1

/*

     2

  This file is part of CanFestival, a library implementing CanOpen

     3

  Stack.

     4

     5

  Copyright (C): Edouard TISSERANT and Francis DUPIN

     6

     7

  See COPYING file for copyrights details.

     8

     9

  This library is free software; you can redistribute it and/or

    10

  modify it under the terms of the GNU Lesser General Public

    11

  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.

    13

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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.

    18

    19

  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

    23

*/

    24

#include "pdo.h"

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#include "objacces.h"

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#include "canfestival.h"

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    28

/*!

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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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**

    33

** @brief

    34

**

    35

**

    36

*/

    37

    38

/*!

    39

**

    40

**

    41

** @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

    46

**/

    47

    48

UNS8 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 = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;

    52

    53

	UNS8 prp_j = 0x00;

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	UNS8 offset = 0x00;

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	const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;

    56

    58

	pdo->rtr = NOT_A_REQUEST;

    59

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	MSG_WAR(0x3009, "  PDO CobId is : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);

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	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );

    62

    63

	do{

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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 = (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); /* Size in bits */

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		UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */

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		UNS8 subIndex = (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);

    77

    78

		if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){

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			MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));

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			return 0xFF;

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		}

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		/* copy bit per bit in little endian*/

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		CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);

    84

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		offset += Size ;

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		prp_j++;

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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);

    92

    93

	return 0;

    94

}

    95

    96

/*!

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**

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**

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** @param d

   100

** @param cobId

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**

   102

** @return

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**/

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{

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  UNS32 * pwCobId;

   110

  /* 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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      /* get the CobId*/

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      pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;

   121

   126

    }

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  return 0xFF;

   130

}

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   132

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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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**/

   141

UNS8 proceedPDO(CO_Data* d, Message *m)

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{

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  UNS8   numPdo;

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  UNS8   numMap;  /* Number of the mapped varable */

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  UNS8 i;

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  UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */

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  /* pointer to the var which is mapped to a pdo... */

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  /*  void *     pMappedAppObject = NULL;   */

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  /* pointer fo the var which holds the mapping parameter of an

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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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  UNS32 *    pwCobId = NULL;

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  UNS8       Size;

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  UNS8       dataType;

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  UNS8       offset;

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  UNS8       status;

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  UNS32      objDict;

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  UNS16      offsetObjdict;

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  UNS16      lastIndex;

   162

   163

  status = state2;

   164

   165

  MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));

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  offset = 0x00;

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  numPdo = 0;

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  numMap = 0;

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  if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a

   170

                                     request. */

   171

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    offsetObjdict = d->firstIndex->PDO_RCV;

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    lastIndex = d->lastIndex->PDO_RCV;

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    /* study of all the PDO stored in the dictionary */

   176

    if(offsetObjdict)

   177

      while (offsetObjdict <= lastIndex) {

   178

   179

        switch( status ) {

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   181

        case state2:

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          /* get CobId of the dictionary correspondant to the received

   183

             PDO */

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          pwCobId = (UNS32*) 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.w ){

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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 ", 0x1400 + numPdo);

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            break;

   193

          }

   194

          else {

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            /* cobId received does not match with those write in the

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              dictionnary */

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            numPdo++;

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            offsetObjdict++;

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            status = state2;

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            break;

   201

          }

   202

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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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             pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;

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             numMap = 0;

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             while (numMap < *pMappingCount) {

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               UNS8 tmp[]= {0,0,0,0,0,0,0,0};

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               UNS8 ByteSize;

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               pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;

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               if (pMappingParameter == NULL) {

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                 MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);

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                 return 0xFF;

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               }

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               /* Get the addresse of the mapped variable. */

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               /* detail of *pMappingParameter : */

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               /* The 16 hight bits contains the index, the medium 8 bits

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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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               Size = (UNS8)(*pMappingParameter);

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               /* copy bit per bit in little endian */

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               CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);

   229

   230

               ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>

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                                                   2, ... */

   232

   233

               objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),

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                                    (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),

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                                 tmp, &ByteSize, 0 );

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               if(objDict != OD_SUCCESSFUL) {

   238

                 MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);

   239

                 MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);

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                 MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);

   241

                 return 0xFF;

   242

               }

   243

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               MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);

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               MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);

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               MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);

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               /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */

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               offset += Size;

   249

               numMap++;

   250

               /*TODO :  check that offset is not not greater that message size (in bit) */

   251

             } /* end loop while on mapped variables */

   252

   253

             offset=0x00;

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             numMap = 0;

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             return 0;

   256

   257

        }/* end switch status*/

   258

      }/* end while*/

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  }/* end if Donnees */

   260

  else if ((*m).rtr == REQUEST ){

   261

    MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);

   262

    status = state1;

   263

    offsetObjdict = d->firstIndex->PDO_TRS;

   264

    lastIndex = d->lastIndex->PDO_TRS;

   265

    if(offsetObjdict) while( offsetObjdict  <= lastIndex ){

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      /* study of all PDO stored in the objects dictionary */

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      switch( status ){

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   270

      case state1:/* check the CobId */

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        /* get CobId of the dictionary which match to the received PDO

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         */

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        pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;

   274

        if ( *pwCobId == (*m).cob_id.w ) {

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          status = state4;

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          break;

   277

        }

   278

        else {

   279

          numPdo++;

