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<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
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<title>CanFestival: src/pdo.c Source File</title>
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<li><a href="annotated.html"><span>Data Structures</span></a></li>
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<a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.html">src</a></div>
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<h1>pdo.c</h1><a href="pdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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210
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<a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span>
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<a name="l00003"></a>00003 <span class="comment"> Stack.</span>
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25 |
<a name="l00004"></a>00004 <span class="comment"></span>
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<a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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27 |
<a name="l00006"></a>00006 <span class="comment"></span>
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28 |
<a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span>
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29 |
<a name="l00008"></a>00008 <span class="comment"></span>
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30 |
<a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span>
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<a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
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32 |
<a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span>
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33 |
<a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
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34 |
<a name="l00013"></a>00013 <span class="comment"></span>
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<a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span>
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<a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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37 |
<a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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38 |
<a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span>
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39 |
<a name="l00018"></a>00018 <span class="comment"></span>
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40 |
<a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span>
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41 |
<a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span>
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42 |
<a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span>
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43 |
<a name="l00022"></a>00022 <span class="comment"> USA</span>
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<a name="l00023"></a>00023 <span class="comment">*/</span>
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45 |
<a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="pdo_8h.html">pdo.h</a>"</span>
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46 |
<a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="objacces_8h.html">objacces.h</a>"</span>
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47 |
<a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
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48 |
<a name="l00027"></a>00027
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215
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49 |
<a name="l00037"></a><a class="code" href="pdo_8h.html#a6774c219dc64c1cec4b4721ba23e15a">00037</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> req)
|
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210
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50 |
<a name="l00038"></a>00038 {
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215
|
51 |
<a name="l00039"></a>00039 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
|
|
|
52 |
<a name="l00040"></a>00040 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> ) {
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53 |
<a name="l00041"></a>00041 <a class="code" href="structMessage.html">Message</a> m;
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210
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54 |
<a name="l00042"></a>00042
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215
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55 |
<a name="l00043"></a>00043 <span class="comment">/* Message copy for sending */</span>
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56 |
<a name="l00044"></a>00044 m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> & 0x7FF; <span class="comment">/* Because the cobId is 11 bytes</span>
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57 |
<a name="l00045"></a>00045 <span class="comment"> length */</span>
|
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58 |
<a name="l00046"></a>00046 <span class="keywordflow">if</span> ( req == <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a> ) {
|
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59 |
<a name="l00047"></a>00047 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
|
|
