19

<a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>

    20

<a name="l00003"></a>00003 <span class="comment">  Stack.</span>

    21

<a name="l00004"></a>00004 <span class="comment"></span>

    22

<a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>

    23

<a name="l00006"></a>00006 <span class="comment"></span>

    24

<a name="l00007"></a>00007 <span class="comment">  See COPYING file for copyrights details.</span>

    25

<a name="l00008"></a>00008 <span class="comment"></span>

    26

<a name="l00009"></a>00009 <span class="comment">  This library is free software; you can redistribute it and/or</span>

    27

<a name="l00010"></a>00010 <span class="comment">  modify it under the terms of the GNU Lesser General Public</span>

    28

<a name="l00011"></a>00011 <span class="comment">  License as published by the Free Software Foundation; either</span>

    29

<a name="l00012"></a>00012 <span class="comment">  version 2.1 of the License, or (at your option) any later version.</span>

    30

<a name="l00013"></a>00013 <span class="comment"></span>

    31

<a name="l00014"></a>00014 <span class="comment">  This library is distributed in the hope that it will be useful,</span>

    32

<a name="l00015"></a>00015 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>

    33

<a name="l00016"></a>00016 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>

    34

<a name="l00017"></a>00017 <span class="comment">  Lesser General Public License for more details.</span>

    35

<a name="l00018"></a>00018 <span class="comment"></span>

    36

<a name="l00019"></a>00019 <span class="comment">  You should have received a copy of the GNU Lesser General Public</span>

    37

<a name="l00020"></a>00020 <span class="comment">  License along with this library; if not, write to the Free Software</span>

    38

<a name="l00021"></a>00021 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307</span>

    39

<a name="l00022"></a>00022 <span class="comment">  USA</span>

    40

<a name="l00023"></a>00023 <span class="comment">*/</span>

    41

<a name="l00024"></a>00024 <span class="preprocessor">#include "pdo.h"</span>

    42

<a name="l00025"></a>00025 <span class="preprocessor">#include "objacces.h"</span>

    43

<a name="l00026"></a>00026 <span class="preprocessor">#include "canfestival.h"</span>

    44

<a name="l00027"></a>00027 

    45

<a name="l00037"></a><a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">00037</a> UNS8 <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(CO_Data* d, s_PDO pdo, UNS8 req)

    46

<a name="l00038"></a>00038 {

    47

<a name="l00039"></a>00039   UNS8 i;

    48

<a name="l00040"></a>00040   <span class="keywordflow">if</span>( d-&gt;nodeState == Operational ) {

    49

<a name="l00041"></a>00041     Message m;

    50

<a name="l00042"></a>00042 

    51

<a name="l00044"></a>00044     m.cob_id.w = pdo.cobId &amp; 0x7FF; 

    52

<a name="l00046"></a>00046     <span class="keywordflow">if</span> ( req == NOT_A_REQUEST ) {

    53

<a name="l00047"></a>00047       UNS8 i;

    54

<a name="l00048"></a>00048       m.rtr = NOT_A_REQUEST;

    55

<a name="l00049"></a>00049       m.len = pdo.len;

    56

<a name="l00052"></a>00052       <span class="keywordflow">for</span> (i = 0 ; i &lt; pdo.len ; i++)

    57

<a name="l00053"></a>00053         m.data[i] = pdo.data[i];

    58

<a name="l00054"></a>00054     }

    59

<a name="l00055"></a>00055     <span class="keywordflow">else</span> {

    60

<a name="l00056"></a>00056       m.rtr = REQUEST;

    61

<a name="l00057"></a>00057       m.len = 0;

    62

<a name="l00058"></a>00058     }

    64

<a name="l00060"></a>00060     MSG_WAR(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.cob_id.w);

    65

<a name="l00061"></a>00061     MSG_WAR(0x3902,  <span class="stringliteral">"     Nb octets  : "</span>,  m.len);

    66

<a name="l00062"></a>00062     <span class="keywordflow">for</span> (i = 0 ; i &lt; m.len ; i++) {

    67

<a name="l00063"></a>00063       MSG_WAR(0x3903,<span class="stringliteral">"           data : "</span>, m.data[i]);

    68

<a name="l00064"></a>00064     }

    69

<a name="l00065"></a>00065 

    70

<a name="l00066"></a>00066     <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);

    71

<a name="l00067"></a>00067   } 

    72

<a name="l00068"></a>00068   <span class="keywordflow">return</span> 0xFF;

