src/pdo.c
author etisserant
Thu, 20 Mar 2008 15:27:58 +0100
changeset 427 6deafe46484f
parent 426 8011552b1319
child 428 25b06f59f123
permissions -rw-r--r--
Endianization fix in emcy.c
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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#include "pdo.h"
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#include "objacces.h"
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#include "canfestival.h"
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#include "sysdep.h"
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/*!
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** @file   pdo.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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/*!
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**
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**
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** @param d
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** @param TPDO_com TPDO communication parameters OD entry
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** @param TPDO_map TPDO mapping parameters OD entry
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**
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** @return
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**/
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UNS8
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buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
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{
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  const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
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  const indextable *TPDO_map =
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    d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
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  UNS8 prp_j = 0x00;
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  UNS8 offset = 0x00;
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  const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
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  pdo->cob_id = *(UNS16 *) TPDO_com->pSubindex[1].pObject & UNS16_LE (0x7FF);
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  pdo->rtr = NOT_A_REQUEST;
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  MSG_WAR (0x3009, "  PDO CobId is : ",
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           *(UNS32 *) TPDO_com->pSubindex[1].pObject);
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  MSG_WAR (0x300D, "  Number of objects mapped : ", *pMappingCount);
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  do
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    {
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      UNS8 dataType;            /* Unused */
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      UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 };  /* temporary space to hold bits */
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      /* pointer fo the var which holds the mapping parameter of an mapping entry  */
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      UNS32 *pMappingParameter =
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        (UNS32 *) TPDO_map->pSubindex[prp_j + 1].pObject;
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      UNS16 index = (UNS16) ((*pMappingParameter) >> 16);
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      UNS8 Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF);     /* Size in bits */
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      /* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
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      if (Size && ((offset + Size) <= 64))
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        {
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          UNS8 ByteSize = 1 + ((Size - 1) >> 3);        /*1->8 => 1 ; 9->16 => 2, ... */
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          UNS8 subIndex =
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            (UNS8) (((*pMappingParameter) >> (UNS8) 8) & (UNS32) 0x000000FF);
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          MSG_WAR (0x300F, "  got mapping parameter : ", *pMappingParameter);
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          MSG_WAR (0x3050, "    at index : ", TPDO_map->index);
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          MSG_WAR (0x3051, "    sub-index : ", prp_j + 1);
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          if (getODentry (d, index, subIndex, tmp, &ByteSize, &dataType, 0) !=
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              OD_SUCCESSFUL)
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            {
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              MSG_ERR (0x1013,
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                       " Couldn't find mapped variable at index-subindex-size : ",
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                       (UNS16) (*pMappingParameter));
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              return 0xFF;
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            }
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          /* copy bit per bit in little endian */
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          CopyBits (Size, ((UNS8 *) tmp), 0, 0,
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                    (UNS8 *) & pdo->data[offset >> 3], offset % 8, 0);
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          offset += Size;
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        }
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      prp_j++;
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    }
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  while (prp_j < *pMappingCount);
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  pdo->len = 1 + ((offset - 1) >> 3);
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  MSG_WAR (0x3015, "  End scan mapped variable", 0);
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param cobId
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**
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** @return
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**/
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UNS8
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sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
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{
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  UNS16 *pwCobId;
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  UNS16 offset = d->firstIndex->PDO_RCV;
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  UNS16 lastIndex = d->lastIndex->PDO_RCV;
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  /* Sending the request only if the cobid have been found on the PDO
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     receive */
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  /* part dictionary */
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  MSG_WAR (0x3930, "sendPDOrequest RPDO Index : ", RPDOIndex);
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  if (offset && RPDOIndex >= 0x1400)
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    {
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      offset += RPDOIndex - 0x1400;
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      if (offset <= lastIndex)
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        {
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          /* get the CobId */
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          pwCobId = (UNS16 *) d->objdict[offset].pSubindex[1].pObject;
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          MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
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          {
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            Message pdo;
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            pdo.cob_id = *pwCobId;
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            pdo.rtr = REQUEST;
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            pdo.len = 0;
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            return canSend (d->canHandle, &pdo);
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          }
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        }
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    }
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  MSG_ERR (0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
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  return 0xFF;
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}
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/*!
