doc/doxygen/html/pdo_8c-source.html
author etisserant
Sun, 30 Sep 2007 22:34:10 +0200
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parent 240 34654679f262
permissions -rw-r--r--
Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
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<title>CanFestival: src/pdo.c Source File</title>
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<div class="nav">
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<a class="el" href="dir_0aa10e4f705947227e11e7ccb081fbe4.html">src</a></div>
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<h1>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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<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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<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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<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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<a name="l00016"></a>00016 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
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<a name="l00017"></a>00017 <span class="comment">  Lesser General Public License for more details.</span>
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<a name="l00018"></a>00018 <span class="comment"></span>
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<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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<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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<a name="l00021"></a>00021 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307</span>
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<a name="l00022"></a>00022 <span class="comment">  USA</span>
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<a name="l00023"></a>00023 <span class="comment">*/</span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="pdo_8h.html">pdo.h</a>"</span>
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<a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="objacces_8h.html">objacces.h</a>"</span>
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<a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
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<a name="l00027"></a>00027 
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<a name="l00048"></a><a class="code" href="pdo_8h.html#06b1b812ca18d3167243fb2b2acb6414">00048</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo, <a class="code" href="structMessage.html">Message</a> *pdo)
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<a name="l00049"></a>00049 {
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<a name="l00050"></a>00050         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a> + numPdo; 
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<a name="l00051"></a>00051         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_map = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a> + numPdo;
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<a name="l00052"></a>00052         
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<a name="l00053"></a>00053         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> prp_j = 0x00;
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<a name="l00054"></a>00054         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> offset = 0x00;
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<a name="l00055"></a>00055         <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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<a name="l00056"></a>00056 
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<a name="l00057"></a>00057         pdo-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x7FF;
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<a name="l00058"></a>00058         pdo-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;
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<a name="l00059"></a>00059 
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<a name="l00060"></a>00060         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3009, <span class="stringliteral">"  PDO CobId is : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>);
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<a name="l00061"></a>00061         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300D, <span class="stringliteral">"  Number of objects mapped : "</span>,*pMappingCount );
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<a name="l00062"></a>00062         
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<a name="l00063"></a>00063         <span class="keywordflow">do</span>{
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<a name="l00064"></a>00064                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType; <span class="comment">/* Unused */</span>
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<a name="l00065"></a>00065                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0}; <span class="comment">/* temporary space to hold bits */</span>
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<a name="l00066"></a>00066 
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<a name="l00067"></a>00067                 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span>
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<a name="l00068"></a>00068                 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>* pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[prp_j + 1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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<a name="l00069"></a>00069                 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16);
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<a name="l00070"></a>00070                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
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<a name="l00071"></a>00071                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt; 2, ... */</span>
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<a name="l00072"></a>00072                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(( (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)8 ) &amp; (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x000000FF);
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<a name="l00073"></a>00073                 
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<a name="l00074"></a>00074                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300F, <span class="stringliteral">"  got mapping parameter : "</span>, *pMappingParameter);
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<a name="l00075"></a>00075                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3050, <span class="stringliteral">"    at index : "</span>, TPDO_map-&gt;<a class="code" href="structtd__indextable.html#886a98ee4bd1ff0cd6182d0b0be8c486">index</a>);
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<a name="l00076"></a>00076                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3051, <span class="stringliteral">"    sub-index : "</span>, prp_j + 1);
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<a name="l00077"></a>00077                 
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<a name="l00078"></a>00078                 <span class="keywordflow">if</span>( <a class="code" href="objacces_8c.html#cad0c118b1e06230c9cceb8e3985822b">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, subIndex, tmp, &amp;ByteSize, &amp;dataType, 0 ) != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> ){
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<a name="l00079"></a>00079                         <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)(*pMappingParameter));
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<a name="l00080"></a>00080                         <span class="keywordflow">return</span> 0xFF;
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<a name="l00081"></a>00081                 }
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<a name="l00082"></a>00082                 <span class="comment">/* copy bit per bit in little endian*/</span>
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<a name="l00083"></a>00083                 <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0 , 0, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;pdo-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0);
210
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    85
<a name="l00084"></a>00084 
240
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<a name="l00085"></a>00085                 offset += Size ;
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<a name="l00086"></a>00086                 prp_j++;
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<a name="l00087"></a>00087         }<span class="keywordflow">while</span>( prp_j &lt; *pMappingCount );
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<a name="l00088"></a>00088 
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    90
<a name="l00089"></a>00089         pdo-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1 + ((offset - 1) &gt;&gt; 3);
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    91
<a name="l00090"></a>00090 
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    92
<a name="l00091"></a>00091         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3015, <span class="stringliteral">"  End scan mapped variable"</span>, 0);
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    93
<a name="l00092"></a>00092 
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<a name="l00093"></a>00093         <span class="keywordflow">return</span> 0;
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    95
<a name="l00094"></a>00094 }
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    96
<a name="l00095"></a>00095 
240
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    97
<a name="l00104"></a><a class="code" href="pdo_8h.html#2a4d6e86bc4447a3c45c9b96bd61f995">00104</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> RPDOIndex )
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    98
<a name="l00105"></a>00105 {
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<a name="l00106"></a>00106   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pwCobId;
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<a name="l00107"></a>00107   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