    73

<a name="l00069"></a>00069 }

    74

<a name="l00070"></a>00070 

    75

<a name="l00079"></a><a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">00079</a> UNS8 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(CO_Data* d, UNS32 cobId)

    76

<a name="l00080"></a>00080 {

    77

<a name="l00081"></a>00081   UNS8 res;

    78

<a name="l00082"></a>00082   UNS8 i;

    79

<a name="l00083"></a>00083   s_PDO pdo;

    80

<a name="l00084"></a>00084 

    81

<a name="l00085"></a>00085   MSG_WAR(0x3905, <span class="stringliteral">"PDOmGR"</span>,0);

    82

<a name="l00086"></a>00086 

    83

<a name="l00089"></a>00089   pdo.cobId = cobId;

    84

<a name="l00090"></a>00090   pdo.len =  d-&gt;process_var.count;

    85

<a name="l00092"></a>00092      <span class="comment">/* Ce memcpy devrait tre portable */</span>

    86

<a name="l00093"></a>00093     <span class="keywordflow">for</span> ( i = 0 ; i &lt; pdo.len ; i++) 

    87

<a name="l00094"></a>00094       pdo.data[i] = d-&gt;process_var.data[i];

    88

<a name="l00095"></a>00095 

    89

<a name="l00096"></a>00096     res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, NOT_A_REQUEST);

    90

<a name="l00097"></a>00097 

    91

<a name="l00098"></a>00098     <span class="keywordflow">return</span> res;

    92

<a name="l00099"></a>00099 }

    93

<a name="l00100"></a>00100 

    94

<a name="l00101"></a>00101 <span class="preprocessor">#if 0</span>

    95

<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span>

    96

<a name="l00103"></a>00103 <span class="comment">/* TODO : implement bit mapping                                                  */</span>

    97

<a name="l00104"></a>00104 <span class="comment">/*********************************************************************/</span>

    99

<a name="l00106"></a>00106 UNS8 buildPDO(CO_Data* d, UNS16 index)

   100

<a name="l00107"></a>00107 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -&gt; infinite loop if it fails. */</span>       

   101

<a name="l00108"></a>00108   UNS16 ind;

   102

<a name="l00109"></a>00109   UNS8      subInd;

   103

<a name="l00110"></a>00110 

   104

<a name="l00111"></a>00111   UNS8 *     pMappingCount = NULL;      <span class="comment">/* count of mapped objects... */</span>

   105

<a name="l00112"></a>00112   <span class="comment">/* pointer to the var which is mapped to a pdo */</span>

   106

<a name="l00113"></a>00113 <span class="comment">/*  void *     pMappedAppObject = NULL;  */</span>

   107

<a name="l00114"></a>00114   <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span> 

   108

<a name="l00115"></a>00115  

   109

<a name="l00116"></a>00116   UNS32 *    pMappingParameter = NULL;

   110

<a name="l00117"></a>00117 

   111

<a name="l00118"></a>00118   UNS8      Size;

   112

<a name="l00119"></a>00119   UNS8      dataType;

   113

<a name="l00120"></a>00120   UNS8      offset;

   114

<a name="l00121"></a>00121   UNS16     offsetObjdict;

   115

<a name="l00122"></a>00122   UNS16     offsetObjdictPrm;

   116

<a name="l00123"></a>00123   UNS32     objDict;

   117

<a name="l00124"></a>00124 

   118

<a name="l00125"></a>00125   subInd=(UNS8)0x00;

   119

<a name="l00126"></a>00126   offset = 0x00;

   120

<a name="l00127"></a>00127   ind = index - 0x1800;

   121

<a name="l00128"></a>00128 

   122

<a name="l00129"></a>00129   MSG_WAR(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index);

   123

<a name="l00130"></a>00130 

   124

<a name="l00132"></a>00132   <span class="keywordflow">if</span>( d-&gt;nodeState != Operational ) {

   125

<a name="l00133"></a>00133     MSG_WAR(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index);

   126

<a name="l00134"></a>00134     <span class="keywordflow">return</span> 0xFF;

   127

<a name="l00135"></a>00135   }

   128

<a name="l00136"></a>00136   offsetObjdictPrm = d-&gt;firstIndex-&gt;PDO_TRS;

   129

<a name="l00137"></a>00137   offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS_MAP;

   130

<a name="l00138"></a>00138 

   131

<a name="l00139"></a>00139   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; offsetObjdict)

