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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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#include "pdo.h"
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#include "objacces.h"
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/****************************************************************************/
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UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
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{
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UNS8 i;
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if( d->nodeState == Operational ) {
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Message m;
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/* Message copy for sending */
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m.cob_id.w = pdo.cobId & 0x7FF; // Because the cobId is 11 bytes length
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if ( req == NOT_A_REQUEST ) {
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UNS8 i;
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m.rtr = NOT_A_REQUEST;
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m.len = pdo.len;
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//memcpy(&m.data, &pdo.data, m.len);
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// This Memcpy depends on packing structure. Avoid
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for (i = 0 ; i < pdo.len ; i++)
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m.data[i] = pdo.data[i];
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}
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else {
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m.rtr = REQUEST;
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m.len = 0;
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}
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MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
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MSG_WAR(0x3902, " Nb octets : ", m.len);
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for (i = 0 ; i < m.len ; i++) {
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MSG_WAR(0x3903," data : ", m.data[i]);
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}
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return (*d->canSend)(&m);
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} // end if
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return 0xFF;
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}
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/***************************************************************************/
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UNS8 PDOmGR(CO_Data* d, UNS32 cobId) //PDO Manager
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{
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UNS8 res;
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UNS8 i;
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s_PDO pdo;
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MSG_WAR(0x3905, "PDOmGR",0);
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/* if PDO is waiting for transmission,
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preparation of the message to send */
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pdo.cobId = cobId;
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pdo.len = d->process_var.count;
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//memcpy(&(pdo.data), &(process_var.data), pdo.len);
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// Ce memcpy devrait être portable
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for ( i = 0 ; i < pdo.len ; i++)
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pdo.data[i] = d->process_var.data[i];
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res = sendPDO(d, pdo, NOT_A_REQUEST);
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return res;
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}
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/**************************************************************************/
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UNS8 buildPDO(CO_Data* d, UNS16 index)
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{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.
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UNS16 ind;
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UNS8 subInd;
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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 mapping entry
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UNS32 * pMappingParameter = NULL;
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UNS8 Size;
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UNS8 dataType;
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UNS8 offset;
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UNS16 offsetObjdict;
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UNS16 offsetObjdictPrm;
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UNS32 objDict;
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subInd=(UNS8)0x00;
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offset = 0x00;
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ind = index - 0x1800;
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MSG_WAR(0x3910,"Prepare PDO to send index :", index);
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/* only operational state allows PDO transmission */
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if( d->nodeState != Operational ) {
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MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
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return 0xFF;
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}
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offsetObjdictPrm = d->firstIndex->PDO_TRS;
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offsetObjdict = d->firstIndex->PDO_TRS_MAP;
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if (offsetObjdictPrm && offsetObjdict)
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{
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/* get mapped objects number to transmit with this PDO */
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pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
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MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
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MSG_WAR(0x3913, " at index : ", 0x1A00 + ind);
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while (subInd < *pMappingCount) { // Loop on mapped variables
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/* get mapping parameters */
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pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
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MSG_WAR(0x3914, "Get the mapping at index : ", (UNS16)0x1A00 + ind);
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MSG_WAR(0x3915, " subIndex : ", subInd + 1);
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MSG_WAR(0x3916, " value : ", *(UNS32 *)pMappingParameter);
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// Get the mapped variable
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Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
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objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
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(UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
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(void *)&d->process_var.data[offset], &Size, &dataType, 0 );
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if (objDict != OD_SUCCESSFUL) {
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MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);
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MSG_WAR(0x2920, " Mapped at index : ", (*pMappingParameter) >> 16);
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MSG_WAR(0x2921, " subindex : "getODentry, ((*pMappingParameter) >> 8 ) & 0xFF);
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return 0xFF;
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}
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offset += Size;
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d->process_var.count = offset;
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subInd++;
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}// end Loop on mapped variables
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}
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return 0;
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}
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/**************************************************************************/
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UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
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{
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UNS32 * pwCobId;
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UNS16 offset;
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UNS16 lastIndex;
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UNS8 err;
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MSG_WAR(0x3930, "sendPDOrequest ",0);
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// Sending the request only if the cobid have been found on the PDO receive
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// part dictionary
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offset = d->firstIndex->PDO_RCV;
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lastIndex = d->lastIndex->PDO_RCV;
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if (offset)
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while (offset <= lastIndex) {
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/*get the CobId*/
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pwCobId = d->objdict[offset].pSubindex[1].pObject;
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if ( *pwCobId == cobId ) {
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s_PDO pdo;
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pdo.cobId = *pwCobId;
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pdo.len = 0;
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err = sendPDO(d, pdo, REQUEST);
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return err;
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}
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offset++;
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}
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MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
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return 0xFF;
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}
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/***********************************************************************/
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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 mapping entry
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UNS32 * pMappingParameter = NULL;
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UNS8 * pTransmissionType = NULL; // pointer to the transmission 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;
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status = state1;
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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 request.