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<a name="l00108"></a>00108   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
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<a name="l00109"></a>00109 
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<a name="l00110"></a>00110   <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span>
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<a name="l00111"></a>00111 <span class="comment">     receive */</span>
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   105
<a name="l00112"></a>00112   <span class="comment">/* part dictionary */</span>
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   106
<a name="l00113"></a>00113   
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<a name="l00114"></a>00114   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest RPDO Index : "</span>,RPDOIndex);
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   108
<a name="l00115"></a>00115   
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<a name="l00116"></a>00116   <span class="keywordflow">if</span> (offset &amp;&amp; RPDOIndex &gt;= 0x1400){
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<a name="l00117"></a>00117     offset += RPDOIndex - 0x1400;  
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<a name="l00118"></a>00118     <span class="keywordflow">if</span> (offset &lt;= lastIndex) {
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<a name="l00119"></a>00119       <span class="comment">/* get the CobId*/</span>
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<a name="l00120"></a>00120       pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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<a name="l00121"></a>00121 
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<a name="l00122"></a>00122       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest cobId is : "</span>,*pwCobId);
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<a name="l00123"></a>00123 
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<a name="l00124"></a>00124       <a class="code" href="structMessage.html">Message</a> pdo = {*pwCobId, <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>, 0};
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<a name="l00125"></a>00125       <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
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<a name="l00126"></a>00126     }
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<a name="l00127"></a>00127   }
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<a name="l00128"></a>00128   <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : RPDO Index not found : "</span>, RPDOIndex);
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<a name="l00129"></a>00129   <span class="keywordflow">return</span> 0xFF;
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<a name="l00130"></a>00130 }
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<a name="l00131"></a>00131 
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<a name="l00132"></a>00132 
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<a name="l00141"></a><a class="code" href="pdo_8h.html#f653b9e9cc46d8290b3ce2d6392b5a52">00141</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
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<a name="l00142"></a>00142 {
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<a name="l00143"></a>00143   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numPdo;
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<a name="l00144"></a>00144   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numMap;  <span class="comment">/* Number of the mapped varable */</span>
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<a name="l00145"></a>00145   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i;
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<a name="l00146"></a>00146   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *     pMappingCount = NULL;    <span class="comment">/* count of mapped objects... */</span>
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<a name="l00147"></a>00147   <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>
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<a name="l00148"></a>00148   <span class="comment">/*  void *     pMappedAppObject = NULL;   */</span>
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<a name="l00149"></a>00149   <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span>
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<a name="l00150"></a>00150 <span class="comment">     mapping entry */</span>
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<a name="l00151"></a>00151   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pMappingParameter = NULL;
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<a name="l00152"></a>00152   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  *    pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
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<a name="l00153"></a>00153 <span class="comment">                                         type */</span>
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<a name="l00154"></a>00154   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pwCobId = NULL;
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<a name="l00155"></a>00155   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       Size;
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<a name="l00156"></a>00156   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       dataType;
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<a name="l00157"></a>00157   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       offset;
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<a name="l00158"></a>00158   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       status;
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<a name="l00159"></a>00159   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>      objDict;
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<a name="l00160"></a>00160   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      offsetObjdict;
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<a name="l00161"></a>00161   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      lastIndex;
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<a name="l00162"></a>00162   
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<a name="l00163"></a>00163   status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;
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<a name="l00164"></a>00164 
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<a name="l00165"></a>00165   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w &amp; 0x7ff));
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<a name="l00166"></a>00166   offset = 0x00;
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<a name="l00167"></a>00167   numPdo = 0;
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<a name="l00168"></a>00168   numMap = 0;
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<a name="l00169"></a>00169   <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span>
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<a name="l00170"></a>00170 <span class="comment">                                     request. */</span>
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<a name="l00171"></a>00171 
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<a name="l00172"></a>00172     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
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<a name="l00173"></a>00173     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
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<a name="l00174"></a>00174 
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<a name="l00175"></a>00175     <span class="comment">/* study of all the PDO stored in the dictionary */</span>
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<a name="l00176"></a>00176     <span class="keywordflow">if</span>(offsetObjdict)
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<a name="l00177"></a>00177       <span class="keywordflow">while</span> (offsetObjdict &lt;= lastIndex) {
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<a name="l00178"></a>00178 
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<a name="l00179"></a>00179         <span class="keywordflow">switch</span>( status ) {
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<a name="l00180"></a>00180 
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<a name="l00181"></a>00181         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>:
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<a name="l00182"></a>00182           <span class="comment">/* get CobId of the dictionary correspondant to the received</span>
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<a name="l00183"></a>00183 <span class="comment">             PDO */</span>
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<a name="l00184"></a>00184           pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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<a name="l00185"></a>00185           <span class="comment">/* check the CobId coherance */</span>
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<a name="l00186"></a>00186           <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span>
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<a name="l00187"></a>00187 <span class="comment">            */</span>
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<a name="l00188"></a>00188           if ( *pwCobId == (*m).cob_id.w ){
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<a name="l00189"></a>00189             <span class="comment">/* The cobId is recognized */</span>
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<a name="l00190"></a>00190             status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;
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<a name="l00191"></a>00191             <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
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<a name="l00192"></a>00192             <span class="keywordflow">break</span>;
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<a name="l00193"></a>00193           }
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<a name="l00194"></a>00194           <span class="keywordflow">else</span> {