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60 |
<a name="l00048"></a>00048 m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>;
|
|
|
61 |
<a name="l00049"></a>00049 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a>;
|
|
|
62 |
<a name="l00050"></a>00050 <span class="comment">/* memcpy(&m.data, &pdo.data, m.len); */</span>
|
|
|
63 |
<a name="l00051"></a>00051 <span class="comment">/* This Memcpy depends on packing structure. Avoid */</span>
|
|
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64 |
<a name="l00052"></a>00052 <span class="keywordflow">for</span> (i = 0 ; i < pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> ; i++)
|
|
|
65 |
<a name="l00053"></a>00053 m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i] = pdo.<a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">data</a>[i];
|
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210
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66 |
<a name="l00054"></a>00054 }
|
|
|
67 |
<a name="l00055"></a>00055 <span class="keywordflow">else</span> {
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215
|
68 |
<a name="l00056"></a>00056 m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a>;
|
|
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69 |
<a name="l00057"></a>00057 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 0;
|
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210
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70 |
<a name="l00058"></a>00058 }
|
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207
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71 |
<a name="l00059"></a>00059
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215
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72 |
<a name="l00060"></a>00060 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
|
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73 |
<a name="l00061"></a>00061 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3902, <span class="stringliteral">" Nb octets : "</span>, m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>);
|
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74 |
<a name="l00062"></a>00062 <span class="keywordflow">for</span> (i = 0 ; i < m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++) {
|
|
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75 |
<a name="l00063"></a>00063 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3903,<span class="stringliteral">" data : "</span>, m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i]);
|
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210
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76 |
<a name="l00064"></a>00064 }
|
|
|
77 |
<a name="l00065"></a>00065
|
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215
|
78 |
<a name="l00066"></a>00066 <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&m);
|
|
|
79 |
<a name="l00067"></a>00067 } <span class="comment">/* end if */</span>
|
|
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|
80 |
<a name="l00068"></a>00068 <span class="keywordflow">return</span> 0xFF;
|
|
|
81 |
<a name="l00069"></a>00069 }
|
|
|
82 |
<a name="l00070"></a>00070
|
|
215
|
83 |
<a name="l00079"></a><a class="code" href="pdo_8h.html#298b8291fa35cca22264cf8a70bf138a">00079</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId)
|
|
210
|
84 |
<a name="l00080"></a>00080 {
|
|
215
|
85 |
<a name="l00081"></a>00081 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res;
|
|
|
86 |
<a name="l00082"></a>00082 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
|
|
|
87 |
<a name="l00083"></a>00083 <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo;
|
|
210
|
88 |
<a name="l00084"></a>00084
|
|
215
|
89 |
<a name="l00085"></a>00085 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3905, <span class="stringliteral">"PDOmGR"</span>,0);
|
|
210
|
90 |
<a name="l00086"></a>00086
|
|
215
|
91 |
<a name="l00087"></a>00087 <span class="comment">/* if PDO is waiting for transmission,</span>
|
|
|
92 |
<a name="l00088"></a>00088 <span class="comment"> preparation of the message to send */</span>
|
|
|
93 |
<a name="l00089"></a>00089 pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> = cobId;
|
|
|
94 |
<a name="l00090"></a>00090 pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a>;
|
|
|
95 |
<a name="l00091"></a>00091 <span class="comment">/* memcpy(&(pdo.data), &(process_var.data), pdo.len); */</span>
|
|
210
|
96 |
<a name="l00092"></a>00092 <span class="comment">/* Ce memcpy devrait tre portable */</span>
|
|
215
|
97 |
<a name="l00093"></a>00093 <span class="keywordflow">for</span> ( i = 0 ; i < pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> ; i++)
|
|
|
98 |
<a name="l00094"></a>00094 pdo.<a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">data</a>[i] = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[i];
|
|
210
|
99 |
<a name="l00095"></a>00095
|
|
215
|
100 |
<a name="l00096"></a>00096 res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, pdo, <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>);
|
|
210
|
101 |
<a name="l00097"></a>00097
|
|
|
102 |
<a name="l00098"></a>00098 <span class="keywordflow">return</span> res;
|
|
|
103 |
<a name="l00099"></a>00099 }
|
|
|
104 |
<a name="l00100"></a>00100
|
|
|
105 |
<a name="l00101"></a>00101 <span class="preprocessor">#if 0</span>
|
|
|
106 |
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span>
|
|
|
107 |
<a name="l00103"></a>00103 <span class="comment">/* TODO : implement bit mapping */</span>
