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0
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/*
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208
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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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0
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*/
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#include "pdo.h"
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#include "objacces.h"
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149
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#include "canfestival.h"
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0
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208
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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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0
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37 |
UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
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{
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39 |
UNS8 i;
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if( d->nodeState == Operational ) {
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Message m;
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42 |
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215
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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
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208
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45 |
length */
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0
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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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49 |
m.len = pdo.len;
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215
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50 |
/* memcpy(&m.data, &pdo.data, m.len); */
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/* This Memcpy depends on packing structure. Avoid */
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0
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52 |
for (i = 0 ; i < pdo.len ; i++)
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208
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m.data[i] = pdo.data[i];
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0
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54 |
}
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55 |
else {
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56 |
m.rtr = REQUEST;
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m.len = 0;
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}
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59 |
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MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
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61 |
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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208
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65 |
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149
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return canSend(d->canHandle,&m);
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215
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} /* end if */
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0
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return 0xFF;
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}
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208
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/*!
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** PDO Manager
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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 PDOmGR(CO_Data* d, UNS32 cobId)
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0
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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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208
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215
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/* if PDO is waiting for transmission,
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208
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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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215
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/* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
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208
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/* Ce memcpy devrait tre portable */
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0
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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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201
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#if 0
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/*********************************************************************/
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/* TODO : implement bit mapping */
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/*********************************************************************/
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0
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UNS8 buildPDO(CO_Data* d, UNS16 index)
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71
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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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0
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108 |
UNS16 ind;
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UNS8 subInd;
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110 |
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71
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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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208
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115 |
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UNS32 * pMappingParameter = NULL;
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0
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117 |
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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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124 |
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subInd=(UNS8)0x00;
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offset = 0x00;
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ind = index - 0x1800;
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208
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128 |
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0
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MSG_WAR(0x3910,"Prepare PDO to send index :", index);
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130 |
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215
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/* only operational state allows PDO transmission */
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0
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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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208
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138 |
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0
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139 |
if (offsetObjdictPrm && offsetObjdict)
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208
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140 |
{
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215
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141 |
/* get mapped objects number to transmit with this PDO */
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208
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pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
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143 |
MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
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MSG_WAR(0x3913, " at index : ", 0x1A00 + ind);
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215
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145 |
while (subInd < *pMappingCount) { /* Loop on mapped variables */
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146 |
/* get mapping parameters */
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208
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147 |
pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
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148 |
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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150 |
MSG_WAR(0x3916, " value : ", *(UNS32 *)pMappingParameter);
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215
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/* Get the mapped variable */
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208
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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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156 |
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157 |
if (objDict != OD_SUCCESSFUL) {
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158 |
MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);
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159 |
MSG_WAR(0x2920, " Mapped at index : ", (*pMappingParameter) >> 16);
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MSG_WAR(0x2921, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
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161 |
return 0xFF;
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162 |
}
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163 |
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164 |
offset += Size;
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165 |
d->process_var.count = offset;
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166 |
subInd++;
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215
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167 |
}/* end Loop on mapped variables */
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208
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168 |
}
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0
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169 |
return 0;
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170 |
}
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201
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171 |
#endif
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208
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172 |
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173 |
/*!
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174 |
**
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|
175 |
**
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176 |
** @param d
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177 |
** @param cobId
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178 |
**
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179 |
** @return
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180 |
**/
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0
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181 |
UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
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208
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{
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UNS32 * pwCobId;
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0
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184 |
UNS16 offset;
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185 |
UNS16 lastIndex;
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UNS8 err;
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187 |
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208
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MSG_WAR(0x3930, "sendPDOrequest ",0);
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215
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189 |
/* Sending the request only if the cobid have been found on the PDO
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208
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receive */
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215
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191 |
/* part dictionary */
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0
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192 |
offset = d->firstIndex->PDO_RCV;
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193 |
lastIndex = d->lastIndex->PDO_RCV;
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194 |
if (offset)
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208
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195 |
while (offset <= lastIndex) {
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215
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196 |
/* get the CobId*/
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208
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197 |
pwCobId = d->objdict[offset].pSubindex[1].pObject;
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198 |
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199 |
if ( *pwCobId == cobId ) {
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200 |
s_PDO pdo;
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201 |
pdo.cobId = *pwCobId;
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202 |
pdo.len = 0;
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203 |
err = sendPDO(d, pdo, REQUEST);
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204 |
return err;
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205 |
}
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206 |
offset++;
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207 |
}
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208 |
MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
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0
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209 |
return 0xFF;
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210 |
}
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211 |
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212 |
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208
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213 |
/*!