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**
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**
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** @param d
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** @param m
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**
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** @return
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**/
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UNS8
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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 */
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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
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     mapping entry */
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  UNS32 *pMappingParameter = NULL;
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  UNS8 *pTransmissionType = NULL;       /* pointer to the transmission
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                                           type */
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  UNS16 *pwCobId = NULL;
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   180
  UNS8 Size;
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   181
  UNS8 offset;
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   182
  UNS8 status;
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   183
  UNS32 objDict;
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   184
  UNS16 offsetObjdict;
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   185
  UNS16 lastIndex;
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   186
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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   187
  status = state2;
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   188
425
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   189
  MSG_WAR (0x3935, "proceedPDO, cobID : ", ((*m).cob_id & UNS16_LE (0x7ff)));
0
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  offset = 0x00;
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  numPdo = 0;
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  numMap = 0;
425
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   193
  if ((*m).rtr == NOT_A_REQUEST)
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   194
    {                           /* The PDO received is not a
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   195
                                   request. */
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   196
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      offsetObjdict = d->firstIndex->PDO_RCV;
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      lastIndex = d->lastIndex->PDO_RCV;
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   199
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      /* study of all the PDO stored in the dictionary */
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   201
      if (offsetObjdict)
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   202
        while (offsetObjdict <= lastIndex)
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   203
          {
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   204
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            switch (status)
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   206
              {
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   207
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              case state2:
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                /* get CobId of the dictionary correspondant to the received
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                   PDO */
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                pwCobId =
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                  (UNS16 *) 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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                 */
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                if (*pwCobId == (*m).cob_id)
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                  {
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                    /* The cobId is recognized */
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                    status = state4;
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                    MSG_WAR (0x3936, "cobId found at index ",
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   221
                             0x1400 + numPdo);
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                    break;
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   223
                  }
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   224
                else
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   225
                  {
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   226
                    /* cobId received does not match with those write in the
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   227
                       dictionnary */
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                    numPdo++;
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                    offsetObjdict++;
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   230
                    status = state2;
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   231
                    break;
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   232
                  }
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   233
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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
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                   dictionnary. */
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                offsetObjdict = d->firstIndex->PDO_RCV_MAP;
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                lastIndex = d->lastIndex->PDO_RCV_MAP;
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   239
                pMappingCount =
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   240
                  (UNS8 *) (d->objdict + offsetObjdict +
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                            numPdo)->pSubindex[0].pObject;
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                numMap = 0;
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   243
                while (numMap < *pMappingCount)
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   244
                  {
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   245
                    UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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                    UNS8 ByteSize;
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                    pMappingParameter =
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                      (UNS32 *) (d->objdict + offsetObjdict +
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   249
                                 numPdo)->pSubindex[numMap + 1].pObject;
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                    if (pMappingParameter == NULL)
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   251
                      {
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                        MSG_ERR (0x1937, "Couldn't get mapping parameter : ",
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   253
                                 numMap + 1);
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                        return 0xFF;
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   255
                      }
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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
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                       contains the subindex, */
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                    /* and the lower 8 bits contains the size of the mapped
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                       variable. */
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   262
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                    Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF);
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   264
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                    /* set variable only if Size != 0 and Size is lower than remaining bits in the PDO */
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                    if (Size && ((offset + Size) <= (m->len << 3)))
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   267
                      {
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   268
                        /* copy bit per bit in little endian */
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                        CopyBits (Size, (UNS8 *) & m->data[offset >> 3],
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                                  offset % 8, 0, ((UNS8 *) tmp), 0, 0);
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   271
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                        ByteSize = 1 + ((Size - 1) >> 3);       /*1->8 => 1 ; 9->16 =>
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                                                                   2, ... */
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   274
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                        objDict =
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                          setODentry (d, (UNS16) ((*pMappingParameter) >> 16),
