
|
|
|
342 |
<a name="l00409"></a>00409 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId );
|
|
|
343 |
<a name="l00410"></a>00410 <span class="keywordflow">return</span> 0;
|
|
|
344 |
<a name="l00411"></a>00411
|
|
|
345 |
<a name="l00412"></a>00412 }
|
|
|
346 |
<a name="l00413"></a>00413 }
|
|
|
347 |
<a name="l00414"></a>00414 }
|
|
|
348 |
<a name="l00416"></a>00416 <span class="keywordflow">return</span> 0;
|
|
|
349 |
<a name="l00417"></a>00417 }
|
|
|
350 |
<a name="l00418"></a>00418
|
|
|
351 |
<a name="l00430"></a><a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">00430</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
|
|
|
352 |
<a name="l00431"></a>00431 {
|
|
|
353 |
<a name="l00434"></a>00434 <span class="comment">// boundaries from LSB to MSB.</span>
|
|
|
354 |
<a name="l00435"></a>00435 <span class="keywordflow">while</span>(NbBits > 0)
|
|
|
355 |
<a name="l00436"></a>00436 {
|
|
|
356 |
<a name="l00438"></a>00438 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
|
|
|
357 |
<a name="l00439"></a>00439
|
|
|
358 |
<a name="l00441"></a>00441 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
|
|
|
359 |
<a name="l00442"></a>00442
|
|
|
360 |
<a name="l00444"></a>00444 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
|
|
|
361 |
<a name="l00445"></a>00445 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
|
|
|
362 |
<a name="l00446"></a>00446
|
|
|
363 |
<a name="l00448"></a>00448 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
|
|
|
364 |
<a name="l00449"></a>00449
|
|
|
365 |
<a name="l00451"></a>00451 UNS8 Filtered = Aligned & ~Mask;
|
|
|
366 |
<a name="l00452"></a>00452
|
|
|
367 |
<a name="l00454"></a>00454 *DestByteIndex &= Mask;
|
|
|
368 |
<a name="l00455"></a>00455
|
|
|
369 |
<a name="l00457"></a>00457 *DestByteIndex |= Filtered ;
|
|
|
370 |
<a name="l00458"></a>00458
|
|
|
371 |
<a name="l00460"></a>00460 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7)
|
|
|
372 |
<a name="l00461"></a>00461 {
|
|
|
373 |
<a name="l00462"></a>00462 SrcBitIndex = 0;
|
|
|
374 |
<a name="l00463"></a>00463 SrcByteIndex += (SrcBigEndian ? -1 : 1);
|
|
|
375 |
<a name="l00464"></a>00464 }
|
|
|
376 |
<a name="l00465"></a>00465
|
|
|
377 |
<a name="l00466"></a>00466
|
|
|
378 |
<a name="l00468"></a>00468 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7)
|
|
|
379 |
<a name="l00469"></a>00469 {
|
|
|
380 |
<a name="l00470"></a>00470 DestBitIndex = 0;
|
|
|
381 |
<a name="l00471"></a>00471 DestByteIndex += (DestBigEndian ? -1 : 1);
|
|
|
382 |
<a name="l00472"></a>00472 }
|
|
|
383 |
<a name="l00473"></a>00473
|
|
|
384 |
<a name="l00475"></a>00475 NbBits -= BitsToCopy;
|
|
|
385 |
<a name="l00476"></a>00476 }
|
|
|
386 |
<a name="l00477"></a>00477
|
|
|
387 |
<a name="l00478"></a>00478 }
|
|
|
388 |
<a name="l00479"></a>00479
|
|
|
389 |
<a name="l00480"></a>00480 <span class="preprocessor">#if 0</span>
|
|
|
390 |
<a name="l00481"></a>00481 <span class="preprocessor"></span>
|
|
|
391 |
<a name="l00482"></a>00482 <span class="comment">/*********************************************************************/</span>