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214 |
**
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|
215 |
**
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216 |
** @param d
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217 |
** @param m
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218 |
**
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219 |
** @return
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220 |
**/
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0
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221 |
UNS8 proceedPDO(CO_Data* d, Message *m)
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208
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222 |
{
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0
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223 |
UNS8 numPdo;
|
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215
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224 |
UNS8 numMap; /* Number of the mapped varable */
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0
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225 |
UNS8 i;
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215
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226 |
UNS8 * pMappingCount = NULL; /* count of mapped objects... */
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227 |
/* pointer to the var which is mapped to a pdo... */
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228 |
/* void * pMappedAppObject = NULL; */
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229 |
/* pointer fo the var which holds the mapping parameter of an
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208
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230 |
mapping entry */
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231 |
UNS32 * pMappingParameter = NULL;
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215
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232 |
UNS8 * pTransmissionType = NULL; /* pointer to the transmission
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208
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233 |
type */
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0
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234 |
UNS32 * pwCobId = NULL;
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235 |
UNS8 Size;
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236 |
UNS8 dataType;
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237 |
UNS8 offset;
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238 |
UNS8 status;
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|
239 |
UNS32 objDict;
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|
240 |
UNS16 offsetObjdict;
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241 |
UNS16 lastIndex;
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242 |
status = state1;
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208
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243 |
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244 |
MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
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0
|
245 |
offset = 0x00;
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|
246 |
numPdo = 0;
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|
247 |
numMap = 0;
|
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215
|
248 |
if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
|
|
208
|
249 |
request. */
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0
|
250 |
offsetObjdict = d->firstIndex->PDO_RCV;
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|
251 |
lastIndex = d->lastIndex->PDO_RCV;
|
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208
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252 |
|
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215
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253 |
/* study of all the PDO stored in the dictionary */
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0
|
254 |
if(offsetObjdict)
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208
|
255 |
while (offsetObjdict <= lastIndex) {
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|
256 |
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|
257 |
switch( status ) {
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|
258 |
|
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215
|
259 |
case state1:/* data are stored in process_var array */
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|
260 |
/* memcpy(&(process_var.data), &m->data, (*m).len); */
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|
261 |
/* Ce memcpy devrait etre portable */
|
|
208
|
262 |
for ( i = 0 ; i < m->len ; i++)
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|
263 |
d->process_var.data[i] = m->data[i];
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|
264 |
d->process_var.count = (*m).len;
|
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|
265 |
|
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|
266 |
status = state2;
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|
267 |
break;
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|
268 |
|
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|
269 |
case state2:
|
|
215
|
270 |
/* get CobId of the dictionary correspondant to the received
|
|
208
|
271 |
PDO */
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|
|
272 |
pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
|
|
215
|
273 |
/* check the CobId coherance */
|
|
|
274 |
/*pwCobId is the cobId read in the dictionary at the state 3
|
|
208
|
275 |
*/
|
|
|
276 |
if ( *pwCobId == (*m).cob_id.w ){