|
|
|
108 |
<a name="l00104"></a>00104 <span class="comment">/*********************************************************************/</span>
|
|
207
|
109 |
<a name="l00105"></a>00105
|
|
215
|
110 |
<a name="l00106"></a>00106 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> index)
|
|
210
|
111 |
<a name="l00107"></a>00107 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span>
|
|
215
|
112 |
<a name="l00108"></a>00108 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> ind;
|
|
|
113 |
<a name="l00109"></a>00109 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> subInd;
|
|
210
|
114 |
<a name="l00110"></a>00110
|
|
215
|
115 |
<a name="l00111"></a>00111 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span>
|
|
210
|
116 |
<a name="l00112"></a>00112 <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
|
|
|
117 |
<a name="l00113"></a>00113 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
|
|
|
118 |
<a name="l00114"></a>00114 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
|
|
|
119 |
<a name="l00115"></a>00115
|
|
215
|
120 |
<a name="l00116"></a>00116 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pMappingParameter = NULL;
|
|
210
|
121 |
<a name="l00117"></a>00117
|
|
215
|
122 |
<a name="l00118"></a>00118 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Size;
|
|
|
123 |
<a name="l00119"></a>00119 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> dataType;
|
|
|
124 |
<a name="l00120"></a>00120 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> offset;
|
|
|
125 |
<a name="l00121"></a>00121 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdict;
|
|
|
126 |
<a name="l00122"></a>00122 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdictPrm;
|
|
|
127 |
<a name="l00123"></a>00123 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> objDict;
|
|
210
|
128 |
<a name="l00124"></a>00124
|
|
215
|
129 |
<a name="l00125"></a>00125 subInd=(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)0x00;
|
|
210
|
130 |
<a name="l00126"></a>00126 offset = 0x00;
|
|
|
131 |
<a name="l00127"></a>00127 ind = index - 0x1800;
|
|
|
132 |
<a name="l00128"></a>00128
|
|
215
|
133 |
<a name="l00129"></a>00129 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index);
|
|
210
|
134 |
<a name="l00130"></a>00130
|
|
215
|
135 |
<a name="l00131"></a>00131 <span class="comment">/* only operational state allows PDO transmission */</span>
|
|
|
136 |
<a name="l00132"></a>00132 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> != <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> ) {
|
|
|
137 |
<a name="l00133"></a>00133 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index);
|
|
210
|
138 |
<a name="l00134"></a>00134 <span class="keywordflow">return</span> 0xFF;
|
|
|
139 |
<a name="l00135"></a>00135 }
|
|
215
|
140 |
<a name="l00136"></a>00136 offsetObjdictPrm = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
|
|
|
141 |
<a name="l00137"></a>00137 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
|
|
210
|
142 |
<a name="l00138"></a>00138
|
|
|
143 |
<a name="l00139"></a>00139 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
|
|
|
144 |
<a name="l00140"></a>00140 {
|
|
215
|
145 |
<a name="l00141"></a>00141 <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
|
|
|
146 |
<a name="l00142"></a>00142 pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + ind)->pSubindex[0].pObject;
|
|
|
147 |
<a name="l00143"></a>00143 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount);
|
|
|
148 |
<a name="l00144"></a>00144 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3913, <span class="stringliteral">" at index : "</span>, 0x1A00 + ind);
|
|
|
149 |
<a name="l00145"></a>00145 <span class="keywordflow">while</span> (subInd < *pMappingCount) { <span class="comment">/* Loop on mapped variables */</span>
|
|
|
150 |
<a name="l00146"></a>00146 <span class="comment">/* get mapping parameters */</span>
|
|
|
151 |
<a name="l00147"></a>00147 pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
|
|
|
152 |
<a name="l00148"></a>00148 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3914, <span class="stringliteral">"Get the mapping at index : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)0x1A00 + ind);
|
|
|
153 |
<a name="l00149"></a>00149 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3915, <span class="stringliteral">" subIndex : "</span>, subInd + 1);
|
|
|
154 |
<a name="l00150"></a>00150 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3916, <span class="stringliteral">" value : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *)pMappingParameter);
|
|
|
155 |
<a name="l00151"></a>00151 <span class="comment">/* Get the mapped variable */</span>
|
|
|
156 |
<a name="l00152"></a>00152 Size = ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
157 |
<a name="l00153"></a>00153 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) >> 16),
|
|
|
158 |
<a name="l00154"></a>00154 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) >> 8 ) & 0x000000FF),
|
|
|
159 |
<a name="l00155"></a>00155 (<span class="keywordtype">void</span> *)&<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset], &Size, &dataType, 0 );
|
|
210
|
160 |
<a name="l00156"></a>00156
|
|
215
|
161 |
<a name="l00157"></a>00157 <span class="keywordflow">if</span> (objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
|
|
|
162 |
<a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1);
|
|
|
163 |