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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 */
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if(offsetObjdict)
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while (offsetObjdict <= lastIndex) {
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switch( status ) {
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case state1: /* data are stored in process_var array */
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//memcpy(&(process_var.data), &m->data, (*m).len);
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// Ce memcpy devrait être portable.
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for ( i = 0 ; i < m->len ; i++)
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d->process_var.data[i] = m->data[i];
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d->process_var.count = (*m).len;
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status = state2;
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break;
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case state2:
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/* get CobId of the dictionary correspondant to the received PDO */
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pwCobId = 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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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;
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}
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else {
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// cobId received does not match with those write in the dictionnary
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numPdo++;
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offsetObjdict++;
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status = state2;
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break;
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}
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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 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 = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
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numMap = 0;
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while (numMap < *pMappingCount) {
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pMappingParameter = (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 contains the subindex,
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// and the lower 8 bits contains the size of the mapped variable.
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Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
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objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
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(UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
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(void *)&d->process_var.data[offset], &Size, 0 );
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if(objDict != OD_SUCCESSFUL) {
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MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
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MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
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MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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return 0xFF;
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}
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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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280 |
offset += Size;
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281 |
numMap++;
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} // end loop while on mapped variables
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283 |
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offset=0x00;
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numMap = 0;
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return 0;
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287 |
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288 |
}// end switch status
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289 |
}// end while
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}// end if Donnees
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291 |
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292 |
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293 |
else if ((*m).rtr == REQUEST ){
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MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
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status = state1;
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offsetObjdict = d->firstIndex->PDO_TRS;
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297 |
lastIndex = d->lastIndex->PDO_TRS;
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298 |
if(offsetObjdict) while( offsetObjdict <= lastIndex ){
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299 |
/* study of all PDO stored in the objects dictionary */
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300 |
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switch( status ){
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302 |
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case state1: /* check the CobId */
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304 |
/* get CobId of the dictionary which match to the received PDO */
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305 |
pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
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306 |
if ( *pwCobId == (*m).cob_id.w ) {
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307 |
status = state4;
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308 |
break;
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309 |
}
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310 |
else {
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311 |
numPdo++;
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312 |
offsetObjdict++;
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}
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314 |
status = state1;
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315 |
break;
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317 |
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318 |
case state4: /* check transmission type (after request?) */
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319 |
pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
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320 |
if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
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status = state5;
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322 |
break;
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323 |
}
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324 |
else {
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325 |
// The requested PDO is not to send on request. So, does nothing.
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326 |
MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
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327 |
return 0xFF;
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328 |
}
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329 |
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330 |
case state5: /* get mapped objects number */
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331 |
offsetObjdict = d->firstIndex->PDO_TRS_MAP;
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332 |
lastIndex = d->lastIndex->PDO_TRS_MAP;
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333 |
pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
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334 |
numMap = 0;
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335 |
while (numMap < *pMappingCount) {
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336 |
pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
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|
|
337 |
// Get the mapped variable
|
|
|
338 |
Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
339 |
objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
|
|
|
340 |
(UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
|
|
|
341 |
(void *)&d->process_var.data[offset], &Size, &dataType, 0 );
|
|
|
342 |
if (objDict != OD_SUCCESSFUL) {
|
|
|
343 |
MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
|
|
|
344 |
MSG_WAR(0x2949, " Mapped at index : ", (*pMappingParameter) >> 16);
|
|
|
345 |
MSG_WAR(0x2950, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
346 |
return 0xFF;
|
|
|
347 |
}
|
|
|
348 |
offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
|
|
|
349 |
d->process_var.count = offset;
|
|
|
350 |
numMap++;
|
|
|
351 |
|
|
|
352 |
} // end while
|
|
|
353 |
PDOmGR( d, *pwCobId ); // Transmit the PDO
|
|
|
354 |
return 0;
|
|
|
355 |
|
|
|
356 |
}// end switch status
|
|
|
357 |
}// end while
|
|
|
358 |
}// end if Requete
|
|
|
359 |
|
|
|
360 |
return 0;
|
|
|
361 |
}
|
|
|
362 |
|
|
|
363 |
|
|
|
364 |
|
|
|
365 |
|
|
|
366 |
/*********************************************************************/
|
|
|
367 |
/* TODO : reimplement this using CallBacks */
|
|
|
368 |
/*********************************************************************/
|
|
|
369 |
/*
|
|
|
370 |
UNS8 sendPDOevent( CO_Data* d, void * variable )
|
|
|
371 |
{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.