|
|
215
|
277 |
/* The cobId is recognized */
|
|
208
|
278 |
status = state4;
|
|
|
279 |
MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
|
|
|
280 |
break;
|
|
|
281 |
}
|
|
|
282 |
else {
|
|
215
|
283 |
/* cobId received does not match with those write in the
|
|
208
|
284 |
dictionnary */
|
|
|
285 |
numPdo++;
|
|
|
286 |
offsetObjdict++;
|
|
|
287 |
status = state2;
|
|
|
288 |
break;
|
|
|
289 |
}
|
|
|
290 |
|
|
215
|
291 |
case state4:/* Get Mapped Objects Number */
|
|
|
292 |
/* The cobId of the message received has been found in the
|
|
208
|
293 |
dictionnary. */
|
|
|
294 |
offsetObjdict = d->firstIndex->PDO_RCV_MAP;
|
|
|
295 |
lastIndex = d->lastIndex->PDO_RCV_MAP;
|
|
|
296 |
pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
|
297 |
numMap = 0;
|
|
|
298 |
while (numMap < *pMappingCount) {
|
|
|
299 |
UNS8 tmp[]= {0,0,0,0,0,0,0,0};
|
|
|
300 |
UNS8 ByteSize;
|
|
|
301 |
pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
|
302 |
if (pMappingParameter == NULL) {
|
|
|
303 |
MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
|
|
|
304 |
return 0xFF;
|
|
|
305 |
}
|
|
215
|
306 |
/* Get the addresse of the mapped variable. */
|
|
|
307 |
/* detail of *pMappingParameter : */
|
|
|
308 |
/* The 16 hight bits contains the index, the medium 8 bits
|
|
208
|
309 |
contains the subindex, */
|
|
215
|
310 |
/* and the lower 8 bits contains the size of the mapped
|
|
208
|
311 |
variable. */
|
|
|
312 |
|
|
|
313 |
Size = (UNS8)(*pMappingParameter);
|
|
|
314 |
|
|
215
|
315 |
/* copy bit per bit in little endian */
|
|
208
|
316 |
CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
|
|
|
317 |
|
|
|
318 |
ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
|
|
|
319 |
2, ... */
|
|
|
320 |
|
|
|
321 |
objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
|
|
|
322 |
(UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
|
|
|
323 |
tmp, &ByteSize, 0 );
|
|
|
324 |
|
|
|
325 |
if(objDict != OD_SUCCESSFUL) {
|
|
|
326 |
MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
|
|
|
327 |
MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
|
|
|
328 |
MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
329 |
return 0xFF;
|
|
|
330 |
}
|
|
|
331 |
|
|
|
332 |
MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
|
|
|
333 |
MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16);
|
|
|
334 |
MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
215
|
335 |
/* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
|
|
208
|
336 |
offset += Size;
|
|
|
337 |
numMap++;
|
|
215
|
338 |
} /* end loop while on mapped variables */
|
|
208
|
339 |
|
|
|
340 |
offset=0x00;
|
|
|
341 |
numMap = 0;
|
|
|
342 |
return 0;
|
|
|
343 |
|
|
215
|
344 |
}/* end switch status*/
|
|
|
345 |
}/* end while*/
|
|
|
346 |
}/* end if Donnees */
|
|
208
|
347 |
else if ((*m).rtr == REQUEST ){
|
|
|
348 |
MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
|
|
|
349 |
status = state1;
|
|
|
350 |
offsetObjdict = d->firstIndex->PDO_TRS;
|
|
|
351 |
lastIndex = d->lastIndex->PDO_TRS;
|
|
|
352 |
if(offsetObjdict) while( offsetObjdict <= lastIndex ){
|
|
215
|
353 |
/* study of all PDO stored in the objects dictionary */
|
|
208
|
354 |
|
|
|
355 |
switch( status ){
|
|
|
356 |
|
|
215
|
357 |
case state1:/* check the CobId */
|
|
|
358 |
/* get CobId of the dictionary which match to the received PDO
|
|
208
|
359 |
*/
|
|
|
360 |
pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
|
|
|
361 |
if ( *pwCobId == (*m).cob_id.w ) {
|
|
|
362 |
status = state4;
|
|
|
363 |
break;
|
|
|
364 |
}
|
|
|
365 |
else {
|
|
|
366 |
numPdo++;
|
|
|
367 |
offsetObjdict++;
|
|
|
368 |
}
|
|
|
369 |
status = state1;
|
|
|
370 |
break;
|
|
|
371 |
|
|
|
372 |
|
|
215
|
373 |
case state4:/* check transmission type (after request?) */
|
|
208
|
374 |
pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
|
|
|
375 |
if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
|
|
|
376 |
status = state5;
|
|
|
377 |
break;
|
|
|
378 |
}
|
|
|
379 |
else {
|
|
215
|
380 |
/* The requested PDO is not to send on request. So, does
|
|
208
|
381 |
nothing. */
|
|
|
382 |
MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
|
|
|
383 |
return 0xFF;
|
|
|
384 |
}
|
|
|
385 |
|
|
215
|
386 |
case state5:/* get mapped objects number */
|
|
208
|
387 |
offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
388 |
lastIndex = d->lastIndex->PDO_TRS_MAP;
|
|
|
389 |
pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
|
390 |
numMap = 0;
|
|
|
391 |
while (numMap < *pMappingCount) {
|
|
|
392 |
pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
215
|
393 |
/* Get the mapped variable */
|
|
208
|
394 |
Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
395 |
objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
|
|
|
396 |
(UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
|
|
|
397 |
(void *)&d->process_var.data[offset], &Size, &dataType, 0 );
|
|
|
398 |
if (objDict != OD_SUCCESSFUL) {
|
|
|
399 |
MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
|
|
|
400 |
MSG_WAR(0x2949, " Mapped at index : ", (*pMappingParameter) >> 16);
|
|
|
401 |
MSG_WAR(0x2950, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
402 |
return 0xFF;
|
|
|
403 |
}
|
|
|
404 |
offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
|
|
|
405 |
d->process_var.count = offset;
|
|
|
406 |
numMap++;
|
|
|
407 |
|
|
215
|
408 |
} /* end while */
|
|
|
409 |
PDOmGR( d, *pwCobId ); /* Transmit the PDO */
|
|
208
|
410 |
return 0;
|
|
|
411 |
|
|
215
|
412 |
}/* end switch status */
|
|
|
413 |
}/* end while */
|
|
|
414 |
}/* end if Requete */
|
|
208
|
415 |
|
|
0
|
416 |
return 0;
|
|
|
417 |
}
|
|
|
418 |
|
|
208
|
419 |
/*!