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<a name="l00195"></a>00195             <span class="comment">/* cobId received does not match with those write in the</span>
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<a name="l00196"></a>00196 <span class="comment">              dictionnary */</span>
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<a name="l00197"></a>00197             numPdo++;
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<a name="l00198"></a>00198             offsetObjdict++;
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<a name="l00199"></a>00199             status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;
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<a name="l00200"></a>00200             <span class="keywordflow">break</span>;
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<a name="l00201"></a>00201           }
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<a name="l00202"></a>00202 
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<a name="l00203"></a>00203             <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span>
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<a name="l00204"></a>00204                <span class="comment">/* The cobId of the message received has been found in the</span>
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<a name="l00205"></a>00205 <span class="comment">                 dictionnary. */</span>
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<a name="l00206"></a>00206                offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;
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<a name="l00207"></a>00207              lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;
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<a name="l00208"></a>00208              pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;
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<a name="l00209"></a>00209              numMap = 0;
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<a name="l00210"></a>00210              <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {
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<a name="l00211"></a>00211                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};
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<a name="l00212"></a>00212                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize;
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<a name="l00213"></a>00213                pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;
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<a name="l00214"></a>00214                <span class="keywordflow">if</span> (pMappingParameter == NULL) {
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<a name="l00215"></a>00215                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
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<a name="l00216"></a>00216                  <span class="keywordflow">return</span> 0xFF;
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<a name="l00217"></a>00217                }
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<a name="l00218"></a>00218                <span class="comment">/* Get the addresse of the mapped variable. */</span>
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<a name="l00219"></a>00219                <span class="comment">/* detail of *pMappingParameter : */</span>
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<a name="l00220"></a>00220                <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span>
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<a name="l00221"></a>00221 <span class="comment">                 contains the subindex, */</span>
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<a name="l00222"></a>00222                <span class="comment">/* and the lower 8 bits contains the size of the mapped</span>
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<a name="l00223"></a>00223 <span class="comment">                 variable. */</span>
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<a name="l00224"></a>00224 
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<a name="l00225"></a>00225                Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter);
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<a name="l00226"></a>00226 
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<a name="l00227"></a>00227                <span class="comment">/* copy bit per bit in little endian */</span>
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<a name="l00228"></a>00228                <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0, 0);
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<a name="l00229"></a>00229 
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<a name="l00230"></a>00230                ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt;</span>
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<a name="l00231"></a>00231 <span class="comment">                                                   2, ... */</span>
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<a name="l00232"></a>00232 
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<a name="l00233"></a>00233                objDict = <a class="code" href="objacces_8c.html#dad5d2f7890168cade2fbb7e0e4c6200">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),
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<a name="l00234"></a>00234                                     (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),
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<a name="l00235"></a>00235                                  tmp, &amp;ByteSize, 0 );
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<a name="l00236"></a>00236 
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<a name="l00237"></a>00237                <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>) {
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<a name="l00238"></a>00238                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
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<a name="l00239"></a>00239                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2939, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
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<a name="l00240"></a>00240                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
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<a name="l00241"></a>00241                  <span class="keywordflow">return</span> 0xFF;
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<a name="l00242"></a>00242                }
210
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<a name="l00243"></a>00243 
240
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<a name="l00244"></a>00244                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
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<a name="l00245"></a>00245                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
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<a name="l00246"></a>00246                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
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<a name="l00247"></a>00247                <span class="comment">/* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */</span>
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<a name="l00248"></a>00248                offset += Size;
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<a name="l00249"></a>00249                numMap++;
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<a name="l00250"></a>00250                <span class="comment">/*TODO :  check that offset is not not greater that message size (in bit) */</span>
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<a name="l00251"></a>00251              } <span class="comment">/* end loop while on mapped variables */</span>
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<a name="l00252"></a>00252 
240
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<a name="l00253"></a>00253              offset=0x00;
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<a name="l00254"></a>00254              numMap = 0;
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<a name="l00255"></a>00255              <span class="keywordflow">return</span> 0;
210
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<a name="l00256"></a>00256 
240
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<a name="l00257"></a>00257         }<span class="comment">/* end switch status*/</span>
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<a name="l00258"></a>00258       }<span class="comment">/* end while*/</span>
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<a name="l00259"></a>00259   }<span class="comment">/* end if Donnees */</span>
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<a name="l00260"></a>00260   <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a> ){
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<a name="l00261"></a>00261     <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
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<a name="l00262"></a>00262     status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;
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<a name="l00263"></a>00263     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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<a name="l00264"></a>00264     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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<a name="l00265"></a>00265     <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= lastIndex ){
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<a name="l00266"></a>00266       <span class="comment">/* study of all PDO stored in the objects dictionary */</span>
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<a name="l00267"></a>00267 
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<a name="l00268"></a>00268       <span class="keywordflow">switch</span>( status ){
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<a name="l00269"></a>00269 
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<a name="l00270"></a>00270       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>:<span class="comment">/* check the CobId */</span>
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<a name="l00271"></a>00271         <span class="comment">/* get CobId of the dictionary which match to the received PDO</span>