   132

<a name="l00140"></a>00140     {

   133

<a name="l00142"></a>00142       pMappingCount = (d-&gt;objdict + offsetObjdict + ind)-&gt;pSubindex[0].pObject;

   134

<a name="l00143"></a>00143       MSG_WAR(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount);

   135

<a name="l00144"></a>00144       MSG_WAR(0x3913, <span class="stringliteral">"        at index : "</span>, 0x1A00 + ind);

   136

<a name="l00145"></a>00145       <span class="keywordflow">while</span> (subInd &lt; *pMappingCount) { 

   137

<a name="l00147"></a>00147         pMappingParameter = (d-&gt;objdict + offsetObjdict + ind)-&gt;pSubindex[subInd + 1].pObject;

   138

<a name="l00148"></a>00148         MSG_WAR(0x3914, <span class="stringliteral">"Get the mapping      at index : "</span>, (UNS16)0x1A00 + ind);

   139

<a name="l00149"></a>00149         MSG_WAR(0x3915, <span class="stringliteral">"                     subIndex : "</span>, subInd + 1);

   140

<a name="l00150"></a>00150         MSG_WAR(0x3916, <span class="stringliteral">"                     value    : "</span>, *(UNS32 *)pMappingParameter);

   141

<a name="l00152"></a>00152         Size = ((UNS8)(((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3));

   142

<a name="l00153"></a>00153         objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) &gt;&gt; 16),

   143

<a name="l00154"></a>00154                              (UNS8)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0x000000FF),

   144

<a name="l00155"></a>00155                              (<span class="keywordtype">void</span> *)&amp;d-&gt;process_var.data[offset], &amp;Size, &amp;dataType, 0 );

   145

<a name="l00156"></a>00156 

   146

<a name="l00157"></a>00157         <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {

   147

<a name="l00158"></a>00158           MSG_WAR(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1);

   148

<a name="l00159"></a>00159           MSG_WAR(0x2920, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   149

<a name="l00160"></a>00160           MSG_WAR(0x2921, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   150

<a name="l00161"></a>00161           <span class="keywordflow">return</span> 0xFF;

   151

<a name="l00162"></a>00162         }

   152

<a name="l00163"></a>00163 

   153

<a name="l00164"></a>00164         offset += Size;

   154

<a name="l00165"></a>00165         d-&gt;process_var.count = offset;

   155

<a name="l00166"></a>00166         subInd++;

   156

<a name="l00167"></a>00167       }

   157

<a name="l00168"></a>00168     }

   158

<a name="l00169"></a>00169   <span class="keywordflow">return</span> 0;

   159

<a name="l00170"></a>00170 }

   160

<a name="l00171"></a>00171 <span class="preprocessor">#endif</span>

   161

<a name="l00172"></a>00172 <span class="preprocessor"></span>

   162

<a name="l00181"></a><a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">00181</a> UNS8 <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( CO_Data* d, UNS32 cobId )

   163

<a name="l00182"></a>00182 {

   164

<a name="l00183"></a>00183   UNS32 * pwCobId;

   165

<a name="l00184"></a>00184   UNS16          offset;

   166

<a name="l00185"></a>00185   UNS16          lastIndex;

   167

<a name="l00186"></a>00186   UNS8           err;

   168

<a name="l00187"></a>00187 

   169

<a name="l00188"></a>00188   MSG_WAR(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0);

   170

<a name="l00192"></a>00192   offset = d-&gt;firstIndex-&gt;PDO_RCV;

   171

<a name="l00193"></a>00193   lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;

   172

<a name="l00194"></a>00194   <span class="keywordflow">if</span> (offset)

   173

<a name="l00195"></a>00195     <span class="keywordflow">while</span> (offset &lt;= lastIndex) {

   174

<a name="l00197"></a>00197       pwCobId = d-&gt;objdict[offset].pSubindex[1].pObject;

   175

<a name="l00198"></a>00198 

   176

<a name="l00199"></a>00199       <span class="keywordflow">if</span> ( *pwCobId  == cobId ) {

   177

<a name="l00200"></a>00200         s_PDO pdo;

   178

<a name="l00201"></a>00201         pdo.cobId = *pwCobId;

   179

<a name="l00202"></a>00202         pdo.len = 0;

   180

<a name="l00203"></a>00203         err  = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, REQUEST);

   181

<a name="l00204"></a>00204         <span class="keywordflow">return</span> err;

   182

<a name="l00205"></a>00205       }

   183

<a name="l00206"></a>00206       offset++;