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                                      (UNS8) (((*pMappingParameter) >> 8) &
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   278
                                              0xFF), tmp, &ByteSize, 0);
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   279
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   280
                        if (objDict != OD_SUCCESSFUL)
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   281
                          {
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   282
                            MSG_ERR (0x1938,
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   283
                                     "error accessing to the mapped var : ",
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   284
                                     numMap + 1);
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   285
                            MSG_WAR (0x2939, "         Mapped at index : ",
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   286
                                     (*pMappingParameter) >> 16);
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   287
                            MSG_WAR (0x2940, "                subindex : ",
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   288
                                     ((*pMappingParameter) >> 8) & 0xFF);
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   289
                            return 0xFF;
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   290
                          }
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diff changeset
   291
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   292
                        MSG_WAR (0x3942,
4bc4706528ae re-indented pdo.c
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   293
                                 "Variable updated with value received by PDO cobid : ",
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diff changeset
   294
                                 m->cob_id);
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diff changeset
   295
                        MSG_WAR (0x3943, "         Mapped at index : ",
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diff changeset
   296
                                 (*pMappingParameter) >> 16);
4bc4706528ae re-indented pdo.c
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diff changeset
   297
                        MSG_WAR (0x3944, "                subindex : ",
4bc4706528ae re-indented pdo.c
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diff changeset
   298
                                 ((*pMappingParameter) >> 8) & 0xFF);
4bc4706528ae re-indented pdo.c
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diff changeset
   299
                        /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */
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   300
                        offset += Size;
4bc4706528ae re-indented pdo.c
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diff changeset
   301
                      }
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   302
                    numMap++;
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diff changeset
   303
                  }             /* end loop while on mapped variables */
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   304
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   305
                offset = 0x00;
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diff changeset
   306
                numMap = 0;
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diff changeset
   307
                return 0;
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diff changeset
   308
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diff changeset
   309
              }                 /* end switch status */
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diff changeset
   310
          }                     /* end while */
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diff changeset
   311
    }                           /* end if Donnees */
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diff changeset
   312
  else if ((*m).rtr == REQUEST)
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diff changeset
   313
    {
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   314
      MSG_WAR (0x3946, "Receive a PDO request cobId : ", m->cob_id);
4bc4706528ae re-indented pdo.c
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diff changeset
   315
      status = state1;
4bc4706528ae re-indented pdo.c
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diff changeset
   316
      offsetObjdict = d->firstIndex->PDO_TRS;
4bc4706528ae re-indented pdo.c
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diff changeset
   317
      lastIndex = d->lastIndex->PDO_TRS;
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diff changeset
   318
      if (offsetObjdict)
4bc4706528ae re-indented pdo.c
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diff changeset
   319
        while (offsetObjdict <= lastIndex)
4bc4706528ae re-indented pdo.c
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diff changeset
   320
          {
4bc4706528ae re-indented pdo.c
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diff changeset
   321
            /* study of all PDO stored in the objects dictionary */
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diff changeset
   322
4bc4706528ae re-indented pdo.c
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diff changeset
   323
            switch (status)
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diff changeset
   324
              {
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diff changeset
   325
4bc4706528ae re-indented pdo.c
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diff changeset
   326
              case state1:     /* check the CobId */
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diff changeset
   327
                /* get CobId of the dictionary which match to the received PDO
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diff changeset
   328
                 */
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diff changeset
   329
                pwCobId =
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diff changeset
   330
                  (UNS16 *) (d->objdict +
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diff changeset
   331
                             offsetObjdict)->pSubindex[1].pObject;
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diff changeset
   332
                if (*pwCobId == (*m).cob_id)
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diff changeset
   333
                  {
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diff changeset
   334
                    status = state4;
4bc4706528ae re-indented pdo.c
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diff changeset
   335
                    break;
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diff changeset
   336
                  }
4bc4706528ae re-indented pdo.c
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diff changeset
   337
                else
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diff changeset
   338
                  {
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diff changeset
   339
                    numPdo++;
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diff changeset
   340
                    offsetObjdict++;
4bc4706528ae re-indented pdo.c
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diff changeset
   341
                  }
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diff changeset
   342
                status = state1;
4bc4706528ae re-indented pdo.c
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diff changeset
   343
                break;
4bc4706528ae re-indented pdo.c
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diff changeset
   344
4bc4706528ae re-indented pdo.c
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diff changeset
   345
4bc4706528ae re-indented pdo.c
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diff changeset
   346
              case state4:     /* check transmission type */
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diff changeset
   347
                pTransmissionType =
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diff changeset
   348
                  (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
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diff changeset
   349
                /* If PDO is to be sampled and send on RTR, do it */
4bc4706528ae re-indented pdo.c
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diff changeset
   350
                if ((*pTransmissionType == TRANS_RTR))
4bc4706528ae re-indented pdo.c
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diff changeset
   351
                  {
4bc4706528ae re-indented pdo.c
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diff changeset
   352
                    status = state5;
4bc4706528ae re-indented pdo.c
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diff changeset
   353
                    break;
4bc4706528ae re-indented pdo.c
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diff changeset
   354
                    /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
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   355
                  }
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   356
                else if ((*pTransmissionType == TRANS_RTR_SYNC))
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   357
                  {
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   358
                    if (d->PDO_status[numPdo].