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<a name="l00272"></a>00272 <span class="comment">         */</span>
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<a name="l00273"></a>00273         pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict)-&gt;pSubindex[1].pObject;
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<a name="l00274"></a>00274         <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
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<a name="l00275"></a>00275           status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;
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<a name="l00276"></a>00276           <span class="keywordflow">break</span>;
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<a name="l00277"></a>00277         }
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<a name="l00278"></a>00278         <span class="keywordflow">else</span> {
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<a name="l00279"></a>00279           numPdo++;
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<a name="l00280"></a>00280           offsetObjdict++;
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<a name="l00281"></a>00281         }
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<a name="l00282"></a>00282         status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;
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<a name="l00283"></a>00283         <span class="keywordflow">break</span>;
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<a name="l00284"></a>00284 
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<a name="l00285"></a>00285 
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<a name="l00286"></a>00286       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* check transmission type */</span>
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<a name="l00287"></a>00287         pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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<a name="l00288"></a>00288         <span class="comment">/* If PDO is to be sampled and send on RTR, do it*/</span>
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<a name="l00289"></a>00289         if ( (*pTransmissionType == TRANS_RTR)) {
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<a name="l00290"></a>00290           status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
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<a name="l00291"></a>00291           <span class="keywordflow">break</span>;
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<a name="l00292"></a>00292         <span class="comment">/* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */</span>
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<a name="l00293"></a>00293         }<span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*pTransmissionType == TRANS_RTR_SYNC )) {
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<a name="l00294"></a>00294           <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_RTR_SYNC_READY){
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<a name="l00295"></a>00295             <span class="comment">/*Data ready, just send*/</span>
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<a name="l00296"></a>00296             <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>);
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<a name="l00297"></a>00297             <span class="keywordflow">return</span> 0;
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<a name="l00298"></a>00298           }<span class="keywordflow">else</span>{
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<a name="l00299"></a>00299             <span class="comment">/* if SYNC did never occur, force emission with current data */</span>
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<a name="l00300"></a>00300             <span class="comment">/* DS301 do not tell what to do in such a case...*/</span>
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<a name="l00301"></a>00301             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1947, <span class="stringliteral">"Not ready RTR_SYNC TPDO send current data : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
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<a name="l00302"></a>00302             status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
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<a name="l00303"></a>00303           }
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<a name="l00304"></a>00304           <span class="keywordflow">break</span>;
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<a name="l00305"></a>00305         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(
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<a name="l00306"></a>00306              (*pTransmissionType == TRANS_EVENT_PROFILE) ||
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<a name="l00307"></a>00307              (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
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<a name="l00308"></a>00308           <span class="comment">/* Zap all timers and inhibit flag */</span>
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<a name="l00309"></a>00309           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
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<a name="l00310"></a>00310           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
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<a name="l00311"></a>00311           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;
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<a name="l00312"></a>00312           <span class="comment">/* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span>
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<a name="l00313"></a>00313           <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo);
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<a name="l00314"></a>00314           <span class="keywordflow">return</span> 0;
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<a name="l00315"></a>00315         }<span class="keywordflow">else</span> {
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<a name="l00316"></a>00316           <span class="comment">/* The requested PDO is not to send on request. So, does</span>
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<a name="l00317"></a>00317 <span class="comment">            nothing. */</span>
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<a name="l00318"></a>00318           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
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<a name="l00319"></a>00319           <span class="keywordflow">return</span> 0xFF;
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<a name="l00320"></a>00320         }
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<a name="l00321"></a>00321 
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<a name="l00322"></a>00322       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>:<span class="comment">/* build and send requested PDO */</span>
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<a name="l00323"></a>00323       {
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<a name="l00324"></a>00324         <a class="code" href="structMessage.html">Message</a> pdo;
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<a name="l00325"></a>00325         <span class="keywordflow">if</span>( <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo, &amp;pdo))
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<a name="l00326"></a>00326         {
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<a name="l00327"></a>00327           <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1948, <span class="stringliteral">" Couldn't build TPDO n°"</span>, numPdo);
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<a name="l00328"></a>00328           <span class="keywordflow">return</span> 0xFF;
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<a name="l00329"></a>00329         }
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<a name="l00330"></a>00330         <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
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<a name="l00331"></a>00331         <span class="keywordflow">return</span> 0;
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<a name="l00332"></a>00332       }
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<a name="l00333"></a>00333       }<span class="comment">/* end switch status */</span>
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<a name="l00334"></a>00334     }<span class="comment">/* end while */</span>
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<a name="l00335"></a>00335   }<span class="comment">/* end if Requete */</span>
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<a name="l00336"></a>00336 
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<a name="l00337"></a>00337   <span class="keywordflow">return</span> 0;
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<a name="l00338"></a>00338 }
215
f49e5a6b7804 Manual and Documentation finish
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<a name="l00339"></a>00339 
240
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<a name="l00351"></a><a class="code" href="pdo_8h.html#ad755ad656fe0f661ca6bd17acb1245a">00351</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBigEndian)
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<a name="l00352"></a>00352 {
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<a name="l00353"></a>00353   <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span>
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<a name="l00354"></a>00354   <span class="comment">/* successively bytes*/</span>
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<a name="l00355"></a>00355   <span class="comment">// boundaries from LSB to MSB.</span>
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<a name="l00356"></a>00356   <span class="keywordflow">while</span>(NbBits &gt; 0)
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<a name="l00357"></a>00357     {
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<a name="l00358"></a>00358       <span class="comment">/* Bit missalignement between src and dest*/</span>
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<a name="l00359"></a>00359       <a class="code" href="hcs12_2applicfg_8h.html#6452da7d208e10c600824e6f8d437ea6">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex;
