src/pdo.c
author leonid
Wed, 14 Feb 2007 22:19:53 +0100
changeset 109 46010c1b6c6e
parent 90 7df322d86ae1
child 149 fe50ada8020b
permissions -rw-r--r--
file resource.h was initially added on branch BRANCH_WIN32PORT.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include "pdo.h"
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#include "objacces.h"
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/****************************************************************************/
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UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
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{
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  UNS8 i;
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  if( d->nodeState == Operational ) {
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    Message m;
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    /* Message copy for sending */
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    m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
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    if ( req == NOT_A_REQUEST ) {
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      UNS8 i;
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      m.rtr = NOT_A_REQUEST;
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      m.len = pdo.len;
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      /* memcpy(&m.data, &pdo.data, m.len); */
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      /* This Memcpy depends on packing structure. Avoid */
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      for (i = 0 ; i < pdo.len ; i++)
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	m.data[i] = pdo.data[i];
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    }
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    else {
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      m.rtr = REQUEST;
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      m.len = 0;
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    }
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    MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
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    MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
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    for (i = 0 ; i < m.len ; i++) {
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      MSG_WAR(0x3903,"           data : ", m.data[i]);
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    }
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    return (*d->canSend)(&m);
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  } /* end if */
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  return 0xFF;
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}
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/***************************************************************************/
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UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
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{
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  UNS8 res;
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  UNS8 i;
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  s_PDO pdo;
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  MSG_WAR(0x3905, "PDOmGR",0);
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  /* if PDO is waiting for transmission,
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     preparation of the message to send */
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    pdo.cobId = cobId;
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    pdo.len =  d->process_var.count;
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    /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
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    /* Ce memcpy devrait être portable */
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    for ( i = 0 ; i < pdo.len ; i++) 
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      pdo.data[i] = d->process_var.data[i];
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    res = sendPDO(d, pdo, NOT_A_REQUEST);
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    return res;
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}
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/**************************************************************************/
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UNS8 buildPDO(CO_Data* d, UNS16 index)
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{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */	
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  UNS16 ind;
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  UNS8      subInd;
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  UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
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  /* pointer to the var which is mapped to a pdo */
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/*  void *     pMappedAppObject = NULL;  */
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  /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
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  UNS32 *    pMappingParameter = NULL;  
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  UNS8      Size;
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  UNS8      dataType;
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  UNS8      offset;
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  UNS16     offsetObjdict;
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  UNS16     offsetObjdictPrm;
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  UNS32     objDict;
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  subInd=(UNS8)0x00;
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  offset = 0x00;
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  ind = index - 0x1800;
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  MSG_WAR(0x3910,"Prepare PDO to send index :", index);
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  /* only operational state allows PDO transmission */
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  if( d->nodeState != Operational ) {
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    MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
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    return 0xFF;
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  }
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  offsetObjdictPrm = d->firstIndex->PDO_TRS;
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  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
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  if (offsetObjdictPrm && offsetObjdict)
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  {
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	  /* get mapped objects number to transmit with this PDO */
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	  pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
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	  MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
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	  MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
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	  while (subInd < *pMappingCount) { /* Loop on mapped variables */
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	    /* get mapping parameters */
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	    pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
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	    MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
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	    MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
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	    MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
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	    /* Get the mapped variable */
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	     Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
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	     objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
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				    (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
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				    (void *)&d->process_var.data[offset], &Size, &dataType, 0 ); 
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	     if (objDict != OD_SUCCESSFUL) {
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	        MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
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		MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
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		MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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		return 0xFF;
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	     } 
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	      offset += Size;
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	      d->process_var.count = offset;
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	      subInd++;					
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	}/* end Loop on mapped variables  */
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  }
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  return 0;
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}
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/**************************************************************************/
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UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
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{		
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  UNS32 *	 pwCobId;	
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  UNS16          offset;
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  UNS16          lastIndex;
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  UNS8           err;
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  MSG_WAR(0x3930, "sendPDOrequest ",0);  
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  /* Sending the request only if the cobid have been found on the PDO receive */
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  /* part dictionary */
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  offset = d->firstIndex->PDO_RCV;
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  lastIndex = d->lastIndex->PDO_RCV;
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  if (offset)
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	  while (offset <= lastIndex) {
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	    /*get the CobId*/
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	    pwCobId = d->objdict[offset].pSubindex[1].pObject;
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	    if ( *pwCobId  == cobId ) {
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	      s_PDO pdo;
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	      pdo.cobId = *pwCobId;
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	      pdo.len = 0;
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	      err  = sendPDO(d, pdo, REQUEST);	
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	      return err;
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	    }
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	    offset++;
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	  }