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diff changeset
   359
                        transmit_type_parameter & PDO_RTR_SYNC_READY)
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diff changeset
   360
                      {
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   361
                        /*Data ready, just send */
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   362
                        canSend (d->canHandle,
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   363
                                 &d->PDO_status[numPdo].last_message);
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   364
                        return 0;
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diff changeset
   365
                      }
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diff changeset
   366
                    else
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diff changeset
   367
                      {
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   368
                        /* if SYNC did never occur, force emission with current data */
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   369
                        /* DS301 do not tell what to do in such a case... */
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   370
                        MSG_ERR (0x1947,
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   371
                                 "Not ready RTR_SYNC TPDO send current data : ",
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   372
                                 m->cob_id);
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   373
                        status = state5;
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diff changeset
   374
                      }
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   375
                    break;
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diff changeset
   376
                  }
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   377
                else if ((*pTransmissionType == TRANS_EVENT_PROFILE) ||
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diff changeset
   378
                         (*pTransmissionType == TRANS_EVENT_SPECIFIC))
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diff changeset
   379
                  {
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   380
                    /* Zap all timers and inhibit flag */
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   381
                    d->PDO_status[numPdo].event_timer =
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   382
                      DelAlarm (d->PDO_status[numPdo].event_timer);
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   383
                    d->PDO_status[numPdo].inhibit_timer =
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   384
                      DelAlarm (d->PDO_status[numPdo].inhibit_timer);
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   385
                    d->PDO_status[numPdo].transmit_type_parameter &=
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   386
                      ~PDO_INHIBITED;
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   387
                    /* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
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   388
                    PDOEventTimerAlarm (d, numPdo);
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diff changeset
   389
                    return 0;
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diff changeset
   390
                  }
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diff changeset
   391
                else
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diff changeset
   392
                  {
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diff changeset
   393
                    /* The requested PDO is not to send on request. So, does
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diff changeset
   394
                       nothing. */
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diff changeset
   395
                    MSG_WAR (0x2947, "PDO is not to send on request : ",
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diff changeset
   396
                             m->cob_id);
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diff changeset
   397
                    return 0xFF;
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diff changeset
   398
                  }
4bc4706528ae re-indented pdo.c
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diff changeset
   399
4bc4706528ae re-indented pdo.c
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diff changeset
   400
              case state5:     /* build and send requested PDO */
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diff changeset
   401
                {
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diff changeset
   402
                  Message pdo;
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diff changeset
   403
                  if (buildPDO (d, numPdo, &pdo))
4bc4706528ae re-indented pdo.c
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diff changeset
   404
                    {
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diff changeset
   405
                      MSG_ERR (0x1948, " Couldn't build TPDO n°", numPdo);
4bc4706528ae re-indented pdo.c
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diff changeset
   406
                      return 0xFF;
4bc4706528ae re-indented pdo.c
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diff changeset
   407
                    }
4bc4706528ae re-indented pdo.c
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diff changeset
   408
                  canSend (d->canHandle, &pdo);
4bc4706528ae re-indented pdo.c
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diff changeset
   409
                  return 0;
4bc4706528ae re-indented pdo.c
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diff changeset
   410
                }
4bc4706528ae re-indented pdo.c
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diff changeset
   411
              }                 /* end switch status */
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diff changeset
   412
          }                     /* end while */
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diff changeset
   413
    }                           /* end if Requete */
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   414
0
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   415
  return 0;
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   416
}
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   417
208
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diff changeset
   418
/*!
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   419
**
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diff changeset
   420
**
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diff changeset
   421
** @param NbBits
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diff changeset
   422
** @param SrcByteIndex
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diff changeset
   423
** @param SrcBitIndex
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   424
** @param SrcBigEndian
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diff changeset
   425
** @param DestByteIndex
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diff changeset
   426
** @param DestBitIndex
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diff changeset
   427
** @param DestBigEndian
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diff changeset
   428
**/
425
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diff changeset
   429
void
4bc4706528ae re-indented pdo.c
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diff changeset
   430
CopyBits (UNS8 NbBits, UNS8 * SrcByteIndex, UNS8 SrcBitIndex,
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diff changeset
   431
          UNS8 SrcBigEndian, UNS8 * DestByteIndex, UNS8 DestBitIndex,
4bc4706528ae re-indented pdo.c
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diff changeset
   432
          UNS8 DestBigEndian)
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diff changeset
   433
{
4bc4706528ae re-indented pdo.c
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   434
  /* This loop copy as many bits that it can each time, crossing */
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diff changeset
   435
  /* successively bytes */
208
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   436
  // boundaries from LSB to MSB.