   184

<a name="l00207"></a>00207     }

   185

<a name="l00208"></a>00208   MSG_WAR(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId);

   186

<a name="l00209"></a>00209   <span class="keywordflow">return</span> 0xFF;

   187

<a name="l00210"></a>00210 }

   188

<a name="l00211"></a>00211 

   189

<a name="l00212"></a>00212 

   190

<a name="l00221"></a><a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00221</a> UNS8 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(CO_Data* d, Message *m)

   191

<a name="l00222"></a>00222 {

   192

<a name="l00223"></a>00223   UNS8   numPdo;

   193

<a name="l00224"></a>00224   UNS8   numMap;  

   194

<a name="l00225"></a>00225   UNS8 i;

   195

<a name="l00226"></a>00226   UNS8 *     pMappingCount = NULL;    

   196

<a name="l00231"></a>00231   UNS32 *    pMappingParameter = NULL;

   197

<a name="l00232"></a>00232   UNS8  *    pTransmissionType = NULL; 

   198

<a name="l00234"></a>00234   UNS32 *    pwCobId = NULL;

   199

<a name="l00235"></a>00235   UNS8       Size;

   200

<a name="l00236"></a>00236   UNS8       dataType;

   201

<a name="l00237"></a>00237   UNS8       offset;

   202

<a name="l00238"></a>00238   UNS8       status;

   203

<a name="l00239"></a>00239   UNS32      objDict;

   204

<a name="l00240"></a>00240   UNS16      offsetObjdict;

   205

<a name="l00241"></a>00241   UNS16      lastIndex;

   206

<a name="l00242"></a>00242   status = state1;

   207

<a name="l00243"></a>00243 

   208

<a name="l00244"></a>00244   MSG_WAR(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w &amp; 0x7ff));

   209

<a name="l00245"></a>00245   offset = 0x00;

   210

<a name="l00246"></a>00246   numPdo = 0;

   211

<a name="l00247"></a>00247   numMap = 0;

   212

<a name="l00248"></a>00248   <span class="keywordflow">if</span>((*m).rtr == NOT_A_REQUEST ) { 

   213

<a name="l00250"></a>00250     offsetObjdict = d-&gt;firstIndex-&gt;PDO_RCV;

   214

<a name="l00251"></a>00251     lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;

   215

<a name="l00252"></a>00252 

   216

<a name="l00254"></a>00254     <span class="keywordflow">if</span>(offsetObjdict)

   217

<a name="l00255"></a>00255       <span class="keywordflow">while</span> (offsetObjdict &lt;= lastIndex) {

   218

<a name="l00256"></a>00256 

   219

<a name="l00257"></a>00257         <span class="keywordflow">switch</span>( status ) {

   220

<a name="l00258"></a>00258 

   221

<a name="l00259"></a>00259         <span class="keywordflow">case</span> state1:

   222

<a name="l00262"></a>00262           <span class="keywordflow">for</span> ( i = 0 ; i &lt; m-&gt;len ; i++)

   223

<a name="l00263"></a>00263             d-&gt;process_var.data[i] = m-&gt;data[i];

   224

<a name="l00264"></a>00264           d-&gt;process_var.count = (*m).len;

   225

<a name="l00265"></a>00265 

   226

<a name="l00266"></a>00266           status = state2;

   227

<a name="l00267"></a>00267           <span class="keywordflow">break</span>;

   228

<a name="l00268"></a>00268 

   229

<a name="l00269"></a>00269         <span class="keywordflow">case</span> state2:

   230

<a name="l00272"></a>00272           pwCobId = d-&gt;objdict[offsetObjdict].pSubindex[1].pObject;

   231

<a name="l00276"></a>00276           if ( *pwCobId == (*m).cob_id.w ){

   232

<a name="l00278"></a>00278             status = state4;

   233

<a name="l00279"></a>00279             MSG_WAR(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);

   234

<a name="l00280"></a>00280             <span class="keywordflow">break</span>;

   235

<a name="l00281"></a>00281           }

   236

<a name="l00282"></a>00282           <span class="keywordflow">else</span> {

   237

<a name="l00285"></a>00285             numPdo++;

   238

<a name="l00286"></a>00286             offsetObjdict++;

   239

<a name="l00287"></a>00287             status = state2;

   240

<a name="l00288"></a>00288             <span class="keywordflow">break</span>;