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  MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
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  return 0xFF;
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}
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/***********************************************************************/
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UNS8 proceedPDO(CO_Data* d, Message *m)
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{		
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  UNS8   numPdo;
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  UNS8   numMap;  /* Number of the mapped varable */                      
0
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  UNS8 i;
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  UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
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  /* pointer to the var which is mapped to a pdo... */
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/*  void *     pMappedAppObject = NULL;   */
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  /* pointer fo the var which holds the mapping parameter of an mapping entry */
0
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  UNS32 *    pMappingParameter = NULL;  
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  UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
0
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  UNS32 *    pwCobId = NULL;
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  UNS8       Size;
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  UNS8       dataType;
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  UNS8       offset;
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  UNS8       status;
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  UNS32      objDict;
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  UNS16      offsetObjdict;
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  UNS16      lastIndex;
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  status = state1;
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  MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
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  offset = 0x00;
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  numPdo = 0;
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  numMap = 0;
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  if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
0
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    offsetObjdict = d->firstIndex->PDO_RCV;
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    lastIndex = d->lastIndex->PDO_RCV;
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    /* study of all the PDO stored in the dictionary */   
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    if(offsetObjdict)
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	    while (offsetObjdict <= lastIndex) {
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	      switch( status ) {
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	        case state1:	/* data are stored in process_var array */
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		  /* memcpy(&(process_var.data), &m->data, (*m).len); */
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		  /* Ce memcpy devrait être portable. */
0
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		  for ( i = 0 ; i < m->len ; i++) 
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		    d->process_var.data[i] = m->data[i];
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		  d->process_var.count = (*m).len;
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		  status = state2; 
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		  break;
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		case state2:
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		  /* get CobId of the dictionary correspondant to the received PDO */
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	          pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
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		  /* check the CobId coherance */
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		  /*pwCobId is the cobId read in the dictionary at the state 3 */
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		  if ( *pwCobId == (*m).cob_id.w ){
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		    /* The cobId is recognized */
0
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		    status = state4;
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		    MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
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		    break;
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		  }
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		  else {
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		    /* cobId received does not match with those write in the dictionnary */
0
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		    numPdo++;
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		    offsetObjdict++;
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		    status = state2;
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		    break;
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		  }
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		case state4:	/* get mapped objects number */
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		  /* The cobId of the message received has been found in the dictionnary. */
0
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		  offsetObjdict = d->firstIndex->PDO_RCV_MAP;
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		  lastIndex = d->lastIndex->PDO_RCV_MAP;
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		  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;	  
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		  numMap = 0;
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		  while (numMap < *pMappingCount) {
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		    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
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		    if (pMappingParameter == NULL) {
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		      MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
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		      return 0xFF;
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		    }
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		    /* Get the addresse of the mapped variable. */
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		    /* detail of *pMappingParameter : */
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	            /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
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		    /* and the lower 8 bits contains the size of the mapped variable. */
0
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		    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
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		    objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
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				            (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
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					    (void *)&d->process_var.data[offset], &Size, 0 );
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		    if(objDict != OD_SUCCESSFUL) {
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		      MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
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		      MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
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		      MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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		      return 0xFF;
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		    }
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		    MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
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		    MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
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		    MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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		    /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
0
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		    offset += Size;
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		    numMap++;
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		  } /* end loop while on mapped variables */
0
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		  offset=0x00;		
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		  numMap = 0;
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		  return 0;
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	      }/* end switch status	*/	 
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	    }/* end while	*/
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  }/* end if Donnees */
0
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  else if ((*m).rtr == REQUEST ){  
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      MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
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      status = state1;
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      offsetObjdict = d->firstIndex->PDO_TRS;
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      lastIndex = d->lastIndex->PDO_TRS;
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      if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
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	/* study of all PDO stored in the objects dictionary */
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	switch( status ){
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	case state1:	/* check the CobId */
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			/* get CobId of the dictionary which match to the received PDO */
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	  pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;	  
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	  if ( *pwCobId == (*m).cob_id.w ) {
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	    status = state4;
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	    break;
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	  }
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	  else {
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	    numPdo++;
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	    offsetObjdict++;
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	  }
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	  status = state1;
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	  break;
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	case state4:	/* check transmission type (after request?) */
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	  pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
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	  if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
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	    status = state5;
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	    break;
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	  }
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	  else {
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	    /* The requested PDO is not to send on request. So, does nothing. */
0