<a name="l00159"></a>00159 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2920, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
164 |
<a name="l00160"></a>00160 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2921, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
210
|
165 |
<a name="l00161"></a>00161 <span class="keywordflow">return</span> 0xFF;
|
|
|
166 |
<a name="l00162"></a>00162 }
|
|
|
167 |
<a name="l00163"></a>00163
|
|
|
168 |
<a name="l00164"></a>00164 offset += Size;
|
|
215
|
169 |
<a name="l00165"></a>00165 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = offset;
|
|
210
|
170 |
<a name="l00166"></a>00166 subInd++;
|
|
215
|
171 |
<a name="l00167"></a>00167 }<span class="comment">/* end Loop on mapped variables */</span>
|
|
210
|
172 |
<a name="l00168"></a>00168 }
|
|
|
173 |
<a name="l00169"></a>00169 <span class="keywordflow">return</span> 0;
|
|
|
174 |
<a name="l00170"></a>00170 }
|
|
|
175 |
<a name="l00171"></a>00171 <span class="preprocessor">#endif</span>
|
|
|
176 |
<a name="l00172"></a>00172 <span class="preprocessor"></span>
|
|
215
|
177 |
<a name="l00181"></a><a class="code" href="pdo_8h.html#cc08547009d3d2755d2291999941694c">00181</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId )
|
|
210
|
178 |
<a name="l00182"></a>00182 {
|
|
215
|
179 |
<a name="l00183"></a>00183 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pwCobId;
|
|
|
180 |
<a name="l00184"></a>00184 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offset;
|
|
|
181 |
<a name="l00185"></a>00185 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex;
|
|
|
182 |
<a name="l00186"></a>00186 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> err;
|
|
210
|
183 |
<a name="l00187"></a>00187
|
|
215
|
184 |
<a name="l00188"></a>00188 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0);
|
|
|
185 |
<a name="l00189"></a>00189 <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span>
|
|
|
186 |
<a name="l00190"></a>00190 <span class="comment"> receive */</span>
|
|
|
187 |
<a name="l00191"></a>00191 <span class="comment">/* part dictionary */</span>
|
|
|
188 |
<a name="l00192"></a>00192 offset = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
|
|
|
189 |
<a name="l00193"></a>00193 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
|
|
210
|
190 |
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (offset)
|
|
|
191 |
<a name="l00195"></a>00195 <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
215
|
192 |
<a name="l00196"></a>00196 <span class="comment">/* get the CobId*/</span>
|
|
|
193 |
<a name="l00197"></a>00197 pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
210
|
194 |
<a name="l00198"></a>00198
|
|
|
195 |
<a name="l00199"></a>00199 <span class="keywordflow">if</span> ( *pwCobId == cobId ) {
|
|
215
|
196 |
<a name="l00200"></a>00200 <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo;
|
|
|
197 |
<a name="l00201"></a>00201 pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> = *pwCobId;
|
|
|
198 |
<a name="l00202"></a>00202 pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> = 0;
|
|
|
199 |
<a name="l00203"></a>00203 err = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, pdo, <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a>);
|
|
210
|
200 |
<a name="l00204"></a>00204 <span class="keywordflow">return</span> err;
|
|
|
201 |
<a name="l00205"></a>00205 }
|
|
|
202 |
<a name="l00206"></a>00206 offset++;
|
|
|
203 |
<a name="l00207"></a>00207 }
|
|
215
|
204 |
<a name="l00208"></a>00208 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId);
|
|
210
|
205 |
<a name="l00209"></a>00209 <span class="keywordflow">return</span> 0xFF;
|
|
|
206 |
<a name="l00210"></a>00210 }
|
|
|
207 |
<a name="l00211"></a>00211
|
|
|
208 |
<a name="l00212"></a>00212
|
|
215
|
209 |
<a name="l00221"></a><a class="code" href="pdo_8h.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00221</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
|
|
210
|
210 |
<a name="l00222"></a>00222 {
|
|
215
|
211 |
<a name="l00223"></a>00223 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> numPdo;
|
|
|
212 |
<a name="l00224"></a>00224 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> numMap; <span class="comment">/* Number of the mapped varable */</span>
|
|
|
213 |
<a name="l00225"></a>00225 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
|
|
|
214 |
<a name="l00226"></a>00226 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span>
|
|
|
215 |
<a name="l00227"></a>00227 <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>
|
|
|
216 |
<a name="l00228"></a>00228 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
|
|
|
217 |
<a name="l00229"></a>00229 <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span>
|
|
|
218 |
<a name="l00230"></a>00230 <span class="comment"> mapping entry */</span>
|
|
|
219 |
<a name="l00231"></a>00231 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pMappingParameter = NULL;
|
|
|
220 |
<a name="l00232"></a>00232 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
|
|
|
221 |
<a name="l00233"></a>00233 <span class="comment"> type */</span>
|
|
|
222 |
<a name="l00234"></a>00234 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pwCobId = NULL;
|
|
|
223 |
<a name="l00235"></a>00235 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Size;
|
|
|
224 |
<a name="l00236"></a>00236 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> dataType;
|
|
|
225 |
