include/pdo.h
author etisserant
Thu, 30 Aug 2007 17:03:34 +0200
changeset 262 f1c892f3f93c
parent 236 905677ed00f3
child 366 47763dd15e00
permissions -rw-r--r--
Added exclusion mechanism to TestMasterSlave finish code
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     1
/*
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack. 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     3
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     5
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     7
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    12
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    17
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    21
*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    22
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    23
#ifndef __pdo_h__
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    24
#define __pdo_h__
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    25
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    26
#include <applicfg.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    27
#include <def.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    28
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    29
#include "can.h"
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    30
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    31
typedef struct struct_s_PDO_status s_PDO_status;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    32
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    33
#include "data.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    34
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    35
/* Status of the TPDO : */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    36
#define PDO_INHIBITED 0x01
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
    37
#define PDO_RTR_SYNC_READY 0x01
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    38
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    39
/** The PDO structure */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    40
struct struct_s_PDO_status {
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    41
  UNS8 transmit_type_parameter;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    42
  TIMER_HANDLE event_timer;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    43
  TIMER_HANDLE inhibit_timer;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    44
  Message last_message;
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    45
};
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    46
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    47
#define s_PDO_staus_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    48
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    49
/** definitions of the different types of PDOs' transmission
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    50
 * 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    51
 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    52
 */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    53
#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    54
#define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    55
#define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    56
#define TRANS_RTR_SYNC        252  /* Transmission on request */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    57
#define TRANS_RTR             253  /* Transmission on request */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    58
#define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    59
#define TRANS_EVENT_PROFILE   255  /* Transmission on event */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    60
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    61
/** Prepare the PDO defined at index to be sent 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    62
 * 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    63
 * 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    64
 * 
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    65
 * Copy all the data to transmit in process_var
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    66
 * *pwCobId : returns the value of the cobid. (subindex 1)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    67
 * Return 0 or 0xFF if error.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    68
 */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    69
UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    70
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    71
/** Transmit a PDO request frame on the bus bus_id
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    72
 * to the slave.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    73
 * bus_id is hardware dependant
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    74
 * Returns 0xFF if error, other in success.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    75
 */
236
905677ed00f3 Full preliminary implementation of TPDO transmit type:
etisserant
parents: 235
diff changeset
    76
UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    77
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    78
/** Compute a PDO frame reception
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    79
 * bus_id is hardware dependant
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    80
 * return 0xFF if error, else return 0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    81
 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    82
UNS8 proceedPDO (CO_Data* d, Message *m);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    83
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    84
/** Used by the application to signal changes in process data
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    85
 * that could be mapped to some TPDO.
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    86
 * This do not necessarily imply PDO emission.
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    87
 * Function iterates on all TPDO and look TPDO transmit 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    88
 * type and content change before sending it.    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    89
 */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    90
UNS8 sendPDOevent (CO_Data* d);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    91
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    92
/** Function iterates on all TPDO and look TPDO transmit 
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    93
 * type and content change before sending it.
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    94
 */
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    95
UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    96
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    97
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    98
void PDOInit(CO_Data* d);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
    99
void PDOStop(CO_Data* d);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
   100
void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 201
diff changeset
   101
void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   102
201
2966cd34162a Boolean variable mapped in PDO
greg
parents: 71
diff changeset
   103
/* copy bit per bit in little endian */
2966cd34162a Boolean variable mapped in PDO
greg
parents: 71
diff changeset
   104
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   105
#endif