   241

<a name="l00289"></a>00289           }

   242

<a name="l00290"></a>00290 

   243

<a name="l00291"></a>00291             <span class="keywordflow">case</span> state4:

   244

<a name="l00294"></a>00294                offsetObjdict = d-&gt;firstIndex-&gt;PDO_RCV_MAP;

   245

<a name="l00295"></a>00295              lastIndex = d-&gt;lastIndex-&gt;PDO_RCV_MAP;

   246

<a name="l00296"></a>00296              pMappingCount = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;

   247

<a name="l00297"></a>00297              numMap = 0;

   248

<a name="l00298"></a>00298              <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {

   249

<a name="l00299"></a>00299                UNS8 tmp[]= {0,0,0,0,0,0,0,0};

   250

<a name="l00300"></a>00300                UNS8 ByteSize;

   251

<a name="l00301"></a>00301                pMappingParameter = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;

   252

<a name="l00302"></a>00302                <span class="keywordflow">if</span> (pMappingParameter == NULL) {

   253

<a name="l00303"></a>00303                  MSG_ERR(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);

   254

<a name="l00304"></a>00304                  <span class="keywordflow">return</span> 0xFF;

   255

<a name="l00305"></a>00305                }

   256

<a name="l00313"></a>00313                Size = (UNS8)(*pMappingParameter);

   258

<a name="l00316"></a>00316                <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (UNS8*)&amp;d-&gt;process_var.data[offset&gt;&gt;3], offset%8, 0, ((UNS8*)tmp), 0, 0);

   259

<a name="l00317"></a>00317 

   260

<a name="l00318"></a>00318                ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt;</span>

   261

<a name="l00319"></a>00319 <span class="comment">                                                   2, ... */</span>

   262

<a name="l00320"></a>00320 

   263

<a name="l00321"></a>00321                objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, (UNS16)((*pMappingParameter) &gt;&gt; 16),

   264

<a name="l00322"></a>00322                                     (UNS8)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),

   265

<a name="l00323"></a>00323                                  tmp, &amp;ByteSize, 0 );

   266

<a name="l00324"></a>00324 

   267

<a name="l00325"></a>00325                <span class="keywordflow">if</span>(objDict != OD_SUCCESSFUL) {

   268

<a name="l00326"></a>00326                  MSG_ERR(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);

   269

<a name="l00327"></a>00327                  MSG_WAR(0x2939, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   270

<a name="l00328"></a>00328                  MSG_WAR(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   271

<a name="l00329"></a>00329                  <span class="keywordflow">return</span> 0xFF;

   272

<a name="l00330"></a>00330                }

   273

<a name="l00331"></a>00331 

   274

<a name="l00332"></a>00332                MSG_WAR(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-&gt;cob_id.w);

   275

<a name="l00333"></a>00333                MSG_WAR(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   276

<a name="l00334"></a>00334                MSG_WAR(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   277

<a name="l00336"></a>00336                offset += Size;

   278

<a name="l00337"></a>00337                numMap++;

   279

<a name="l00338"></a>00338              } 

   280

<a name="l00340"></a>00340              offset=0x00;

   281

<a name="l00341"></a>00341              numMap = 0;

   282

<a name="l00342"></a>00342              <span class="keywordflow">return</span> 0;

   283

<a name="l00343"></a>00343 

   284

<a name="l00344"></a>00344         }

   285

<a name="l00345"></a>00345       }

   286

<a name="l00346"></a>00346   }

   287

<a name="l00347"></a>00347   <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == REQUEST ){

   288

<a name="l00348"></a>00348     MSG_WAR(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-&gt;cob_id.w);

   289

<a name="l00349"></a>00349     status = state1;

   290

<a name="l00350"></a>00350     offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS;

   291

<a name="l00351"></a>00351     lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;

   292

<a name="l00352"></a>00352     <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= lastIndex ){

   293

<a name="l00355"></a>00355       <span class="keywordflow">switch</span>( status ){

   294

<a name="l00356"></a>00356 

   295

<a name="l00357"></a>00357       <span class="keywordflow">case</span> state1:

   296

<a name="l00360"></a>00360         pwCobId = (d-&gt;objdict + offsetObjdict)-&gt;pSubindex[1].pObject;

   297

<a name="l00361"></a>00361         <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {

   298

<a name="l00362"></a>00362           status = state4;

   299

<a name="l00363"></a>00363           <span class="keywordflow">break</span>;

   300

<a name="l00364"></a>00364         }

   301

<a name="l00365"></a>00365         <span class="keywordflow">else</span> {

   302

<a name="l00366"></a>00366           numPdo++;

