include/pdo.h
author etisserant
Fri, 25 Jul 2008 10:57:20 +0200
changeset 504 ad574af3628d
parent 426 8011552b1319
child 528 0a30e161d63c
permissions -rw-r--r--
Added removal of dynamically loaded CAN driver interface library in clean make target
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#ifndef __pdo_h__
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#define __pdo_h__
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#include <applicfg.h>
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#include <def.h>
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#include "can.h"
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typedef struct struct_s_PDO_status s_PDO_status;
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#include "data.h"
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/* Status of the TPDO : */
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#define PDO_INHIBITED 0x01
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#define PDO_RTR_SYNC_READY 0x01
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/** The PDO structure */
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struct struct_s_PDO_status {
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  UNS8 transmit_type_parameter;
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  TIMER_HANDLE event_timer;
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  TIMER_HANDLE inhibit_timer;
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  Message last_message;
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};
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#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
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/** definitions of the different types of PDOs' transmission
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 * 
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 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
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 */
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#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
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#define TRANS_SYNC_ACYCLIC    0    /* Trans after reception of n SYNC. n = 1 to 240 */
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#define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */
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#define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */
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#define TRANS_RTR_SYNC        252  /* Transmission on request */
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#define TRANS_RTR             253  /* Transmission on request */
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#define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */
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#define TRANS_EVENT_PROFILE   255  /* Transmission on event */
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/** Prepare the PDO defined at index to be sent 
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 * 
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 * 
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 * 
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 * Copy all the data to transmit in process_var
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 * *pwCobId : returns the value of the cobid. (subindex 1)
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 * Return 0 or 0xFF if error.
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 */
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UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
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/** Transmit a PDO request frame on the bus bus_id
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 * to the slave.
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 * bus_id is hardware dependant
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 * Returns 0xFF if error, other in success.
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 */
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UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
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/** Compute a PDO frame reception
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 * bus_id is hardware dependant
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 * return 0xFF if error, else return 0
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 */
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UNS8 proceedPDO (CO_Data* d, Message *m);
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/** Used by the application to signal changes in process data
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 * that could be mapped to some TPDO.
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 * This do not necessarily imply PDO emission.
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 * Function iterates on all TPDO and look TPDO transmit 
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 * type and content change before sending it.    
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 */
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UNS8 sendPDOevent (CO_Data* d);
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/** Function iterates on all TPDO and look TPDO transmit 
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 * type and content change before sending it.
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 */
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UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
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void PDOInit(CO_Data* d);
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void PDOStop(CO_Data* d);
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void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
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void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
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/* copy bit per bit in little endian */
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void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
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#endif