|
|
|
420 |
**
|
|
|
421 |
**
|
|
|
422 |
** @param NbBits
|
|
|
423 |
** @param SrcByteIndex
|
|
|
424 |
** @param SrcBitIndex
|
|
|
425 |
** @param SrcBigEndian
|
|
|
426 |
** @param DestByteIndex
|
|
|
427 |
** @param DestBitIndex
|
|
|
428 |
** @param DestBigEndian
|
|
|
429 |
**/
|
|
201
|
430 |
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
|
|
|
431 |
{
|
|
215
|
432 |
/* This loop copy as many bits that it can each time, crossing*/
|
|
|
433 |
/* successively bytes*/
|
|
208
|
434 |
// boundaries from LSB to MSB.
|
|
|
435 |
while(NbBits > 0)
|
|
|
436 |
{
|
|
215
|
437 |
/* Bit missalignement between src and dest*/
|
|
208
|
438 |
INTEGER8 Vect = DestBitIndex - SrcBitIndex;
|
|
|
439 |
|
|
215
|
440 |
/* We can now get src and align it to dest*/
|
|
208
|
441 |
UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
|
|
|
442 |
|
|
215
|
443 |
/* Compute the nb of bit we will be able to copy*/
|
|
208
|
444 |
UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
|
|
|
445 |
UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
|
|
|
446 |
|
|
215
|
447 |
/* Create a mask that will serve in:*/
|
|
208
|
448 |
UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
|
|
|
449 |
|
|
215
|
450 |
/* - Filtering src*/
|
|
208
|
451 |
UNS8 Filtered = Aligned & ~Mask;
|
|
|
452 |
|
|
215
|
453 |
/* - and erase bits where we write, preserve where we don't*/
|
|
208
|
454 |
*DestByteIndex &= Mask;
|
|
|
455 |
|
|
215
|
456 |
/* Then write.*/
|
|
208
|
457 |
*DestByteIndex |= Filtered ;
|
|
|
458 |
|
|
215
|
459 |
/*Compute next time cursors for src*/
|
|
|
460 |
if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
|
|
208
|
461 |
{
|
|
215
|
462 |
SrcBitIndex = 0;/* First bit*/
|
|
|
463 |
SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
|
|
|
464 |
}
|
|
|
465 |
|
|
|
466 |
|
|
|
467 |
/*Compute next time cursors for dest*/
|
|
208
|
468 |
if((DestBitIndex += BitsToCopy)>7)
|
|
|
469 |
{
|
|
215
|
470 |
DestBitIndex = 0;/* First bit*/
|
|
|
471 |
DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
|
|
|
472 |
}
|
|
|
473 |
|
|
|
474 |
/*And decrement counter.*/
|
|
208
|
475 |
NbBits -= BitsToCopy;
|
|
|
476 |
}
|
|
201
|
477 |
|
|
|
478 |
}
|
|
0
|
479 |
|
|
71
|
480 |
#if 0
|
|
|
481 |
|
|
0
|
482 |
/*********************************************************************/
|
|
208
|
483 |
/* TODO : reimplement this using CallBacks
|
|
|
484 |
*/
|
|
0
|
485 |
/*********************************************************************/
|
|
71
|
486 |
|
|
208
|
487 |
/*!