425
4bc4706528ae re-indented pdo.c
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diff changeset
   437
  while (NbBits > 0)
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   438
    {
425
4bc4706528ae re-indented pdo.c
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diff changeset
   439
      /* Bit missalignement between src and dest */
208
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diff changeset
   440
      INTEGER8 Vect = DestBitIndex - SrcBitIndex;
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diff changeset
   441
425
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   442
      /* We can now get src and align it to dest */
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diff changeset
   443
      UNS8 Aligned =
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diff changeset
   444
        Vect > 0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
4bc4706528ae re-indented pdo.c
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diff changeset
   445
4bc4706528ae re-indented pdo.c
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diff changeset
   446
      /* Compute the nb of bit we will be able to copy */
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diff changeset
   447
      UNS8 BoudaryLimit = (Vect > 0 ? 8 - DestBitIndex : 8 - SrcBitIndex);
208
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diff changeset
   448
      UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
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diff changeset
   449
425
4bc4706528ae re-indented pdo.c
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diff changeset
   450
      /* Create a mask that will serve in: */
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diff changeset
   451
      UNS8 Mask =
4bc4706528ae re-indented pdo.c
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diff changeset
   452
        ((0xff << (DestBitIndex + BitsToCopy)) |
4bc4706528ae re-indented pdo.c
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diff changeset
   453
         (0xff >> (8 - DestBitIndex)));
4bc4706528ae re-indented pdo.c
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diff changeset
   454
4bc4706528ae re-indented pdo.c
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diff changeset
   455
      /* - Filtering src */
208
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diff changeset
   456
      UNS8 Filtered = Aligned & ~Mask;
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diff changeset
   457
425
4bc4706528ae re-indented pdo.c
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diff changeset
   458
      /* - and erase bits where we write, preserve where we don't */
208
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diff changeset
   459
      *DestByteIndex &= Mask;
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   460
425
4bc4706528ae re-indented pdo.c
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diff changeset
   461
      /* Then write. */
4bc4706528ae re-indented pdo.c
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diff changeset
   462
      *DestByteIndex |= Filtered;
4bc4706528ae re-indented pdo.c
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diff changeset
   463
4bc4706528ae re-indented pdo.c
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diff changeset
   464
      /*Compute next time cursors for src */
4bc4706528ae re-indented pdo.c
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diff changeset
   465
      if ((SrcBitIndex += BitsToCopy) > 7)      /* cross boundary ? */
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   466
        {
425
4bc4706528ae re-indented pdo.c
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diff changeset
   467
          SrcBitIndex = 0;      /* First bit */
4bc4706528ae re-indented pdo.c
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diff changeset
   468
          SrcByteIndex += (SrcBigEndian ? -1 : 1);      /* Next byte */
215
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   469
        }
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   470
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   471
425
4bc4706528ae re-indented pdo.c
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diff changeset
   472
      /*Compute next time cursors for dest */
4bc4706528ae re-indented pdo.c
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diff changeset
   473
      if ((DestBitIndex += BitsToCopy) > 7)
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   474
        {
425
4bc4706528ae re-indented pdo.c
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diff changeset
   475
          DestBitIndex = 0;     /* First bit */
4bc4706528ae re-indented pdo.c
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diff changeset
   476
          DestByteIndex += (DestBigEndian ? -1 : 1);    /* Next byte */
215
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   477
        }
f49e5a6b7804 Manual and Documentation finish
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diff changeset
   478
425
4bc4706528ae re-indented pdo.c
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diff changeset
   479
      /*And decrement counter. */
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   480
      NbBits -= BitsToCopy;
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   481
    }
201
2966cd34162a Boolean variable mapped in PDO
greg
parents: 149
diff changeset
   482
2966cd34162a Boolean variable mapped in PDO
greg
parents: 149
diff changeset
   483
}
425
4bc4706528ae re-indented pdo.c
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diff changeset
   484
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   485
/*!