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<a name="l00360"></a>00360 
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<a name="l00361"></a>00361       <span class="comment">/* We can now get src and align it to dest*/</span>
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<a name="l00362"></a>00362       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Aligned = Vect&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -Vect;
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<a name="l00363"></a>00363 
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<a name="l00364"></a>00364       <span class="comment">/* Compute the nb of bit we will be able to copy*/</span>
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<a name="l00365"></a>00365       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BoudaryLimit = (Vect&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
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<a name="l00366"></a>00366       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BitsToCopy = BoudaryLimit &gt; NbBits ? NbBits : BoudaryLimit;
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<a name="l00367"></a>00367 
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<a name="l00368"></a>00368       <span class="comment">/* Create a mask that will serve in:*/</span>
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<a name="l00369"></a>00369       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Mask = ((0xff &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (8 - DestBitIndex)));
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<a name="l00370"></a>00370 
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<a name="l00371"></a>00371       <span class="comment">/* - Filtering src*/</span>
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<a name="l00372"></a>00372       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Filtered = Aligned &amp; ~Mask;
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<a name="l00373"></a>00373 
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<a name="l00374"></a>00374       <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span>
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<a name="l00375"></a>00375       *DestByteIndex &amp;= Mask;
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<a name="l00376"></a>00376 
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<a name="l00377"></a>00377       <span class="comment">/* Then write.*/</span>
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<a name="l00378"></a>00378       *DestByteIndex |= Filtered ;
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<a name="l00379"></a>00379 
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<a name="l00380"></a>00380       <span class="comment">/*Compute next time cursors for src*/</span>
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<a name="l00381"></a>00381       <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)&gt;7)<span class="comment">/* cross boundary ?*/</span>
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<a name="l00382"></a>00382         {
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<a name="l00383"></a>00383           SrcBitIndex = 0;<span class="comment">/* First bit*/</span>
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   358
<a name="l00384"></a>00384           SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
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   359
<a name="l00385"></a>00385         }
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   360
<a name="l00386"></a>00386 
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   361
<a name="l00387"></a>00387 
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<a name="l00388"></a>00388       <span class="comment">/*Compute next time cursors for dest*/</span>
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<a name="l00389"></a>00389       <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)&gt;7)
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<a name="l00390"></a>00390         {
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<a name="l00391"></a>00391           DestBitIndex = 0;<span class="comment">/* First bit*/</span>
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<a name="l00392"></a>00392           DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
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   367
<a name="l00393"></a>00393         }
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   368
<a name="l00394"></a>00394 
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   369
<a name="l00395"></a>00395       <span class="comment">/*And decrement counter.*/</span>
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<a name="l00396"></a>00396       NbBits -= BitsToCopy;
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<a name="l00397"></a>00397     }
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   372
<a name="l00398"></a>00398 
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   373
<a name="l00399"></a>00399 }
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   374
<a name="l00408"></a><a class="code" href="pdo_8h.html#adaae758ac4e9333eec59ff123ba98ad">00408</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#adaae758ac4e9333eec59ff123ba98ad">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
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   375
<a name="l00409"></a>00409 {
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   376
<a name="l00410"></a>00410   <span class="comment">/* Calls _sendPDOevent specifying it is not a sync event */</span>
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<a name="l00411"></a>00411   <span class="keywordflow">return</span> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0);
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   378
<a name="l00412"></a>00412 }
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   379
<a name="l00413"></a>00413         
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   380
<a name="l00414"></a>00414 
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   381
<a name="l00415"></a><a class="code" href="pdo_8h.html#1e6f0540474e95f2928151efec83ccb6">00415</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)
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   382
<a name="l00416"></a>00416 {
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   383
<a name="l00417"></a>00417         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>
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   384
<a name="l00418"></a>00418         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = TIMER_NONE;
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   385
<a name="l00419"></a>00419         <span class="comment">/* force emission of PDO by artificially changing last emitted*/</span>
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   386
<a name="l00420"></a>00420         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0;
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   387
<a name="l00421"></a>00421         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>    
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   388
<a name="l00422"></a>00422 }
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   389
<a name="l00423"></a>00423 
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   390
<a name="l00424"></a><a class="code" href="pdo_8h.html#adf6445208b9af9b11f66f66a5d1f1f9">00424</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)
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   391
<a name="l00425"></a>00425 {
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   392
<a name="l00426"></a>00426         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>
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   393
<a name="l00427"></a>00427         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = TIMER_NONE;
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   394
<a name="l00428"></a>00428         <span class="comment">/* Remove inhibit flag */</span>
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   395
<a name="l00429"></a>00429         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;
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   396
<a name="l00430"></a>00430         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>
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   397
<a name="l00431"></a>00431 }
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   398
<a name="l00432"></a>00432 
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   399
<a name="l00442"></a><a class="code" href="pdo_8h.html#fbf33713253ccf33f9277e31c78a6cb5">00442</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> isSyncEvent )
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   400
<a name="l00443"></a>00443 { 
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   401
<a name="l00444"></a>00444   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  pdoNum = 0x00;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
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   402
<a name="l00445"></a>00445   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pTransmissionType = NULL;  
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   403
<a name="l00446"></a>00446   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>;
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   404
<a name="l00447"></a>00447   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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   405
<a name="l00448"></a>00448   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdictMap = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a>;
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   406
<a name="l00449"></a>00449   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;  
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   407
<a name="l00450"></a>00450 
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   408
<a name="l00451"></a>00451   <span class="comment">/* study all PDO stored in the objects dictionary */</span>  
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   409
<a name="l00452"></a>00452   <span class="keywordflow">if</span>(offsetObjdict){
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   410
<a name="l00453"></a>00453    <a class="code" href="structMessage.html">Message</a> pdo = <a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