|
|
|
488 |
**
|
|
|
489 |
**
|
|
|
490 |
** @param d
|
|
|
491 |
** @param variable
|
|
|
492 |
**
|
|
|
493 |
** @return
|
|
|
494 |
**/
|
|
0
|
495 |
UNS8 sendPDOevent( CO_Data* d, void * variable )
|
|
215
|
496 |
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
|
|
208
|
497 |
loop if it fails.*/
|
|
0
|
498 |
UNS32 objDict = 0;
|
|
|
499 |
UNS8 ind, sub_ind;
|
|
208
|
500 |
UNS8 status;
|
|
0
|
501 |
UNS8 offset;
|
|
|
502 |
UNS8 * pMappingCount = NULL;
|
|
|
503 |
UNS32 * pMappingParameter = NULL;
|
|
|
504 |
void * pMappedAppObject = NULL;
|
|
215
|
505 |
UNS8 * pTransmissionType = NULL; /* pointer to the transmission
|
|
208
|
506 |
type */
|
|
0
|
507 |
UNS32 * pwCobId = NULL;
|
|
|
508 |
UNS8 * pSize;
|
|
|
509 |
UNS8 size;
|
|
|
510 |
UNS8 dataType;
|
|
|
511 |
UNS16 offsetObjdict;
|
|
|
512 |
UNS16 offsetObjdictPrm;
|
|
|
513 |
UNS16 lastIndex;
|
|
|
514 |
UNS8 numMap;
|
|
|
515 |
ind = 0x00;
|
|
208
|
516 |
sub_ind = 1;
|
|
0
|
517 |
offset = 0x00;
|
|
|
518 |
pSize = &size;
|
|
|
519 |
status = state1;
|
|
|
520 |
|
|
208
|
521 |
|
|
215
|
522 |
/* look for the index and subindex where the variable is mapped */
|
|
|
523 |
/* Then, send the pdo which contains the variable. */
|
|
0
|
524 |
|
|
|
525 |
MSG_WAR (0x3960, "sendPDOevent", 0);
|
|
|
526 |
offsetObjdictPrm = d->firstIndex->PDO_TRS;
|
|
208
|
527 |
|
|
0
|
528 |
offsetObjdict = d->firstIndex->PDO_TRS_MAP;
|
|
|
529 |
lastIndex = d->lastIndex->PDO_TRS_MAP;
|
|
|
530 |
|
|
208
|
531 |
if (offsetObjdictPrm && offsetObjdict)
|
|
215
|
532 |
/* Loop on PDO Transmit */
|
|
208
|
533 |
while(offsetObjdict <= lastIndex){
|
|
215
|
534 |
/* Check the transmission mode */
|
|
208
|
535 |
pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
|
|
|
536 |
if (*pTransmissionType != TRANS_EVENT) {
|
|
|
537 |
ind++;
|
|
|
538 |
offsetObjdict++;
|
|
|
539 |
offsetObjdictPrm++;
|
|
|
540 |
continue;
|
|
|
541 |
}
|
|
|
542 |
pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
|
|
215
|
543 |
numMap = 1; /* mapped variable */
|
|
208
|
544 |
while (numMap <= *pMappingCount) {
|
|
|
545 |
pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
|
|
215
|
546 |
/* Get the variable */
|
|
208
|
547 |
objDict = getODentry( d,
|
|
|
548 |
(UNS16)((*pMappingParameter) >> 16),
|
|
|
549 |
(UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
|
|
|
550 |
(void * *)&pMappedAppObject, pSize, &dataType, 0 );
|
|
|
551 |
if( objDict != OD_SUCCESSFUL ) {
|
|
|
552 |
MSG_WAR(0x2961, "Error in dict. at index : ",
|
|
|
553 |
(*pMappingParameter) >> (UNS8)16);
|
|
|
554 |
|
|
|
555 |
MSG_WAR(0x2962, " subindex : ",
|
|
|
556 |
((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
|
|
|
557 |
return 0xFF;
|
|
|
558 |
}
|
|
|
559 |
if (pMappedAppObject == variable) { // Variable found !
|
|
|
560 |
MSG_WAR(0x3963, "Variable to send found at index : ",
|
|
|
561 |
(*pMappingParameter) >> 16);
|
|
|
562 |
MSG_WAR(0x3964, " subIndex : ",
|
|
|
563 |
((*pMappingParameter) >> 8 ) & 0x000000FF);
|
|
|
564 |
buildPDO(d, 0x1800 + ind);
|
|
215
|
565 |
/* Get the cobId */
|
|
208
|
566 |
pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
|
|
215
|
567 |
PDOmGR( d, *pwCobId ); /* Send the PDO */
|
|
208
|
568 |
return 0;
|
|
|
569 |
}
|
|
|
570 |
numMap++;
|
|
215
|
571 |
} /* End loop on mapped variable */
|
|
208
|
572 |
ind++;
|
|
|
573 |
offsetObjdict++;
|
|
|
574 |
offsetObjdictPrm++;
|
|
215
|
575 |
} /* End loop while on PDO */
|
|
0
|
576 |
|
|
|
577 |
MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
|
|
|
578 |
return 0xFF;
|
|
|
579 |
|
|
|
580 |
}
|
|
71
|
581 |
#endif
|
|
208
|
582 |
|
|
|
583 |
|
|
|
584 |
|