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 204
diff changeset
   486
**
05d95c45b388 Manual convertion -> latex -> pdf
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parents: 204
diff changeset
   487
**
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   488
** @param d
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   489
**
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   490
** @return
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   491
**/
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   492
425
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   493
UNS8
4bc4706528ae re-indented pdo.c
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diff changeset
   494
sendPDOevent (CO_Data * d)
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   495
{
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   496
  /* Calls _sendPDOevent specifying it is not a sync event */
425
4bc4706528ae re-indented pdo.c
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diff changeset
   497
  return _sendPDOevent (d, 0);
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   498
}
4bc4706528ae re-indented pdo.c
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diff changeset
   499
4bc4706528ae re-indented pdo.c
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diff changeset
   500
4bc4706528ae re-indented pdo.c
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diff changeset
   501
void
4bc4706528ae re-indented pdo.c
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diff changeset
   502
PDOEventTimerAlarm (CO_Data * d, UNS32 pdoNum)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   503
{
4bc4706528ae re-indented pdo.c
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diff changeset
   504
  /* This is needed to avoid deletion of re-attribuated timer */
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   505
  d->PDO_status[pdoNum].event_timer = TIMER_NONE;
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   506
  /* force emission of PDO by artificially changing last emitted */
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   507
  d->PDO_status[pdoNum].last_message.cob_id = 0;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   508
  _sendPDOevent (d, 0);         /* not a Sync Event */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   509
}
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   510
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   511
void
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   512
PDOInhibitTimerAlarm (CO_Data * d, UNS32 pdoNum)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   513
{
4bc4706528ae re-indented pdo.c
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diff changeset
   514
  /* This is needed to avoid deletion of re-attribuated timer */
4bc4706528ae re-indented pdo.c
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diff changeset
   515
  d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
4bc4706528ae re-indented pdo.c
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diff changeset
   516
  /* Remove inhibit flag */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   517
  d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
4bc4706528ae re-indented pdo.c
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parents: 380
diff changeset
   518
  _sendPDOevent (d, 0);         /* not a Sync Event */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   519
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   520
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   521
/*!
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   522
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   523
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   524
** @param d
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   525
** @param isSyncEvent
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   526
**
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   527
** @return
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   528
**/
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
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diff changeset
   529
425
4bc4706528ae re-indented pdo.c
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diff changeset
   530
UNS8
4bc4706528ae re-indented pdo.c
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diff changeset
   531
_sendPDOevent (CO_Data * d, UNS8 isSyncEvent)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   532
{
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   533
  UNS8 pdoNum = 0x00;           /* number of the actual processed pdo-nr. */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   534
  UNS8 *pTransmissionType = NULL;
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   535
  UNS8 status = state3;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   536
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   537
  UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   538
  UNS16 lastIndex = d->lastIndex->PDO_TRS;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   539
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   540
  /* study all PDO stored in the objects dictionary */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   541
  if (offsetObjdict)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   542
    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   543
      Message pdo = Message_Initializer;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   544
      while (offsetObjdict <= lastIndex)
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   545
        {
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   546
          switch (status)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   547
            {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   548
            case state3:
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   549
              if (              /*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5) */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   550
                   /* check if TPDO is not valid */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   551
                   *(UNS32 *) d->objdict[offsetObjdict].pSubindex[1].
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   552
                   pObject & 0x80000000)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   553
                {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   554
                  MSG_WAR (0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   555
                  /*Go next TPDO */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   556
                  status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   557
                  break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   558
                }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   559
              /* get the PDO transmission type */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   560
              pTransmissionType =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   561
                (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   562
              MSG_WAR (0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   563
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   564
              /* check if transmission type is SYNCRONOUS */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   565
              /* The message is transmited every n SYNC with n=TransmissionType */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   566
              if (isSyncEvent &&
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   567
                  (*pTransmissionType >= TRANS_SYNC_MIN) &&
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   568
                  (*pTransmissionType <= TRANS_SYNC_MAX) &&
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   569
                  (++d->PDO_status[pdoNum].transmit_type_parameter ==
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   570
                   *pTransmissionType))
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   571
                {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   572
                  /*Reset count of SYNC */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   573
                  d->PDO_status[pdoNum].transmit_type_parameter = 0;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   574
                  MSG_WAR (0x3964, "  PDO is on SYNCHRO. Trans type : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   575
                           *pTransmissionType);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   576
                  {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   577
                    Message msg_init = Message_Initializer;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   578
                    pdo = msg_init;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   579
                  }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   580
                  if (buildPDO (d, pdoNum, &pdo))
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   581
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   582
                      MSG_ERR (0x1906, " Couldn't build TPDO number : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   583
                               pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   584
                      status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   585
                      break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   586
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   587
                  status = state5;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   588
                  /* If transmission RTR, with data sampled on SYNC */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   589
                }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   590
              else if (isSyncEvent && (*pTransmissionType == TRANS_RTR_SYNC))
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   591
                {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   592
                  if (buildPDO
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   593
                      (d, pdoNum, &d->PDO_status[pdoNum].last_message))
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   594
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   595
                      MSG_ERR (0x1966, " Couldn't build TPDO number : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   596
                               pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   597
                      d->PDO_status[pdoNum].transmit_type_parameter &=
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   598
                        ~PDO_RTR_SYNC_READY;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   599
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   600
                  else
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   601
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   602
                      d->PDO_status[pdoNum].transmit_type_parameter |=
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   603
                        PDO_RTR_SYNC_READY;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   604
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   605
                  status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   606
                  break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   607
                  /* If transmission on Event and not inhibited, check for changes */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   608
                }
426
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   609
              else
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   610
                if ((isSyncEvent
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   611
                     && (*pTransmissionType == TRANS_SYNC_ACYCLIC))
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   612
                    ||
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   613
                    ((*pTransmissionType == TRANS_EVENT_PROFILE
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   614
                      || *pTransmissionType == TRANS_EVENT_SPECIFIC)
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   615
                     && !(d->PDO_status[pdoNum].