<a name="l00237"></a>00237 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> offset;
|
|
|
226 |
<a name="l00238"></a>00238 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> status;
|
|
|
227 |
<a name="l00239"></a>00239 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> objDict;
|
|
|
228 |
<a name="l00240"></a>00240 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdict;
|
|
|
229 |
<a name="l00241"></a>00241 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex;
|
|
|
230 |
<a name="l00242"></a>00242 status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
|
|
210
|
231 |
<a name="l00243"></a>00243
|
|
215
|
232 |
<a name="l00244"></a>00244 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff));
|
|
210
|
233 |
<a name="l00245"></a>00245 offset = 0x00;
|
|
|
234 |
<a name="l00246"></a>00246 numPdo = 0;
|
|
|
235 |
<a name="l00247"></a>00247 numMap = 0;
|
|
215
|
236 |
<a name="l00248"></a>00248 <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span>
|
|
|
237 |
<a name="l00249"></a>00249 <span class="comment"> request. */</span>
|
|
|
238 |
<a name="l00250"></a>00250 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
|
|
|
239 |
<a name="l00251"></a>00251 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
|
|
210
|
240 |
<a name="l00252"></a>00252
|
|
215
|
241 |
<a name="l00253"></a>00253 <span class="comment">/* study of all the PDO stored in the dictionary */</span>
|
|
210
|
242 |
<a name="l00254"></a>00254 <span class="keywordflow">if</span>(offsetObjdict)
|
|
|
243 |
<a name="l00255"></a>00255 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) {
|
|
|
244 |
<a name="l00256"></a>00256
|
|
|
245 |
<a name="l00257"></a>00257 <span class="keywordflow">switch</span>( status ) {
|
|
|
246 |
<a name="l00258"></a>00258
|
|
215
|
247 |
<a name="l00259"></a>00259 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>:<span class="comment">/* data are stored in process_var array */</span>
|
|
|
248 |
<a name="l00260"></a>00260 <span class="comment">/* memcpy(&(process_var.data), &m->data, (*m).len); */</span>
|
|
|
249 |
<a name="l00261"></a>00261 <span class="comment">/* Ce memcpy devrait etre portable */</span>
|
|
|
250 |
<a name="l00262"></a>00262 <span class="keywordflow">for</span> ( i = 0 ; i < m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++)
|
|
|
251 |
<a name="l00263"></a>00263 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[i] = m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i];
|
|
|
252 |
<a name="l00264"></a>00264 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = (*m).len;
|
|
210
|
253 |
<a name="l00265"></a>00265
|
|
215
|
254 |
<a name="l00266"></a>00266 status = <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>;
|
|
210
|
255 |
<a name="l00267"></a>00267 <span class="keywordflow">break</span>;
|
|
|
256 |
<a name="l00268"></a>00268
|
|
215
|
257 |
<a name="l00269"></a>00269 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>:
|
|
|
258 |
<a name="l00270"></a>00270 <span class="comment">/* get CobId of the dictionary correspondant to the received</span>
|
|
|
259 |
<a name="l00271"></a>00271 <span class="comment"> PDO */</span>
|
|
|
260 |
<a name="l00272"></a>00272 pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
261 |
<a name="l00273"></a>00273 <span class="comment">/* check the CobId coherance */</span>
|
|
|
262 |
<a name="l00274"></a>00274 <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span>
|
|
|
263 |
<a name="l00275"></a>00275 <span class="comment"> */</span>
|
|
210
|
264 |
<a name="l00276"></a>00276 if ( *pwCobId == (*m).cob_id.w ){
|
|
215
|
265 |
<a name="l00277"></a>00277 <span class="comment">/* The cobId is recognized */</span>
|
|
|
266 |
<a name="l00278"></a>00278 status = <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>;
|
|
|
267 |
<a name="l00279"></a>00279 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
|
|
210
|
268 |
<a name="l00280"></a>00280 <span class="keywordflow">break</span>;
|
|
|
269 |
<a name="l00281"></a>00281 }
|
|
|
270 |
<a name="l00282"></a>00282 <span class="keywordflow">else</span> {
|
|
215
|
271 |
<a name="l00283"></a>00283 <span class="comment">/* cobId received does not match with those write in the</span>
|
|
|
272 |
<a name="l00284"></a>00284 <span class="comment"> dictionnary */</span>
|
|
210
|
273 |
<a name="l00285"></a>00285 numPdo++;
|
|
|
274 |
<a name="l00286"></a>00286 offsetObjdict++;
|
|
215
|
275 |
<a name="l00287"></a>00287 status = <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>;
|
|
210
|
276 |
<a name="l00288"></a>00288 <span class="keywordflow">break</span>;
|
|
|
277 |
<a name="l00289"></a>00289 }
|
|
|
278 |
<a name="l00290"></a>00290
|
|
215
|
279 |
<a name="l00291"></a>00291 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span>
|
|
|
280 |
<a name="l00292"></a>00292 <span class="comment">/* The cobId of the message received has been found in the</span>
|
|
|
281 |
<a name="l00293"></a>00293 <span class="comment"> dictionnary. */</span>
|
|
|
282 |
<a name="l00294"></a>00294 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#9a83f9efff533e71d580fda6118b101e">PDO_RCV_MAP</a>;
|
|
|
283 |
<a name="l00295"></a>00295 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#9a83f9efff533e71d580fda6118b101e">PDO_RCV_MAP</a>;
|
|
|
284 |
<a name="l00296"></a>00296 pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
210
|
285 |
<a name="l00297"></a>00297 numMap = 0;
|
|
|
286 |
<a name="l00298"></a>00298 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