   303

<a name="l00367"></a>00367           offsetObjdict++;

   304

<a name="l00368"></a>00368         }

   305

<a name="l00369"></a>00369         status = state1;

   306

<a name="l00370"></a>00370         <span class="keywordflow">break</span>;

   307

<a name="l00371"></a>00371 

   308

<a name="l00372"></a>00372 

   309

<a name="l00373"></a>00373       <span class="keywordflow">case</span> state4:

   310

<a name="l00374"></a>00374         pTransmissionType = d-&gt;objdict[offsetObjdict].pSubindex[2].pObject;

   311

<a name="l00375"></a>00375         <span class="keywordflow">if</span> ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {

   312

<a name="l00376"></a>00376           status = state5;

   313

<a name="l00377"></a>00377           <span class="keywordflow">break</span>;

   314

<a name="l00378"></a>00378         }

   315

<a name="l00379"></a>00379         <span class="keywordflow">else</span> {

   316

<a name="l00382"></a>00382           MSG_WAR(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-&gt;cob_id.w);

   317

<a name="l00383"></a>00383           <span class="keywordflow">return</span> 0xFF;

   318

<a name="l00384"></a>00384         }

   319

<a name="l00385"></a>00385 

   320

<a name="l00386"></a>00386       <span class="keywordflow">case</span> state5:

   321

<a name="l00387"></a>00387         offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS_MAP;

   322

<a name="l00388"></a>00388         lastIndex = d-&gt;lastIndex-&gt;PDO_TRS_MAP;

   323

<a name="l00389"></a>00389         pMappingCount = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;

   324

<a name="l00390"></a>00390         numMap = 0;

   325

<a name="l00391"></a>00391         <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {

   326

<a name="l00392"></a>00392           pMappingParameter = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;

   327

<a name="l00394"></a>00394           Size = ((UNS8)(((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3));

   328

<a name="l00395"></a>00395           objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) &gt;&gt; (UNS8)16),

   329

<a name="l00396"></a>00396                                 (UNS8)(( (*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; 0xFF),

   330

<a name="l00397"></a>00397                                 (<span class="keywordtype">void</span> *)&amp;d-&gt;process_var.data[offset], &amp;Size, &amp;dataType, 0 );

   331

<a name="l00398"></a>00398           <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {

   332

<a name="l00399"></a>00399             MSG_ERR(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);

   333

<a name="l00400"></a>00400             MSG_WAR(0x2949, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   334

<a name="l00401"></a>00401             MSG_WAR(0x2950, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   335

<a name="l00402"></a>00402             <span class="keywordflow">return</span> 0xFF;

   336

<a name="l00403"></a>00403           }

   337

<a name="l00404"></a>00404           offset += (UNS8) (((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3);

   338

<a name="l00405"></a>00405           d-&gt;process_var.count = offset;

   339

<a name="l00406"></a>00406           numMap++;

   340

<a name="l00407"></a>00407 

   341

<a name="l00408"></a>00408         } 

   342

<a name="l00409"></a>00409         <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); 

   343

<a name="l00410"></a>00410         <span class="keywordflow">return</span> 0;

   344

<a name="l00411"></a>00411 

   345

<a name="l00412"></a>00412       }

   346

<a name="l00413"></a>00413     }

   347

<a name="l00414"></a>00414   }

   348

<a name="l00416"></a>00416   <span class="keywordflow">return</span> 0;

   349

<a name="l00417"></a>00417 }

   350

<a name="l00418"></a>00418 

   351

<a name="l00430"></a><a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">00430</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)

   352

<a name="l00431"></a>00431 {

   353

<a name="l00434"></a>00434   <span class="comment">// boundaries from LSB to MSB.</span>

   354

<a name="l00435"></a>00435   <span class="keywordflow">while</span>(NbBits &gt; 0)

   355

<a name="l00436"></a>00436     {

   356

<a name="l00438"></a>00438       INTEGER8 Vect = DestBitIndex - SrcBitIndex;

   357

<a name="l00439"></a>00439 

   358

<a name="l00441"></a>00441       UNS8 Aligned = Vect&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -Vect;

   359

<a name="l00442"></a>00442 

   360

<a name="l00444"></a>00444       UNS8 BoudaryLimit = (Vect&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );

   361

<a name="l00445"></a>00445       UNS8 BitsToCopy = BoudaryLimit &gt; NbBits ? NbBits : BoudaryLimit;