|
|
|
392 |
<a name="l00483"></a>00483 <span class="comment">/* TODO : reimplement this using CallBacks</span>
|
|
|
393 |
<a name="l00484"></a>00484 <span class="comment"> */</span>
|
|
|
394 |
<a name="l00485"></a>00485 <span class="comment">/*********************************************************************/</span>
|
|
|
395 |
<a name="l00486"></a>00486
|
|
|
396 |
<a name="l00495"></a>00495 UNS8 sendPDOevent( CO_Data* d, <span class="keywordtype">void</span> * variable )
|
|
|
397 |
<a name="l00496"></a>00496 {
|
|
|
398 |
<a name="l00498"></a>00498 UNS32 objDict = 0;
|
|
|
399 |
<a name="l00499"></a>00499 UNS8 ind, sub_ind;
|
|
|
400 |
<a name="l00500"></a>00500 UNS8 status;
|
|
|
401 |
<a name="l00501"></a>00501 UNS8 offset;
|
|
|
402 |
<a name="l00502"></a>00502 UNS8 * pMappingCount = NULL;
|
|
|
403 |
<a name="l00503"></a>00503 UNS32 * pMappingParameter = NULL;
|
|
|
404 |
<a name="l00504"></a>00504 <span class="keywordtype">void</span> * pMappedAppObject = NULL;
|
|
|
405 |
<a name="l00505"></a>00505 UNS8 * pTransmissionType = NULL;
|
|
|
406 |
<a name="l00507"></a>00507 UNS32 * pwCobId = NULL;
|
|
|
407 |
<a name="l00508"></a>00508 UNS8 * pSize;
|
|
|
408 |
<a name="l00509"></a>00509 UNS8 size;
|
|
|
409 |
<a name="l00510"></a>00510 UNS8 dataType;
|
|
|
410 |
<a name="l00511"></a>00511 UNS16 offsetObjdict;
|
|
|
411 |
<a name="l00512"></a>00512 UNS16 offsetObjdictPrm;
|
|
|
412 |
<a name="l00513"></a>00513 UNS16 lastIndex;
|
|
|
413 |
<a name="l00514"></a>00514 UNS8 numMap;
|
|
|
414 |
<a name="l00515"></a>00515 ind = 0x00;
|
|
|
415 |
<a name="l00516"></a>00516 sub_ind = 1;
|
|
|
416 |
<a name="l00517"></a>00517 offset = 0x00;
|
|
|
417 |
<a name="l00518"></a>00518 pSize = &size;
|
|
|
418 |
<a name="l00519"></a>00519 status = state1;
|
|
|
419 |
<a name="l00520"></a>00520
|
|
|
420 |
<a name="l00521"></a>00521
|
|
|
421 |
<a name="l00525"></a>00525 MSG_WAR (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0);
|
|
|
422 |
<a name="l00526"></a>00526 offsetObjdictPrm = d->firstIndex->PDO_TRS;
|
|
|
423 |
<a name="l00527"></a>00527
|
|
|
424 |
<a name="l00528"></a>00528 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
425 |
<a name="l00529"></a>00529 lastIndex = d->lastIndex->PDO_TRS_MAP;
|
|
|
426 |
<a name="l00530"></a>00530
|
|
|
427 |
<a name="l00531"></a>00531 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
|
|
|
428 |
<a name="l00533"></a>00533 <span class="keywordflow">while</span>(offsetObjdict <= lastIndex){
|
|
|
429 |
<a name="l00535"></a>00535 pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
|
|
|
430 |
<a name="l00536"></a>00536 <span class="keywordflow">if</span> (*pTransmissionType != TRANS_EVENT) {
|
|
|
431 |
<a name="l00537"></a>00537 ind++;
|
|
|
432 |
<a name="l00538"></a>00538 offsetObjdict++;
|
|
|
433 |
<a name="l00539"></a>00539 offsetObjdictPrm++;
|
|
|
434 |
<a name="l00540"></a>00540 <span class="keywordflow">continue</span>;
|
|
|
435 |
<a name="l00541"></a>00541 }
|
|
|
436 |
<a name="l00542"></a>00542 pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
|
|
|
437 |