|
|
215
|
287 |
<a name="l00299"></a>00299 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};
|
|
|
288 |
<a name="l00300"></a>00300 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> ByteSize;
|
|
|
289 |
<a name="l00301"></a>00301 pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
210
|
290 |
<a name="l00302"></a>00302 <span class="keywordflow">if</span> (pMappingParameter == NULL) {
|
|
215
|
291 |
<a name="l00303"></a>00303 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
|
|
210
|
292 |
<a name="l00304"></a>00304 <span class="keywordflow">return</span> 0xFF;
|
|
|
293 |
<a name="l00305"></a>00305 }
|
|
215
|
294 |
<a name="l00306"></a>00306 <span class="comment">/* Get the addresse of the mapped variable. */</span>
|
|
|
295 |
<a name="l00307"></a>00307 <span class="comment">/* detail of *pMappingParameter : */</span>
|
|
|
296 |
<a name="l00308"></a>00308 <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span>
|
|
|
297 |
<a name="l00309"></a>00309 <span class="comment"> contains the subindex, */</span>
|
|
|
298 |
<a name="l00310"></a>00310 <span class="comment">/* and the lower 8 bits contains the size of the mapped</span>
|
|
|
299 |
<a name="l00311"></a>00311 <span class="comment"> variable. */</span>
|
|
|
300 |
<a name="l00312"></a>00312
|
|
|
301 |
<a name="l00313"></a>00313 Size = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(*pMappingParameter);
|
|
207
|
302 |
<a name="l00314"></a>00314
|
|
215
|
303 |
<a name="l00315"></a>00315 <span class="comment">/* copy bit per bit in little endian */</span>
|
|
|
304 |
<a name="l00316"></a>00316 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)&<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset>>3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)tmp), 0, 0);
|
|
210
|
305 |
<a name="l00317"></a>00317
|
|
|
306 |
<a name="l00318"></a>00318 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 =></span>
|
|
|
307 |
<a name="l00319"></a>00319 <span class="comment"> 2, ... */</span>
|
|
|
308 |
<a name="l00320"></a>00320
|
|
215
|
309 |
<a name="l00321"></a>00321 objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) >> 16),
|
|
|
310 |
<a name="l00322"></a>00322 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) >> 8 ) & 0xFF),
|
|
210
|
311 |
<a name="l00323"></a>00323 tmp, &ByteSize, 0 );
|
|
|
312 |
<a name="l00324"></a>00324
|
|
215
|
313 |
<a name="l00325"></a>00325 <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
|
|
|
314 |
<a name="l00326"></a>00326 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
|
|
|
315 |
<a name="l00327"></a>00327 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
316 |
<a name="l00328"></a>00328 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
210
|
317 |
<a name="l00329"></a>00329 <span class="keywordflow">return</span> 0xFF;
|
|
|
318 |
<a name="l00330"></a>00330 }
|
|
|
319 |
<a name="l00331"></a>00331
|
|
215
|
320 |
<a name="l00332"></a>00332 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
|
|
|
321 |
<a name="l00333"></a>00333 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
322 |
<a name="l00334"></a>00334 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
|
323 |
<a name="l00335"></a>00335 <span class="comment">/* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */</span>
|
|
210
|
324 |
<a name="l00336"></a>00336 offset += Size;
|
|
|
325 |
<a name="l00337"></a>00337 numMap++;
|
|
215
|
326 |
<a name="l00338"></a>00338 } <span class="comment">/* end loop while on mapped variables */</span>
|
|
|
327 |
<a name="l00339"></a>00339
|
|
210
|
328 |
<a name="l00340"></a>00340 offset=0x00;
|
|
|
329 |
<a name="l00341"></a>00341 numMap = 0;
|
|
|
330 |
<a name="l00342"></a>00342 <span class="keywordflow">return</span> 0;
|
|
|
331 |
<a name="l00343"></a>00343
|
|
215
|
332 |
<a name="l00344"></a>00344 }<span class="comment">/* end switch status*/</span>
|
|
|
333 |
<a name="l00345"></a>00345 }<span class="comment">/* end while*/</span>
|
|
|
334 |
<a name="l00346"></a>00346 }<span class="comment">/* end if Donnees */</span>
|
|
|
335 |
<a name="l00347"></a>00347 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a> ){
|
|
|
336 |
<a name="l00348"></a>00348 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
|
|
|
337 |
<a name="l00349"></a>00349 status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
|
|
|
338 |
<a name="l00350"></a>00350 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
|
|
|
339 |
<a name="l00351"></a>00351 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
|
|
210
|
340 |
<a name="l00352"></a>00352 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){
|
|
215
|
341 |
<a name="l00353"></a>00353 <span class="comment">/* study of all PDO stored in the objects dictionary */</span>
|
|
|
342 |
<a name="l00354"></a>00354
|
|
210
|
343 |
<a name="l00355"></a>00355 <span class="keywordflow">switch</span>( status ){
|
|
|
344 |
<a name="l00356"></a>00356
|
|
215
|
345 |
<a name="l00357"></a>00357 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>:<span class="comment">/* check the CobId */</span>
|
|
|
346 |
<a name="l00358"></a>00358 <span class="comment">/* get CobId of the dictionary which match to the received PDO</span>
|
|
|
347 |
<a name="l00359"></a>00359 <span class="comment"> */</span>
|
|
|
348 |
<a name="l00360"></a>00360 pwCobId = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict)->pSubindex[1].pObject;
|
|
210
|
349 |
<a name="l00361"></a>00361 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
