include/pdo.h
author dejoigny
Wed, 17 May 2006 15:01:30 +0200
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parent 0 4472ee7c6c3e
child 71 95cd3376cc9f
permissions -rw-r--r--
Bogue:big endian
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#ifndef __pdo_h__
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#define __pdo_h__
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#include <applicfg.h>
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#include <def.h>
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/* The process_var structure
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 Used to store the PDO before the transmission or the reception.
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*/
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typedef struct struct_s_process_var {
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  UNS8 count; // Size of data. Ex : for a PDO of 6 bytes of data, count = 6
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  // WARNING s_process_var.data is subject to ENDIANISATION 
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  // (with respect to CANOPEN_BIG_ENDIAN)
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  UNS8 data[PDO_MAX_LEN];
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}s_process_var;
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#include "data.h"
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/** The PDO structure */
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typedef struct struct_s_PDO {
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  UNS32 cobId;	  // COB-ID
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  UNS8           len;	  // Number of data transmitted (in data[])
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  UNS8           data[8]; // Contain the data
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}s_PDO;
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/** Transmit a PDO data frame on the bus bus_id
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 * pdo is a structure which contains the pdo to transmit
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 * bus_id is hardware dependant
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 * return canSend(bus_id,&m) or 0xFF if error
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 * request can take the value  REQUEST or NOT_A_REQUEST
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 */
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UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
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/** Prepare a PDO frame transmission, 
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 * whose different parameters are stored in process_var table,
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 * to the slave.
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 * bus_id is hardware dependant
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 * call the function sendPDO
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 * return the result of the function sendPDO or 0xFF if error
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 */
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UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
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/** Prepare the PDO defined at index to be sent by  PDOmGR
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 * Copy all the data to transmit in process_var
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 * *pwCobId : returns the value of the cobid. (subindex 1)
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 * Return 0 or 0xFF if error.
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 */
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UNS8 buildPDO (CO_Data* d, UNS16 index);
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/** Transmit a PDO request frame on the bus bus_id
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 * to the slave.
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 * bus_id is hardware dependant
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 * Returns 0xFF if error, other in success.
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 */
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UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
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/** Compute a PDO frame reception
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 * bus_id is hardware dependant
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 * return 0xFF if error, else return 0
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 */
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UNS8 proceedPDO (CO_Data* d, Message *m);
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/* used by the application to send a variable by PDO.
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 * Check in which PDO the variable is mapped, and send the PDO. 
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 * of course, the others variables mapped in the PDO are also sent !
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 * ( ie when a specific event occured)
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 * bus_id is hardware dependant
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 * variable is a pointer to the variable which has to be sent. Must be
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 * defined in the object dictionary
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 * return 0xFF if error, else return 0
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 */
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UNS8 sendPDOevent (CO_Data* d, void * variable);
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#endif