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   411
<a name="l00454"></a>00454    <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {  
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   412
<a name="l00455"></a>00455     <span class="keywordflow">switch</span>( status ) {
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   413
<a name="l00456"></a>00456     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>:
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   414
<a name="l00457"></a>00457       <span class="keywordflow">if</span> (<span class="comment">/*d-&gt;objdict[offsetObjdict].bSubCount &lt; 5 || not necessary with objdictedit (always 5)*/</span>
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   415
<a name="l00458"></a>00458           <span class="comment">/* check if TPDO is not valid */</span> 
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   416
<a name="l00459"></a>00459           *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x8000) {
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   417
<a name="l00460"></a>00460           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3960, <span class="stringliteral">"Not a valid PDO "</span>, 0x1800 + pdoNum);
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   418
<a name="l00461"></a>00461           <span class="comment">/*Go next TPDO*/</span>
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   419
<a name="l00462"></a>00462           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
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   420
<a name="l00463"></a>00463           <span class="keywordflow">break</span>;
210
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   421
<a name="l00464"></a>00464         }
240
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   422
<a name="l00465"></a>00465       <span class="comment">/* get the PDO transmission type */</span>
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   423
<a name="l00466"></a>00466       pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;    
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   424
<a name="l00467"></a>00467       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3962, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
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   425
<a name="l00468"></a>00468 
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   426
<a name="l00469"></a>00469       <span class="comment">/* check if transmission type is SYNCRONOUS */</span>
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   427
<a name="l00470"></a>00470       <span class="comment">/* The message is transmited every n SYNC with n=TransmissionType */</span>      
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   428
<a name="l00471"></a>00471       <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 
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   429
<a name="l00472"></a>00472           (*pTransmissionType &gt;= TRANS_SYNC_MIN) &amp;&amp;
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   430
<a name="l00473"></a>00473           (*pTransmissionType &lt;= TRANS_SYNC_MAX) &amp;&amp;
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   431
<a name="l00474"></a>00474           (++<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> == *pTransmissionType) ) {
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   432
<a name="l00475"></a>00475         <span class="comment">/*Reset count of SYNC*/</span> 
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   433
<a name="l00476"></a>00476         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
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   434
<a name="l00477"></a>00477         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3964, <span class="stringliteral">"  PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
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   435
<a name="l00478"></a>00478         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
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diff changeset
   436
<a name="l00479"></a>00479         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))
34654679f262 Udpated doxygen
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diff changeset
   437
<a name="l00480"></a>00480         {
34654679f262 Udpated doxygen
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diff changeset
   438
<a name="l00481"></a>00481             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1906, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
34654679f262 Udpated doxygen
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diff changeset
   439
<a name="l00482"></a>00482             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   440
<a name="l00483"></a>00483             <span class="keywordflow">break</span>;
34654679f262 Udpated doxygen
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diff changeset
   441
<a name="l00484"></a>00484         }
34654679f262 Udpated doxygen
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diff changeset
   442
<a name="l00485"></a>00485         status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
34654679f262 Udpated doxygen
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diff changeset
   443
<a name="l00486"></a>00486       <span class="comment">/* If transmission RTR, with data sampled on SYNC */</span>
34654679f262 Udpated doxygen
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diff changeset
   444
<a name="l00487"></a>00487       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 
34654679f262 Udpated doxygen
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diff changeset
   445
<a name="l00488"></a>00488           (*pTransmissionType == TRANS_RTR_SYNC)) {
34654679f262 Udpated doxygen
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diff changeset
   446
<a name="l00489"></a>00489           <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;d-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>))
34654679f262 Udpated doxygen
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diff changeset
   447
<a name="l00490"></a>00490           {
34654679f262 Udpated doxygen
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diff changeset
   448
<a name="l00491"></a>00491              <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1966, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
34654679f262 Udpated doxygen
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diff changeset
   449
<a name="l00492"></a>00492              d-&gt;PDO_status[pdoNum].transmit_type_parameter &amp;= ~PDO_RTR_SYNC_READY; 
34654679f262 Udpated doxygen
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diff changeset
   450
<a name="l00493"></a>00493           }<span class="keywordflow">else</span>{
34654679f262 Udpated doxygen
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diff changeset
   451
<a name="l00494"></a>00494              d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY; 
34654679f262 Udpated doxygen
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diff changeset
   452
<a name="l00495"></a>00495           }
34654679f262 Udpated doxygen
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diff changeset
   453
<a name="l00496"></a>00496           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   454
<a name="l00497"></a>00497           <span class="keywordflow">break</span>;
34654679f262 Udpated doxygen
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diff changeset
   455
<a name="l00498"></a>00498       <span class="comment">/* If transmission on Event and not inhibited, check for changes */</span>
34654679f262 Udpated doxygen
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diff changeset
   456
<a name="l00499"></a>00499       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>((*pTransmissionType == TRANS_EVENT_PROFILE ||
34654679f262 Udpated doxygen
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diff changeset
   457
<a name="l00500"></a>00500                *pTransmissionType == TRANS_EVENT_SPECIFIC )&amp;&amp;
34654679f262 Udpated doxygen
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diff changeset
   458
<a name="l00501"></a>00501               !(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_INHIBITED)) {
34654679f262 Udpated doxygen
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diff changeset
   459
<a name="l00502"></a>00502         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3968, <span class="stringliteral">"  PDO is on EVENT. Trans type : "</span>, *pTransmissionType);
34654679f262 Udpated doxygen
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diff changeset
   460
<a name="l00503"></a>00503         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
34654679f262 Udpated doxygen
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diff changeset
   461
<a name="l00504"></a>00504         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))
34654679f262 Udpated doxygen
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diff changeset
   462
<a name="l00505"></a>00505         {
34654679f262 Udpated doxygen
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diff changeset
   463
<a name="l00506"></a>00506             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x3907, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   464
<a name="l00507"></a>00507             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   465
<a name="l00508"></a>00508             <span class="keywordflow">break</span>;
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   466
<a name="l00509"></a>00509         }
34654679f262 Udpated doxygen
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diff changeset
   467
<a name="l00510"></a>00510         
34654679f262 Udpated doxygen
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diff changeset
   468
<a name="l00511"></a>00511         <span class="comment">/*Compare new and old PDO*/</span>
34654679f262 Udpated doxygen
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diff changeset
   469
<a name="l00512"></a>00512         <span class="keywordflow">if</span>(d-&gt;PDO_status[pdoNum].last_message.cob_id.w == pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> &amp;&amp;
34654679f262 Udpated doxygen
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diff changeset
   470
<a name="l00513"></a>00513            d-&gt;PDO_status[pdoNum].last_message.len == pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> &amp;&amp;
34654679f262 Udpated doxygen