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	    MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
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	    return 0xFF;
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	  }
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	case state5:	/* get mapped objects number */
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	  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
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	  lastIndex = d->lastIndex->PDO_TRS_MAP;
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	  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
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	  numMap = 0;
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	  while (numMap < *pMappingCount) {
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	    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
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	    /* Get the mapped variable */
0
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	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
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	    objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
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				     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
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				     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
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	    if (objDict != OD_SUCCESSFUL) {
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	      MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
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	      MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
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	      MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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	      return 0xFF;
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	    }
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	    offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
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	    d->process_var.count = offset;
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	    numMap++;
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   351
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	  } /* end while */
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	  PDOmGR( d, *pwCobId ); /* Transmit the PDO */
0
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	  return 0;
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   355
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	}/* end switch status */
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      }/* end while	 */			
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    }/* end if Requete */
0
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   359
		
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  return 0;
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}
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   362
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   363
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   364
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   365
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#if 0
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0
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/*********************************************************************/
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/* TODO : reimplement this using CallBacks                           */
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/*********************************************************************/
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0
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UNS8 sendPDOevent( CO_Data* d, void * variable )
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{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.	*/
0
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  UNS32           objDict = 0;
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  UNS8            ind, sub_ind;
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  UNS8            status; 
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  UNS8            offset;
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  UNS8 *     pMappingCount = NULL;
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  UNS32 *    pMappingParameter = NULL;
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  void *     pMappedAppObject = NULL;
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  UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
0
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  UNS32 *    pwCobId = NULL;
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  UNS8 *     pSize;
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  UNS8       size;
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  UNS8       dataType;
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  UNS16      offsetObjdict;
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  UNS16      offsetObjdictPrm;
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  UNS16      lastIndex;
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  UNS8       numMap;
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  ind     = 0x00;
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  sub_ind = 1; 
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   392
  offset  = 0x00;
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  pSize   = &size;
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  status  = state1;
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   395
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  /* look for the index and subindex where the variable is mapped */
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  /* Then, send the pdo which contains the variable. */
0
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   398
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  MSG_WAR (0x3960, "sendPDOevent", 0);
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  offsetObjdictPrm = d->firstIndex->PDO_TRS;
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   401
  
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   402
  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
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   403
  lastIndex = d->lastIndex->PDO_TRS_MAP;
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   404
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   405
  if (offsetObjdictPrm && offsetObjdict) 
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	  /* Loop on PDO Transmit */
0
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   407
	  while(offsetObjdict <= lastIndex){
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   408
	    /* Check the transmission mode */
0
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	    pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
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   410
	    if (*pTransmissionType != TRANS_EVENT) {
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   411
	      ind++;
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   412
	      offsetObjdict++;  
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   413
	      offsetObjdictPrm++;
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   414
	      continue;
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   415
	    }
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   416
	    pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
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   417
	    numMap = 1; /* mapped variable */
0
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   418
	    while (numMap <= *pMappingCount) {
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   419
	      pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
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   420
	      /* Get the variable */
0
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   421
	      objDict = getODentry( d,
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   422
	                            (UNS16)((*pMappingParameter) >> 16), 
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   423
				    (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
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				    (void * *)&pMappedAppObject, pSize, &dataType, 0 );
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   425
	      if( objDict != OD_SUCCESSFUL ) {  
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   426
		MSG_WAR(0x2961, "Error in dict. at index : ", 
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   427
			(*pMappingParameter) >> (UNS8)16);
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   428
	      
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   429
		MSG_WAR(0x2962, "               subindex : ", 
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   430
			((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
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   431
		return 0xFF;
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   432
	      }
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   433
	      if (pMappedAppObject == variable) { // Variable found !
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   434
		MSG_WAR(0x3963, "Variable to send found at index : ", 
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   435
			(*pMappingParameter) >> 16);
4472ee7c6c3e Commit a new cvs repo.
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   436
		MSG_WAR(0x3964, "                       subIndex : ", 
4472ee7c6c3e Commit a new cvs repo.
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   437
			((*pMappingParameter) >> 8 ) & 0x000000FF);
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   438
		buildPDO(d, 0x1800 + ind);
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   439
		/* Get the cobId */
0
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   440
		pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
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   441
		PDOmGR( d, *pwCobId ); /* Send the PDO */
0
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   442
		return 0;	    
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   443
	      }
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   444
	      numMap++;
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   445
	    } /* End loop on mapped variable */
0
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   446
	    ind++;	
4472ee7c6c3e Commit a new cvs repo.
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   447
	    offsetObjdict++;  
4472ee7c6c3e Commit a new cvs repo.
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   448
	    offsetObjdictPrm++;
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   449
	  } /* End loop while on PDO */
0
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etisserant
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diff changeset
   450
4472ee7c6c3e Commit a new cvs repo.
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   451
  MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
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   452
  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
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diff changeset
   453
4472ee7c6c3e Commit a new cvs repo.
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   454
}
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   455
#endif