   362

<a name="l00446"></a>00446 

   363

<a name="l00448"></a>00448       UNS8 Mask = ((0xff &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (8 - DestBitIndex)));

   364

<a name="l00449"></a>00449 

   365

<a name="l00451"></a>00451       UNS8 Filtered = Aligned &amp; ~Mask;

   366

<a name="l00452"></a>00452 

   367

<a name="l00454"></a>00454       *DestByteIndex &amp;= Mask;

   368

<a name="l00455"></a>00455 

   369

<a name="l00457"></a>00457       *DestByteIndex |= Filtered ;

   370

<a name="l00458"></a>00458 

   371

<a name="l00460"></a>00460       <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)&gt;7)

   372

<a name="l00461"></a>00461         {

   373

<a name="l00462"></a>00462           SrcBitIndex = 0;

   374

<a name="l00463"></a>00463           SrcByteIndex += (SrcBigEndian ? -1 : 1);

   375

<a name="l00464"></a>00464         }

   376

<a name="l00465"></a>00465 

   377

<a name="l00466"></a>00466 

   378

<a name="l00468"></a>00468       <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)&gt;7)

   379

<a name="l00469"></a>00469         {

   380

<a name="l00470"></a>00470           DestBitIndex = 0;

   381

<a name="l00471"></a>00471           DestByteIndex += (DestBigEndian ? -1 : 1);

   382

<a name="l00472"></a>00472         }

   383

<a name="l00473"></a>00473 

   384

<a name="l00475"></a>00475       NbBits -= BitsToCopy;

   385

<a name="l00476"></a>00476     }

   386

<a name="l00477"></a>00477 

   387

<a name="l00478"></a>00478 }

   388

<a name="l00479"></a>00479 

   389

<a name="l00480"></a>00480 <span class="preprocessor">#if 0</span>

   390

<a name="l00481"></a>00481 <span class="preprocessor"></span>

   391

<a name="l00482"></a>00482 <span class="comment">/*********************************************************************/</span>

   392

<a name="l00483"></a>00483 <span class="comment">/* TODO : reimplement this using CallBacks</span>

   393

<a name="l00484"></a>00484 <span class="comment"> */</span>

   394

<a name="l00485"></a>00485 <span class="comment">/*********************************************************************/</span>

   395

<a name="l00486"></a>00486 

   396

<a name="l00495"></a>00495 UNS8 sendPDOevent( CO_Data* d, <span class="keywordtype">void</span> * variable )

   397

<a name="l00496"></a>00496 { 

   398

<a name="l00498"></a>00498   UNS32           objDict = 0;

   399

<a name="l00499"></a>00499   UNS8            ind, sub_ind;

   400

<a name="l00500"></a>00500   UNS8            status;

   401

<a name="l00501"></a>00501   UNS8            offset;

   402

<a name="l00502"></a>00502   UNS8 *     pMappingCount = NULL;

   403

<a name="l00503"></a>00503   UNS32 *    pMappingParameter = NULL;

   404

<a name="l00504"></a>00504   <span class="keywordtype">void</span> *     pMappedAppObject = NULL;

   405

<a name="l00505"></a>00505   UNS8 *     pTransmissionType = NULL; 

   406

<a name="l00507"></a>00507   UNS32 *    pwCobId = NULL;

   407

<a name="l00508"></a>00508   UNS8 *     pSize;

   408

<a name="l00509"></a>00509   UNS8       size;

   409

<a name="l00510"></a>00510   UNS8       dataType;

   410

<a name="l00511"></a>00511   UNS16      offsetObjdict;

   411

<a name="l00512"></a>00512   UNS16      offsetObjdictPrm;

   412

<a name="l00513"></a>00513   UNS16      lastIndex;

   413

<a name="l00514"></a>00514   UNS8       numMap;

   414

<a name="l00515"></a>00515   ind     = 0x00;

   415

<a name="l00516"></a>00516   sub_ind = 1;

   416

<a name="l00517"></a>00517   offset  = 0x00;

   417

<a name="l00518"></a>00518   pSize   = &amp;size;

   418

<a name="l00519"></a>00519   status  = state1;

   419

<a name="l00520"></a>00520 

   420

<a name="l00521"></a>00521 

   421

<a name="l00525"></a>00525   MSG_WAR (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0);

   422

<a name="l00526"></a>00526   offsetObjdictPrm = d-&gt;firstIndex-&gt;PDO_TRS;