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diff changeset
   471
<a name="l00514"></a>00514            *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;d-&gt;PDO_status[pdoNum].last_message.data[0]) == *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;pdo.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0])){
34654679f262 Udpated doxygen
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diff changeset
   472
<a name="l00515"></a>00515                 <span class="comment">/* No changes -&gt; go to next pdo*/</span>
34654679f262 Udpated doxygen
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diff changeset
   473
<a name="l00516"></a>00516                 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   474
<a name="l00517"></a>00517         }<span class="keywordflow">else</span>{
34654679f262 Udpated doxygen
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diff changeset
   475
<a name="l00518"></a>00518                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306A, <span class="stringliteral">"Changes TPDO number : "</span>, pdoNum);
34654679f262 Udpated doxygen
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diff changeset
   476
<a name="l00519"></a>00519                 <span class="comment">/* Changes detected -&gt; transmit message */</span>
34654679f262 Udpated doxygen
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diff changeset
   477
<a name="l00520"></a>00520                 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
34654679f262 Udpated doxygen
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diff changeset
   478
<a name="l00521"></a>00521                 
34654679f262 Udpated doxygen
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diff changeset
   479
<a name="l00522"></a>00522                 <span class="comment">/* Start both event_timer and inhibit_timer*/</span>
34654679f262 Udpated doxygen
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diff changeset
   480
<a name="l00523"></a>00523                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].event_timer);
34654679f262 Udpated doxygen
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diff changeset
   481
<a name="l00524"></a>00524                 d-&gt;PDO_status[pdoNum].event_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[5].pObject), 0);
34654679f262 Udpated doxygen
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diff changeset
   482
<a name="l00525"></a>00525                 
34654679f262 Udpated doxygen
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diff changeset
   483
<a name="l00526"></a>00526                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].inhibit_timer);
34654679f262 Udpated doxygen
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diff changeset
   484
<a name="l00527"></a>00527                 d-&gt;PDO_status[pdoNum].inhibit_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#5f44d2f770d3bd711510372589f5ae9c">US_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);
34654679f262 Udpated doxygen
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diff changeset
   485
<a name="l00528"></a>00528                 
34654679f262 Udpated doxygen
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diff changeset
   486
<a name="l00529"></a>00529                 <span class="comment">/* and inhibit TPDO */</span>
34654679f262 Udpated doxygen
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diff changeset
   487
<a name="l00530"></a>00530                 d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
34654679f262 Udpated doxygen
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diff changeset
   488
<a name="l00531"></a>00531         }
34654679f262 Udpated doxygen
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diff changeset
   489
<a name="l00532"></a>00532       }<span class="keywordflow">else</span>{
34654679f262 Udpated doxygen
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diff changeset
   490
<a name="l00533"></a>00533         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306C, <span class="stringliteral">"  PDO is not on EVENT or synchro or not at this SYNC. Trans type : "</span>, *pTransmissionType);
34654679f262 Udpated doxygen
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diff changeset
   491
<a name="l00534"></a>00534         status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   492
<a name="l00535"></a>00535       }      
34654679f262 Udpated doxygen
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diff changeset
   493
<a name="l00536"></a>00536         <span class="keywordflow">break</span>;
34654679f262 Udpated doxygen
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diff changeset
   494
<a name="l00537"></a>00537     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>: <span class="comment">/*Send the pdo*/</span>
34654679f262 Udpated doxygen
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diff changeset
   495
<a name="l00538"></a>00538         <span class="comment">/*store_as_last_message*/</span>
34654679f262 Udpated doxygen
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diff changeset
   496
<a name="l00539"></a>00539         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a> = pdo;       
34654679f262 Udpated doxygen
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diff changeset
   497
<a name="l00540"></a>00540         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396D, <span class="stringliteral">"sendPDO cobId :"</span>, pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
34654679f262 Udpated doxygen
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diff changeset
   498
<a name="l00541"></a>00541         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396E,  <span class="stringliteral">"     Nb octets  : "</span>,  pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>);
34654679f262 Udpated doxygen
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diff changeset
   499
<a name="l00542"></a>00542         
34654679f262 Udpated doxygen
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diff changeset
   500
<a name="l00543"></a>00543         <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
34654679f262 Udpated doxygen
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diff changeset
   501
<a name="l00544"></a>00544         status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
34654679f262 Udpated doxygen
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diff changeset
   502
<a name="l00545"></a>00545         <span class="keywordflow">break</span>;     
34654679f262 Udpated doxygen
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diff changeset
   503
<a name="l00546"></a>00546     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>: <span class="comment">/*Go to next TPDO*/</span>     
34654679f262 Udpated doxygen
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diff changeset
   504
<a name="l00547"></a>00547         pdoNum++;
34654679f262 Udpated doxygen
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diff changeset
   505
<a name="l00548"></a>00548         offsetObjdict++;
34654679f262 Udpated doxygen
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diff changeset
   506
<a name="l00549"></a>00549         offsetObjdictMap++;
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   507
<a name="l00550"></a>00550         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3970, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   508
<a name="l00551"></a>00551         status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>;
34654679f262 Udpated doxygen
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diff changeset
   509
<a name="l00552"></a>00552         <span class="keywordflow">break</span>;
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   510
<a name="l00553"></a>00553       
34654679f262 Udpated doxygen
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diff changeset
   511
<a name="l00554"></a>00554     <span class="keywordflow">default</span>:
34654679f262 Udpated doxygen
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diff changeset
   512
<a name="l00555"></a>00555       <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1972,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
34654679f262 Udpated doxygen
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diff changeset
   513
<a name="l00556"></a>00556       <span class="keywordflow">return</span> 0xFF;
34654679f262 Udpated doxygen
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diff changeset
   514
<a name="l00557"></a>00557     }<span class="comment">/* end switch case */</span>
34654679f262 Udpated doxygen
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diff changeset
   515
<a name="l00558"></a>00558     
34654679f262 Udpated doxygen
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diff changeset
   516
<a name="l00559"></a>00559   }<span class="comment">/* end while */</span>
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diff changeset
   517
<a name="l00560"></a>00560   }
34654679f262 Udpated doxygen
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diff changeset
   518
<a name="l00561"></a>00561   <span class="keywordflow">return</span> 0;
34654679f262 Udpated doxygen
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diff changeset
   519
<a name="l00562"></a>00562 }
34654679f262 Udpated doxygen
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parents: 215
diff changeset
   520
<a name="l00563"></a>00563 
34654679f262 Udpated doxygen
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diff changeset
   521
<a name="l00573"></a><a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">00573</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * OD_entry, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex)
34654679f262 Udpated doxygen
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diff changeset
   522
<a name="l00574"></a>00574 {
34654679f262 Udpated doxygen
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diff changeset
   523
<a name="l00575"></a>00575   <span class="comment">/* If PDO are actives */</span>
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   524
<a name="l00576"></a>00576   <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#9e525c64ecaa9ffd9f2f9e6dea031fed">csPDO</a>) <span class="keywordflow">switch</span>(bSubindex)
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   525
<a name="l00577"></a>00577   {
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   526