|
|
215
|
350 |
<a name="l00362"></a>00362 status = <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>;
|
|
210
|
351 |
<a name="l00363"></a>00363 <span class="keywordflow">break</span>;
|
|
|
352 |
<a name="l00364"></a>00364 }
|
|
|
353 |
<a name="l00365"></a>00365 <span class="keywordflow">else</span> {
|
|
|
354 |
<a name="l00366"></a>00366 numPdo++;
|
|
|
355 |
<a name="l00367"></a>00367 offsetObjdict++;
|
|
|
356 |
<a name="l00368"></a>00368 }
|
|
215
|
357 |
<a name="l00369"></a>00369 status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
|
|
210
|
358 |
<a name="l00370"></a>00370 <span class="keywordflow">break</span>;
|
|
|
359 |
<a name="l00371"></a>00371
|
|
|
360 |
<a name="l00372"></a>00372
|
|
215
|
361 |
<a name="l00373"></a>00373 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>:<span class="comment">/* check transmission type (after request?) */</span>
|
|
|
362 |
<a name="l00374"></a>00374 pTransmissionType = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
363 |
<a name="l00375"></a>00375 <span class="keywordflow">if</span> ( (*pTransmissionType == <a class="code" href="objdictdef_8h.html#1a9dbd29fbf815b9f24dd8e177cfecdb">TRANS_RTR</a>) || (*pTransmissionType == <a class="code" href="objdictdef_8h.html#1796da41c02afb8d119aa2a103cebbc2">TRANS_RTR_SYNC</a> ) || (*pTransmissionType == <a class="code" href="objdictdef_8h.html#85c21667cdfc019327398abd11cf30b4">TRANS_EVENT</a>) ) {
|
|
|
364 |
<a name="l00376"></a>00376 status = <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>;
|
|
210
|
365 |
<a name="l00377"></a>00377 <span class="keywordflow">break</span>;
|
|
|
366 |
<a name="l00378"></a>00378 }
|
|
|
367 |
<a name="l00379"></a>00379 <span class="keywordflow">else</span> {
|
|
215
|
368 |
<a name="l00380"></a>00380 <span class="comment">/* The requested PDO is not to send on request. So, does</span>
|
|
|
369 |
<a name="l00381"></a>00381 <span class="comment"> nothing. */</span>
|
|
|
370 |
<a name="l00382"></a>00382 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
|
|
210
|
371 |
<a name="l00383"></a>00383 <span class="keywordflow">return</span> 0xFF;
|
|
|
372 |
<a name="l00384"></a>00384 }
|
|
|
373 |
<a name="l00385"></a>00385
|
|
215
|
374 |
<a name="l00386"></a>00386 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>:<span class="comment">/* get mapped objects number */</span>
|
|
|
375 |
<a name="l00387"></a>00387 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
|
|
|
376 |
<a name="l00388"></a>00388 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
|
|
|
377 |
<a name="l00389"></a>00389 pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)->pSubindex[0].pObject;
|
|
210
|
378 |
<a name="l00390"></a>00390 numMap = 0;
|
|
|
379 |
<a name="l00391"></a>00391 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
|
|
215
|
380 |
<a name="l00392"></a>00392 pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
|
|
|
381 |
<a name="l00393"></a>00393 <span class="comment">/* Get the mapped variable */</span>
|
|
|
382 |
<a name="l00394"></a>00394 Size = ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) & 0xFF) >> 3));
|
|
|
383 |
<a name="l00395"></a>00395 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)16),
|
|
|
384 |
<a name="l00396"></a>00396 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(( (*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) & 0xFF),
|
|
|
385 |
<a name="l00397"></a>00397 (<span class="keywordtype">void</span> *)&<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset], &Size, &dataType, 0 );
|
|
|
386 |
<a name="l00398"></a>00398 <span class="keywordflow">if</span> (objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
|
|
|
387 |
<a name="l00399"></a>00399 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
|
|
|
388 |
<a name="l00400"></a>00400 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2949, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
|
|
|
389 |
<a name="l00401"></a>00401 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2950, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
|
|
210
|
390 |
<a name="l00402"></a>00402 <span class="keywordflow">return</span> 0xFF;
|
|
|
391 |
<a name="l00403"></a>00403 }
|
|
215
|
392 |
<a name="l00404"></a>00404 offset += (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (((*pMappingParameter) & 0xFF) >> 3);
|
|
|
393 |
<a name="l00405"></a>00405 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = offset;
|
|
210
|
394 |
<a name="l00406"></a>00406 numMap++;
|
|
|
395 |
<a name="l00407"></a>00407
|
|
215
|
396 |
<a name="l00408"></a>00408 } <span class="comment">/* end while */</span>
|
|
|
397 |
<a name="l00409"></a>00409 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *pwCobId ); <span class="comment">/* Transmit the PDO */</span>
|
|
210
|
398 |
<a name="l00410"></a>00410 <span class="keywordflow">return</span> 0;
|
|
|
399 |
<a name="l00411"></a>00411
|
|
215
|
400 |
<a name="l00412"></a>00412 }<span class="comment">/* end switch status */</span>
|
|
|
401 |
<a name="l00413"></a>00413 }<span class="comment">/* end while */</span>
|
|
|
402 |
<a name="l00414"></a>00414 }<span class="comment">/* end if Requete */</span>
|
|
|
403 |
<a name="l00415"></a>00415
|
|
210
|
404 |
<a name="l00416"></a>00416 <span class="keywordflow">return</span> 0;
|
|
|
405 |
<a name="l00417"></a>00417 }
|
|
|
406 |
<a name="l00418"></a>00418
|
|
215
|
407 |