   423

<a name="l00527"></a>00527 

   424

<a name="l00528"></a>00528   offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS_MAP;

   425

<a name="l00529"></a>00529   lastIndex = d-&gt;lastIndex-&gt;PDO_TRS_MAP;

   426

<a name="l00530"></a>00530 

   427

<a name="l00531"></a>00531   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; offsetObjdict)

   428

<a name="l00533"></a>00533     <span class="keywordflow">while</span>(offsetObjdict &lt;= lastIndex){

   429

<a name="l00535"></a>00535       pTransmissionType = d-&gt;objdict[offsetObjdictPrm].pSubindex[2].pObject;

   430

<a name="l00536"></a>00536       <span class="keywordflow">if</span> (*pTransmissionType != TRANS_EVENT) {

   431

<a name="l00537"></a>00537         ind++;

   432

<a name="l00538"></a>00538         offsetObjdict++;

   433

<a name="l00539"></a>00539         offsetObjdictPrm++;

   434

<a name="l00540"></a>00540         <span class="keywordflow">continue</span>;

   435

<a name="l00541"></a>00541       }

   436

<a name="l00542"></a>00542       pMappingCount = d-&gt;objdict[offsetObjdict].pSubindex[0].pObject;

   437

<a name="l00543"></a>00543       numMap = 1; 

   438

<a name="l00544"></a>00544       <span class="keywordflow">while</span> (numMap &lt;= *pMappingCount) {

   439

<a name="l00545"></a>00545         pMappingParameter = d-&gt;objdict[offsetObjdict].pSubindex[numMap].pObject;

   440

<a name="l00547"></a>00547         objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d,

   441

<a name="l00548"></a>00548                               (UNS16)((*pMappingParameter) &gt;&gt; 16),

   442

<a name="l00549"></a>00549                               (UNS8)(( (*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; (UNS32)0x000000FF),

   443

<a name="l00550"></a>00550                               (<span class="keywordtype">void</span> * *)&amp;pMappedAppObject, pSize, &amp;dataType, 0 );

   444

<a name="l00551"></a>00551         <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ) {

   445

<a name="l00552"></a>00552           MSG_WAR(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>,

   446

<a name="l00553"></a>00553                   (*pMappingParameter) &gt;&gt; (UNS8)16);

   447

<a name="l00554"></a>00554 

   448

<a name="l00555"></a>00555           MSG_WAR(0x2962, <span class="stringliteral">"               subindex : "</span>,

   449

<a name="l00556"></a>00556                   ((*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; (UNS32)0x000000FF);

   450

<a name="l00557"></a>00557           <span class="keywordflow">return</span> 0xFF;

   451

<a name="l00558"></a>00558         }

   452

<a name="l00559"></a>00559         <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span>

   453

<a name="l00560"></a>00560           MSG_WAR(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>,

   454

<a name="l00561"></a>00561                   (*pMappingParameter) &gt;&gt; 16);

   455

<a name="l00562"></a>00562           MSG_WAR(0x3964, <span class="stringliteral">"                       subIndex : "</span>,

   456

<a name="l00563"></a>00563                   ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0x000000FF);

   457

<a name="l00564"></a>00564           buildPDO(d, 0x1800 + ind);

   458

<a name="l00566"></a>00566           pwCobId = d-&gt;objdict[offsetObjdictPrm].pSubindex[1].pObject;

   459

<a name="l00567"></a>00567           <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); 

   460

<a name="l00568"></a>00568           <span class="keywordflow">return</span> 0;

   461

<a name="l00569"></a>00569         }

   462

<a name="l00570"></a>00570         numMap++;

   463

<a name="l00571"></a>00571       } 

   464

<a name="l00572"></a>00572       ind++;

   465

<a name="l00573"></a>00573       offsetObjdict++;

   466

<a name="l00574"></a>00574       offsetObjdictPrm++;

   467

<a name="l00575"></a>00575     } 

   468

<a name="l00577"></a>00577   MSG_WAR(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0);

   469

<a name="l00578"></a>00578   <span class="keywordflow">return</span> 0xFF;

   470

<a name="l00579"></a>00579 

   471

<a name="l00580"></a>00580 }

   472

<a name="l00581"></a>00581 <span class="preprocessor">#endif</span>

   473

<a name="l00582"></a>00582 <span class="preprocessor"></span>

   474

<a name="l00583"></a>00583 

   475

<a name="l00584"></a>00584 

   476

</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by&nbsp;