8011552b1319 Preliminary support for TRANS_SYNC_ACYCLIC (0) transmit type.
etisserant
parents: 425
diff changeset
   616
                          transmit_type_parameter & PDO_INHIBITED)))
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   617
                {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   618
                  MSG_WAR (0x3968, "  PDO is on EVENT. Trans type : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   619
                           *pTransmissionType);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   620
                  {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   621
                    Message msg_init = Message_Initializer;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   622
                    pdo = msg_init;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   623
                  }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   624
                  if (buildPDO (d, pdoNum, &pdo))
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   625
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   626
                      MSG_ERR (0x3907, " Couldn't build TPDO number : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   627
                               pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   628
                      status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   629
                      break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   630
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   631
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   632
                  /*Compare new and old PDO */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   633
                  if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   634
                      && d->PDO_status[pdoNum].last_message.len == pdo.len &&
315
1d3bf87b8658 Workaround for unsupported UNS64 on some compiler.
etisserant
parents: 298
diff changeset
   635
#ifdef UNS64
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   636
                      *(UNS64 *) (&d->PDO_status[pdoNum].last_message.
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   637
                                  data[0]) == *(UNS64 *) (&pdo.data[0])
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   638
#else /* don't ALLOW_64BIT_OPS */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   639
                      *(UNS32 *) (&d->PDO_status[pdoNum].last_message.
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   640
                                  data[0]) == *(UNS32 *) (&pdo.data[0])
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   641
                      && *(UNS32 *) (&d->PDO_status[pdoNum].last_message.
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   642
                                     data[4]) == *(UNS32 *) (&pdo.data[4])
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   643
#endif
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   644
                    )
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   645
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   646
                      /* No changes -> go to next pdo */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   647
                      status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   648
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   649
                  else
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   650
                    {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   651
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   652
                      UNS16 EventTimerDuration;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   653
                      UNS16 InhibitTimerDuration;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   654
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   655
                      MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   656
                      /* Changes detected -> transmit message */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   657
                      EventTimerDuration =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   658
                        *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   659
                        pObject;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   660
                      InhibitTimerDuration =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   661
                        *(UNS16 *) d->objdict[offsetObjdict].pSubindex[3].
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   662
                        pObject;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   663
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   664
                      status = state5;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   665
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   666
                      /* Start both event_timer and inhibit_timer */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   667
                      if (EventTimerDuration)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   668
                        {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   669
                          DelAlarm (d->PDO_status[pdoNum].event_timer);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   670
                          d->PDO_status[pdoNum].event_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   671
                            SetAlarm (d, pdoNum, &PDOEventTimerAlarm,
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   672
                                      MS_TO_TIMEVAL (EventTimerDuration), 0);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   673
                        }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   674
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   675
                      if (InhibitTimerDuration)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   676
                        {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   677
                          DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   678
                          d->PDO_status[pdoNum].inhibit_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   679
                            SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm,
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   680
                                      US_TO_TIMEVAL (InhibitTimerDuration *
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   681
                                                     100), 0);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   682
                          /* and inhibit TPDO */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   683
                          d->PDO_status[pdoNum].transmit_type_parameter |=
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   684
                            PDO_INHIBITED;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   685
                        }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   686
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   687
                    }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   688
                }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   689
              else
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   690
                {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   691
                  MSG_WAR (0x306C,
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   692
                           "  PDO is not on EVENT or synchro or not at this SYNC. Trans type : ",
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   693
                           *pTransmissionType);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   694
                  status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   695
                }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   696
              break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   697
            case state5:       /*Send the pdo */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   698
              /*store_as_last_message */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   699
              d->PDO_status[pdoNum].last_message = pdo;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   700
              MSG_WAR (0x396D, "sendPDO cobId :", pdo.cob_id);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   701
              MSG_WAR (0x396E, "     Nb octets  : ", pdo.len);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   702
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   703
              canSend (d->canHandle, &pdo);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   704
              status = state11;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   705
              break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   706
            case state11:      /*Go to next TPDO */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   707
              pdoNum++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   708
              offsetObjdict++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   709
              offsetObjdictMap++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   710
              MSG_WAR (0x3970, "next pdo index : ", pdoNum);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   711
              status = state3;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   712
              break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   713
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   714
            default:
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   715
              MSG_ERR (0x1972, "Unknown state has been reached : %d", status);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   716
              return 0xFF;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   717
            }                   /* end switch case */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   718
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   719
        }                       /* end while */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   720
    }
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   721
  return 0;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   722
}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   723
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   724
/*!