|
|
|
372 |
UNS32 objDict = 0;
|
|
|
373 |
UNS8 ind, sub_ind;
|
|
|
374 |
UNS8 status;
|
|
|
375 |
UNS8 offset;
|
|
|
376 |
UNS8 * pMappingCount = NULL;
|
|
|
377 |
UNS32 * pMappingParameter = NULL;
|
|
|
378 |
void * pMappedAppObject = NULL;
|
|
|
379 |
UNS8 * pTransmissionType = NULL; // pointer to the transmission type
|
|
|
380 |
UNS32 * pwCobId = NULL;
|
|
|
381 |
UNS8 * pSize;
|
|
|
382 |
UNS8 size;
|
|
|
383 |
UNS8 dataType;
|
|
|
384 |
UNS16 offsetObjdict;
|
|
|
385 |
UNS16 offsetObjdictPrm;
|
|
|
386 |
UNS16 lastIndex;
|
|
|
387 |
UNS8 numMap;
|
|
|
388 |
ind = 0x00;
|
|
|
389 |
sub_ind = 1;
|
|
|
390 |
offset = 0x00;
|
|
|
391 |
pSize = &size;
|
|
|
392 |
status = state1;
|
|
|
393 |
|
|
|
394 |
// look for the index and subindex where the variable is mapped
|
|
|
395 |
// Then, send the pdo which contains the variable.
|
|
|
396 |
|
|
|
397 |
MSG_WAR (0x3960, "sendPDOevent", 0);
|
|
|
398 |
offsetObjdictPrm = d->firstIndex->PDO_TRS;
|
|
|
399 |
|
|
|
400 |
offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
401 |
lastIndex = d->lastIndex->PDO_TRS_MAP;
|
|
|
402 |
|
|
|
403 |
if (offsetObjdictPrm && offsetObjdict)
|
|
|
404 |
// Loop on PDO Transmit
|
|
|
405 |
while(offsetObjdict <= lastIndex){
|
|
|
406 |
// Check the transmission mode
|
|
|
407 |
pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
|
|
|
408 |
if (*pTransmissionType != TRANS_EVENT) {
|
|
|
409 |
ind++;
|
|
|
410 |
offsetObjdict++;
|
|
|
411 |
offsetObjdictPrm++;
|
|
|
412 |
continue;
|
|
|
413 |
}
|
|
|
414 |
pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
|
|
|
415 |
numMap = 1; // mapped variable
|
|
|
416 |
while (numMap <= *pMappingCount) {
|
|
|
417 |
pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
|
|
|
418 |
// Get the variable
|
|
|
419 |
objDict = getODentry( d,
|
|
|
420 |
(UNS16)((*pMappingParameter) >> 16),
|
|
|
421 |
(UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
|
|
|
422 |
(void * *)&pMappedAppObject, pSize, &dataType, 0 );
|
|
|
423 |
if( objDict != OD_SUCCESSFUL ) {
|
|
|
424 |
MSG_WAR(0x2961, "Error in dict. at index : ",
|
|
|
425 |
(*pMappingParameter) >> (UNS8)16);
|
|
|
426 |
|
|
|
427 |
MSG_WAR(0x2962, " subindex : ",
|
|
|
428 |
((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
|
|
|
429 |
return 0xFF;
|
|
|
430 |
}
|
|
|
431 |
if (pMappedAppObject == variable) { // Variable found !
|
|
|
432 |
MSG_WAR(0x3963, "Variable to send found at index : ",
|
|
|
433 |
(*pMappingParameter) >> 16);
|
|
|
434 |
MSG_WAR(0x3964, " subIndex : ",
|
|
|
435 |
((*pMappingParameter) >> 8 ) & 0x000000FF);
|
|
|
436 |
buildPDO(d, 0x1800 + ind);
|
|
|
437 |
// Get the cobId
|
|
|
438 |
pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
|
|
|
439 |
PDOmGR( d, *pwCobId ); // Send the PDO
|
|
|
440 |
return 0;
|
|
|
441 |
}
|
|
|
442 |
numMap++;
|
|
|
443 |
} // End loop on mapped variable
|
|
|
444 |
ind++;
|
|
|
445 |
offsetObjdict++;
|
|
|
446 |
offsetObjdictPrm++;
|
|
|
447 |
} // End loop while on PDO
|
|
|
448 |
|
|
|
449 |
MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
|
|
|
450 |
return 0xFF;
|
|
|
451 |
|
|
|
452 |
}
|
|
|
453 |
*/
|