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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "data.h"
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#include "sync.h"
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53
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// Prototypes for internals functions
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void SyncAlarm(CO_Data* d, UNS32 id);
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
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UNS8 unsused_bSubindex);
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/*****************************************************************************/
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0
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void SyncAlarm(CO_Data* d, UNS32 id)
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{
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sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
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}
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/*****************************************************************************/
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0
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// This is called when Index 0x1005 is updated.
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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startSYNC(d);
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return 0;
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0
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}
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/*****************************************************************************/
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void startSYNC(CO_Data* d)
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{
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RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
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RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
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if(d->syncTimer != TIMER_NONE){
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stopSYNC(d);
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}
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if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
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{
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d->syncTimer = SetAlarm(
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d,
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0/*No id needed*/,
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&SyncAlarm,
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US_TO_TIMEVAL(*d->Sync_Cycle_Period),
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US_TO_TIMEVAL(*d->Sync_Cycle_Period));
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}
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}
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/*****************************************************************************/
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0
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void stopSYNC(CO_Data* d)
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{
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d->syncTimer = DelAlarm(d->syncTimer);
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}
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/*********************************************************************/
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UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
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{
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Message m;
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UNS8 resultat ;
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MSG_WAR(0x3001, "sendSYNC ", 0);
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m.cob_id.w = cob_id ;
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m.rtr = NOT_A_REQUEST;
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m.len = 0;
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resultat = (*d->canSend)(&m) ;
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proceedSYNC(d, &m) ;
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return resultat ;
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}
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/*****************************************************************************/
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UNS8 proceedSYNC(CO_Data* d, Message *m)
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{
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MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
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UNS8 pdoNum, // number of the actual processed pdo-nr.
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prp_j;
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const UNS8 * pMappingCount = NULL; // count of mapped objects...
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// pointer to the var which is mapped to a pdo
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// void * pMappedAppObject = NULL;
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// pointer fo the var which holds the mapping parameter of an mapping entry
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UNS32 * pMappingParameter = NULL;
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// pointer to the transmissiontype...
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UNS8 * pTransmissionType = NULL;
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UNS32 * pwCobId = NULL;
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UNS8 * pSize;
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UNS8 size;
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UNS8 dataType;
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UNS16 index;
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UNS8 subIndex;
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UNS8 offset;
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UNS8 status;
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UNS8 sizeData;
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pSize = &size;
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UNS32 objDict;
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status = state3;
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pdoNum=0x00;
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prp_j=0x00;
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offset = 0x00;
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UNS16 offsetObjdict;
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UNS16 offsetObjdictMap;
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UNS16 lastIndex;
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/* only operational state allows PDO transmission */
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if( d->nodeState != Operational )
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return 0;
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(*d->post_sync)();
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/* So, the node is in operational state */
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/* study all PDO stored in the objects dictionary */
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offsetObjdict = d->firstIndex->PDO_TRS;
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lastIndex = d->lastIndex->PDO_TRS;
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offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
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if(offsetObjdict) while( offsetObjdict <= lastIndex) {
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switch( status ) {
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case state3: /* get the PDO transmission type */
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if (d->objdict[offsetObjdict].bSubCount <= 2) {
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MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum);
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return 0xFF;
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}
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pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
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MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
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status = state4;
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break;
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case state4: /* check if transmission type is after (this) SYNC */
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/* The message may not be transmited every SYNC but every n SYNC */
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if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
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(++d->count_sync[pdoNum] == *pTransmissionType) ) {
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d->count_sync[pdoNum] = 0;
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MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
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status = state5;
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break;
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}
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else {
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MSG_WAR(0x3008, " Not on synchro or not at this SYNC. Trans type : ",
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*pTransmissionType);
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pdoNum++;
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offsetObjdict++;
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offsetObjdictMap++;
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status = state11;
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break;
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}
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case state5: /* get PDO CobId */
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pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
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MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId);
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status = state7;
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break;
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case state7: /* get mapped objects number to transmit with this PDO */
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pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject;
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MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
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status = state8;
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case state8: /* get mapping parameters */
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pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
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MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
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MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum);
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MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
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status = state9;
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case state9: /* get data to transmit */
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index = (UNS16)((*pMappingParameter) >> 16);
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subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
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// <<3 because in *pMappingParameter the size is in bits
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sizeData = (UNS8) ((*pMappingParameter & (UNS32)0x000000FF) >> 3) ;
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objDict = getODentry(d, index, subIndex, (void *)&d->process_var.data[offset], &sizeData, &dataType, 0 );
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if( objDict != OD_SUCCESSFUL ){
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MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
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return 0xFF;
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}
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offset += sizeData ;
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d->process_var.count = offset;
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prp_j++;
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status = state10;
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break;
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case state10: /* loop to get all the data to transmit */
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if( prp_j < *pMappingCount ){
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MSG_WAR(0x3014, " next variable mapped : ", prp_j);
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status = state8;
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break;
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}
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else {
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MSG_WAR(0x3015, " End scan mapped variable", 0);
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PDOmGR( d, *pwCobId );
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MSG_WAR(0x3016, " End of this pdo. Should have been sent", 0);
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pdoNum++;
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offsetObjdict++;
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offsetObjdictMap++;
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offset = 0x00;
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prp_j = 0x00;
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status = state11;
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break;
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}
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case state11:
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MSG_WAR(0x3017, "next pdo index : ", pdoNum);
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status = state3;
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break;
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default:
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MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
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return 0xFF;
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}// end switch case
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}// end while( prp_i<dict_cstes.max_count_of_PDO_transmit )
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(*d->post_TPDO)();
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return 0;
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}
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