<a name="l00578"></a>00578         <span class="keywordflow">case</span> 2: <span class="comment">/* Changed transmition type */</span>
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   527
<a name="l00579"></a>00579         <span class="keywordflow">case</span> 3: <span class="comment">/* Changed inhibit time */</span>
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   528
<a name="l00580"></a>00580         <span class="keywordflow">case</span> 5: <span class="comment">/* Changed event time */</span>
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   529
<a name="l00581"></a>00581         {
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   530
<a name="l00582"></a>00582           <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> pTransmissionType = *(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) OD_entry-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
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   531
<a name="l00583"></a>00583           <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; 
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   532
<a name="l00584"></a>00584           <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo = OD_entry - TPDO_com;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
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   533
<a name="l00585"></a>00585         
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   534
<a name="l00586"></a>00586           <span class="comment">/* Zap all timers and inhibit flag */</span>
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   535
<a name="l00587"></a>00587           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
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   536
<a name="l00588"></a>00588           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
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   537
<a name="l00589"></a>00589           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
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   538
<a name="l00590"></a>00590           <span class="comment">/* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span>
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   539
<a name="l00591"></a>00591           <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo);
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   540
<a name="l00592"></a>00592           <span class="keywordflow">return</span> 0;
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   541
<a name="l00593"></a>00593         }
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   542
<a name="l00594"></a>00594 
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   543
<a name="l00595"></a>00595         <span class="keywordflow">default</span>: <span class="comment">/* other subindex are ignored*/</span>
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   544
<a name="l00596"></a>00596         <span class="keywordflow">break</span>;
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   545
<a name="l00597"></a>00597   }
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   546
<a name="l00598"></a>00598   <span class="keywordflow">return</span> 0;
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   547
<a name="l00599"></a>00599 }
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   548
<a name="l00600"></a>00600 
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   549
<a name="l00601"></a><a class="code" href="pdo_8h.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">00601</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">PDOInit</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
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diff changeset
   550
<a name="l00602"></a>00602 {
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   551
<a name="l00603"></a>00603   <span class="comment">/* For each TPDO mapping parameters */</span>
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diff changeset
   552
<a name="l00604"></a>00604   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> pdoIndex = 0x1800; <span class="comment">/* OD index of TDPO */</span>
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diff changeset
   553
<a name="l00605"></a>00605 
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   554
<a name="l00606"></a>00606   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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   555
<a name="l00607"></a>00607   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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   556
<a name="l00608"></a>00608   <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {
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   557
<a name="l00609"></a>00609     <span class="comment">/* Assign callbacks to sensible TPDO mapping subindexes */</span>
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   558
<a name="l00610"></a>00610     <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> errorCode;
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   559
<a name="l00611"></a>00611     <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> *CallbackList;
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   560
<a name="l00612"></a>00612     <span class="comment">/* Find callback list */</span>
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   561
<a name="l00613"></a>00613     <a class="code" href="objacces_8c.html#b2839d53051e322c12605c1d7f3dc4e5">scanIndexOD</a> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoIndex, &amp;errorCode, &amp;CallbackList);
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   562
<a name="l00614"></a>00614     <span class="keywordflow">if</span>(errorCode == <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> &amp;&amp; CallbackList)
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diff changeset
   563
<a name="l00615"></a>00615     {
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   564
<a name="l00616"></a>00616       <span class="comment">/*Assign callbacks to corresponding subindex*/</span>
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   565
<a name="l00617"></a>00617       <span class="comment">/* Transmission type */</span>
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diff changeset
   566
<a name="l00618"></a>00618       CallbackList[2] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
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   567
<a name="l00619"></a>00619       <span class="comment">/* Inhibit time */</span>
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   568
<a name="l00620"></a>00620       CallbackList[3] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
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diff changeset
   569
<a name="l00621"></a>00621       <span class="comment">/* Event timer */</span>
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   570
<a name="l00622"></a>00622       CallbackList[5] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
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   571
<a name="l00623"></a>00623     }
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   572
<a name="l00624"></a>00624     pdoIndex++;
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   573
<a name="l00625"></a>00625     offsetObjdict++;
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   574
<a name="l00626"></a>00626   }  
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diff changeset
   575
<a name="l00627"></a>00627 
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   576
<a name="l00628"></a>00628   <span class="comment">/* Trigger a non-sync event */</span>
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   577
<a name="l00629"></a>00629   <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 );
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   578
<a name="l00630"></a>00630 }
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diff changeset
   579
<a name="l00631"></a>00631 
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   580
<a name="l00632"></a><a class="code" href="pdo_8h.html#e31b98506e436ee213de906c19cc59f1">00632</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e31b98506e436ee213de906c19cc59f1">PDOStop</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
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diff changeset
   581
<a name="l00633"></a>00633 {
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diff changeset
   582
<a name="l00634"></a>00634   <span class="comment">/* For each TPDO mapping parameters */</span>
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diff changeset
   583
<a name="l00635"></a>00635   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  pdoNum = 0x00;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
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diff changeset
   584
<a name="l00636"></a>00636   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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diff changeset
   585
<a name="l00637"></a>00637   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
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diff changeset
   586
<a name="l00638"></a>00638   <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {
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   587
<a name="l00639"></a>00639         <span class="comment">/* Delete TPDO timers */</span>
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diff changeset
   588
<a name="l00640"></a>00640         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
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   589
<a name="l00641"></a>00641         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
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   590
<a name="l00642"></a>00642         <span class="comment">/* Reset transmit type parameter */</span>
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diff changeset
   591
<a name="l00643"></a>00643         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
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diff changeset
   592
<a name="l00644"></a>00644         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0;
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   593
<a name="l00645"></a>00645         pdoNum++;
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diff changeset
   594
<a name="l00646"></a>00646         offsetObjdict++;
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by&nbsp;
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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