<a name="l00543"></a>00543 numMap = 1;
|
|
|
438 |
<a name="l00544"></a>00544 <span class="keywordflow">while</span> (numMap <= *pMappingCount) {
|
|
|
439 |
<a name="l00545"></a>00545 pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
|
|
|
440 |
<a name="l00547"></a>00547 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d,
|
|
|
441 |
<a name="l00548"></a>00548 (UNS16)((*pMappingParameter) >> 16),
|
|
|
442 |
<a name="l00549"></a>00549 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
|
|
|
443 |
<a name="l00550"></a>00550 (<span class="keywordtype">void</span> * *)&pMappedAppObject, pSize, &dataType, 0 );
|
|
|
444 |
<a name="l00551"></a>00551 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ) {
|
|
|
445 |
<a name="l00552"></a>00552 MSG_WAR(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>,
|
|
|
446 |
<a name="l00553"></a>00553 (*pMappingParameter) >> (UNS8)16);
|
|
|
447 |
<a name="l00554"></a>00554
|
|
|
448 |
<a name="l00555"></a>00555 MSG_WAR(0x2962, <span class="stringliteral">" subindex : "</span>,
|
|
|
449 |
<a name="l00556"></a>00556 ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
|
|
|
450 |
<a name="l00557"></a>00557 <span class="keywordflow">return</span> 0xFF;
|
|
|
451 |
<a name="l00558"></a>00558 }
|
|
|
452 |
<a name="l00559"></a>00559 <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span>
|
|
|
453 |
<a name="l00560"></a>00560 MSG_WAR(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>,
|
|
|
454 |
<a name="l00561"></a>00561 (*pMappingParameter) >> 16);
|
|
|
455 |
<a name="l00562"></a>00562 MSG_WAR(0x3964, <span class="stringliteral">" subIndex : "</span>,
|
|
|
456 |
<a name="l00563"></a>00563 ((*pMappingParameter) >> 8 ) & 0x000000FF);
|
|
|
457 |
<a name="l00564"></a>00564 buildPDO(d, 0x1800 + ind);
|
|
|
458 |
<a name="l00566"></a>00566 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
|
|
|
459 |
<a name="l00567"></a>00567 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId );
|
|
|
460 |
<a name="l00568"></a>00568 <span class="keywordflow">return</span> 0;
|
|
|
461 |
<a name="l00569"></a>00569 }
|
|
|
462 |
<a name="l00570"></a>00570 numMap++;
|
|
|
463 |
<a name="l00571"></a>00571 }
|
|
|
464 |
<a name="l00572"></a>00572 ind++;
|
|
|
465 |
<a name="l00573"></a>00573 offsetObjdict++;
|
|
|
466 |
<a name="l00574"></a>00574 offsetObjdictPrm++;
|
|
|
467 |
<a name="l00575"></a>00575 }
|
|
|
468 |
<a name="l00577"></a>00577 MSG_WAR(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0);
|
|
|
469 |
<a name="l00578"></a>00578 <span class="keywordflow">return</span> 0xFF;
|
|
|
470 |
<a name="l00579"></a>00579
|
|
|
471 |
<a name="l00580"></a>00580 }
|
|
|
472 |
<a name="l00581"></a>00581 <span class="preprocessor">#endif</span>
|
|
|
473 |
<a name="l00582"></a>00582 <span class="preprocessor"></span>
|
|
|
474 |
<a name="l00583"></a>00583
|
|
|
475 |
<a name="l00584"></a>00584
|
|
|
476 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
|
|
207
|
477 |
<a href="http://www.doxygen.org/index.html">
|
|
|
478 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
479 |
</body>
|
|
|
480 |
</html>
|