   280

          offsetObjdict++;

   281

        }

   282

        status = state1;

   283

        break;

   284

   285

   287

        pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;

   290

          status = state5;

   291

          break;

   305

        }else if(

   306

             (*pTransmissionType == TRANS_EVENT_PROFILE) ||

   307

             (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {

   308

	  /* Zap all timers and inhibit flag */

   309

	  d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);

   310

	  d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);

   311

  	  d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;

   312

  	  /* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */

   313

          PDOEventTimerAlarm(d, numPdo);

   314

          return 0;

   315

        }else {

   316

          /* The requested PDO is not to send on request. So, does

   317

            nothing. */

   318

          MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);

   319

          return 0xFF;

   320

        }

   321

   322

      case state5:/* build and send requested PDO */

   323

      {

   324

      	Message pdo;

   325

    	if( buildPDO(d, numPdo, &pdo))

   326

    	{

   329

    	}

   330

    	canSend(d->canHandle,&pdo);

   331

        return 0;

   332

      }

   333

      }/* end switch status */

   334

    }/* end while */

   335

  }/* end if Requete */

   336

   337

  return 0;

   338

}

   339

   340

/*!

   341

**

   342

**

   343

** @param NbBits

   344

** @param SrcByteIndex

   345

** @param SrcBitIndex

   346

** @param SrcBigEndian

   347

** @param DestByteIndex

   348

** @param DestBitIndex

   349

** @param DestBigEndian

   350

**/

   351

void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)

   352

{

   353

  /* This loop copy as many bits that it can each time, crossing*/

   354

  /* successively bytes*/

   355

  // boundaries from LSB to MSB.

   356

  while(NbBits > 0)

   357

    {

   358

      /* Bit missalignement between src and dest*/

   359

      INTEGER8 Vect = DestBitIndex - SrcBitIndex;

   360

   361

      /* We can now get src and align it to dest*/

   362

      UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;

   363

   364

      /* Compute the nb of bit we will be able to copy*/

   365

      UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );

   366

      UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;

   367

   368

      /* Create a mask that will serve in:*/

   369

      UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));

   370

   371

      /* - Filtering src*/

   372

      UNS8 Filtered = Aligned & ~Mask;

   373

   374

      /* - and erase bits where we write, preserve where we don't*/

   375

      *DestByteIndex &= Mask;

   376

   377

      /* Then write.*/

   378

      *DestByteIndex |= Filtered ;

   379

   380

      /*Compute next time cursors for src*/

   381

      if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/

   382

        {

   383

          SrcBitIndex = 0;/* First bit*/

   384

          SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/

   385

        }

   386

   387

   388

      /*Compute next time cursors for dest*/

   389

      if((DestBitIndex += BitsToCopy)>7)

   390

        {

   391

          DestBitIndex = 0;/* First bit*/

   392

          DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/

   393

        }

   394

   395

      /*And decrement counter.*/

   396

      NbBits -= BitsToCopy;

   397

    }

   398

   399

}

   400

/*!

   401

**

   402

**

   403

** @param d

   404

**

   405

** @return

   406

**/

   407

   408

UNS8 sendPDOevent( CO_Data* d)

   409

{

   410

  /* Calls _sendPDOevent specifying it is not a sync event */

   411

  return _sendPDOevent(d, 0);

   412

}

   413

   414

   415

void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)

   416

{

   417

	/* This is needed to avoid deletion of re-attribuated timer */

   418

	d->PDO_status[pdoNum].event_timer = TIMER_NONE;

   419

	/* force emission of PDO by artificially changing last emitted*/

   420

	d->PDO_status[pdoNum].last_message.cob_id.w = 0;

   421

	_sendPDOevent( d, 0 ); /* not a Sync Event*/	

   422

}

   423

   424

void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)

   425

{

   426

	/* This is needed to avoid deletion of re-attribuated timer */

   427

	d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;

   428

	/* Remove inhibit flag */

   429

	d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;

   430

	_sendPDOevent( d, 0 ); /* not a Sync Event*/

   431

}

   432

   433

/*!

   434

**

   435

**

   436

** @param d

   437

** @param isSyncEvent

   438

**

   439

** @return

   440

**/

   441

   442

UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )

   443

{ 

   444

  UNS8 	pdoNum = 0x00;       /* number of the actual processed pdo-nr. */

   445

  UNS8* pTransmissionType = NULL;  

   446

  UNS8 status = state3;

   447

  UNS16 offsetObjdict = d->firstIndex->PDO_TRS;

   448

  UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;

   449

  UNS16 lastIndex = d->lastIndex->PDO_TRS;  

   450

   451

  /* study all PDO stored in the objects dictionary */	

   452

  if(offsetObjdict){

   453

   Message pdo = Message_Initializer;

   454

   while( offsetObjdict <= lastIndex) {  

   455

    switch( status ) {

   464

	}

   466

      pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;    

   471

      if( isSyncEvent && 

   472

      	  (*pTransmissionType >= TRANS_SYNC_MIN) &&

   473

      	  (*pTransmissionType <= TRANS_SYNC_MAX) &&

   476

	d->PDO_status[pdoNum].transmit_type_parameter = 0;

   479

        if(buildPDO(d, pdoNum, &pdo))

   480

        {

   482

	    status = state11;

   483

	    break;

   484

        }

   485

	status = state5;