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   725
**
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   726
**
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   727
** @param d
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   728
** @param OD_entry
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   729
** @param bSubindex 
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   730
** @return always 0
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   731
**/
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   732
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   733
UNS32
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   734
TPDO_Communication_Parameter_Callback (CO_Data * d,
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   735
                                       const indextable * OD_entry,
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   736
                                       UNS8 bSubindex)
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   737
{
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   738
  /* If PDO are actives */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   739
  if (d->CurrentCommunicationState.csPDO)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   740
    switch (bSubindex)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   741
      {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   742
      case 2:                  /* Changed transmition type */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   743
      case 3:                  /* Changed inhibit time */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   744
      case 5:                  /* Changed event time */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   745
        {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   746
          const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   747
          UNS8 numPdo = OD_entry - TPDO_com;    /* number of the actual processed pdo-nr. */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   748
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   749
          /* Zap all timers and inhibit flag */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   750
          d->PDO_status[numPdo].event_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   751
            DelAlarm (d->PDO_status[numPdo].event_timer);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   752
          d->PDO_status[numPdo].inhibit_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   753
            DelAlarm (d->PDO_status[numPdo].inhibit_timer);
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   754
          d->PDO_status[numPdo].transmit_type_parameter = 0;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   755
          /* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   756
          PDOEventTimerAlarm (d, numPdo);
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   757
          return 0;
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   758
        }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   759
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   760
      default:                 /* other subindex are ignored */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   761
        break;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   762
      }
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   763
  return 0;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   764
}
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   765
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   766
void
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   767
PDOInit (CO_Data * d)
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   768
{
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   769
  /* For each TPDO mapping parameters */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   770
  UNS16 pdoIndex = 0x1800;      /* OD index of TDPO */
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   771
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   772
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   773
  UNS16 lastIndex = d->lastIndex->PDO_TRS;
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   774
  if (offsetObjdict)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   775
    while (offsetObjdict <= lastIndex)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   776
      {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   777
        /* Assign callbacks to sensible TPDO mapping subindexes */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   778
        UNS32 errorCode;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   779
        ODCallback_t *CallbackList;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   780
        /* Find callback list */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   781
        scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   782
        if (errorCode == OD_SUCCESSFUL && CallbackList)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   783
          {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   784
            /*Assign callbacks to corresponding subindex */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   785
            /* Transmission type */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   786
            CallbackList[2] = &TPDO_Communication_Parameter_Callback;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   787
            /* Inhibit time */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   788
            CallbackList[3] = &TPDO_Communication_Parameter_Callback;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   789
            /* Event timer */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   790
            CallbackList[5] = &TPDO_Communication_Parameter_Callback;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   791
          }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   792
        pdoIndex++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   793
        offsetObjdict++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   794
      }
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   795
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   796
  /* Trigger a non-sync event */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   797
  _sendPDOevent (d, 0);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   798
}
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   799
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   800
void
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   801
PDOStop (CO_Data * d)
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   802
{
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
   803
  /* For each TPDO mapping parameters */
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   804
  UNS8 pdoNum = 0x00;           /* number of the actual processed pdo-nr. */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   805
  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 217
diff changeset
   806
  UNS16 lastIndex = d->lastIndex->PDO_TRS;
425
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   807
  if (offsetObjdict)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   808
    while (offsetObjdict <= lastIndex)
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   809
      {
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   810
        /* Delete TPDO timers */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   811
        d->PDO_status[pdoNum].event_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   812
          DelAlarm (d->PDO_status[pdoNum].event_timer);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   813
        d->PDO_status[pdoNum].inhibit_timer =
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   814
          DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   815
        /* Reset transmit type parameter */
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   816
        d->PDO_status[pdoNum].transmit_type_parameter = 0;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   817
        d->PDO_status[pdoNum].last_message.cob_id = 0;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   818
        pdoNum++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   819
        offsetObjdict++;
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   820
      }
4bc4706528ae re-indented pdo.c
etisserant
parents: 380
diff changeset
   821
}