<a name="l00430"></a><a class="code" href="pdo_8h.html#e468510c9f77f502207d961d26389918">00430</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBigEndian)
|
|
210
|
408 |
<a name="l00431"></a>00431 {
|
|
215
|
409 |
<a name="l00432"></a>00432 <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span>
|
|
|
410 |
<a name="l00433"></a>00433 <span class="comment">/* successively bytes*/</span>
|
|
210
|
411 |
<a name="l00434"></a>00434 <span class="comment">// boundaries from LSB to MSB.</span>
|
|
|
412 |
<a name="l00435"></a>00435 <span class="keywordflow">while</span>(NbBits > 0)
|
|
|
413 |
<a name="l00436"></a>00436 {
|
|
215
|
414 |
<a name="l00437"></a>00437 <span class="comment">/* Bit missalignement between src and dest*/</span>
|
|
|
415 |
<a name="l00438"></a>00438 <a class="code" href="hcs12_2applicfg_8h.html#662ebb8e51dc6acbd8850e22f172c5bf">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex;
|
|
210
|
416 |
<a name="l00439"></a>00439
|
|
215
|
417 |
<a name="l00440"></a>00440 <span class="comment">/* We can now get src and align it to dest*/</span>
|
|
|
418 |
<a name="l00441"></a>00441 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
|
|
210
|
419 |
<a name="l00442"></a>00442
|
|
215
|
420 |
<a name="l00443"></a>00443 <span class="comment">/* Compute the nb of bit we will be able to copy*/</span>
|
|
|
421 |
<a name="l00444"></a>00444 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
|
|
|
422 |
<a name="l00445"></a>00445 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
|
|
210
|
423 |
<a name="l00446"></a>00446
|
|
215
|
424 |
<a name="l00447"></a>00447 <span class="comment">/* Create a mask that will serve in:*/</span>
|
|
|
425 |
<a name="l00448"></a>00448 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
|
|
210
|
426 |
<a name="l00449"></a>00449
|
|
215
|
427 |
<a name="l00450"></a>00450 <span class="comment">/* - Filtering src*/</span>
|
|
|
428 |
<a name="l00451"></a>00451 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Filtered = Aligned & ~Mask;
|
|
210
|
429 |
<a name="l00452"></a>00452
|
|
215
|
430 |
<a name="l00453"></a>00453 <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span>
|
|
210
|
431 |
<a name="l00454"></a>00454 *DestByteIndex &= Mask;
|
|
|
432 |
<a name="l00455"></a>00455
|
|
215
|
433 |
<a name="l00456"></a>00456 <span class="comment">/* Then write.*/</span>
|
|
210
|
434 |
<a name="l00457"></a>00457 *DestByteIndex |= Filtered ;
|
|
|
435 |
<a name="l00458"></a>00458
|
|
215
|
436 |
<a name="l00459"></a>00459 <span class="comment">/*Compute next time cursors for src*/</span>
|
|
|
437 |
<a name="l00460"></a>00460 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7)<span class="comment">/* cross boundary ?*/</span>
|
|
210
|
438 |
<a name="l00461"></a>00461 {
|
|
215
|
439 |
<a name="l00462"></a>00462 SrcBitIndex = 0;<span class="comment">/* First bit*/</span>
|
|
|
440 |
<a name="l00463"></a>00463 SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
|
|
210
|
441 |
<a name="l00464"></a>00464 }
|
|
|
442 |
<a name="l00465"></a>00465
|
|
|
443 |
<a name="l00466"></a>00466
|
|
215
|
444 |
<a name="l00467"></a>00467 <span class="comment">/*Compute next time cursors for dest*/</span>
|
|
210
|
445 |
<a name="l00468"></a>00468 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7)
|
|
|
446 |
<a name="l00469"></a>00469 {
|
|
215
|
447 |
<a name="l00470"></a>00470 DestBitIndex = 0;<span class="comment">/* First bit*/</span>
|
|
|
448 |
<a name="l00471"></a>00471 DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
|
|
210
|
449 |
<a name="l00472"></a>00472 }
|
|
|
450 |
<a name="l00473"></a>00473
|
|
215
|
451 |
<a name="l00474"></a>00474 <span class="comment">/*And decrement counter.*/</span>
|
|
210
|
452 |
<a name="l00475"></a>00475 NbBits -= BitsToCopy;
|
|
|
453 |
<a name="l00476"></a>00476 }
|
|
|
454 |
<a name="l00477"></a>00477
|
|
|
455 |
<a name="l00478"></a>00478 }
|
|
|
456 |
<a name="l00479"></a>00479
|
|
|
457 |
<a name="l00480"></a>00480 <span class="preprocessor">#if 0</span>
|
|
|
458 |
<a name="l00481"></a>00481 <span class="preprocessor"></span>
|
|
|
459 |
<a name="l00482"></a>00482 <span class="comment">/*********************************************************************/</span>
|
|
|
460 |
<a name="l00483"></a>00483 <span class="comment">/* TODO : reimplement this using CallBacks</span>
|
|
|
461 |
<a name="l00484"></a>00484 <span class="comment"> */</span>
|
|
|
462 |
<a name="l00485"></a>00485 <span class="comment">/*********************************************************************/</span>
|
|
|
463 |
<a name="l00486"></a>00486
|
|
215
|
464 |
<a name="l00495"></a>00495 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#07ff33d0d2e6b1070bf3c27578006e8d">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <span class="keywordtype">void</span> * variable )
|
|
|
465 |
<a name="l00496"></a>00496 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite</span>
|
|
|
466 |
<a name="l00497"></a>00497 <span class="comment"> loop if it fails.*/</span>
|
|
|
467 |
<a name="l00498"></a>00498 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> objDict = 0;
|
|
|
468 |
<a name="l00499"></a>00499 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> ind, sub_ind;
|
|
|
469 |
<a name="l00500"></a>00500 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> status;
|
|
|
470 |
<a name="l00501"></a>00501 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> offset;
|
|
|
471 |
<a name="l00502"></a>00502 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pMappingCount = NULL;
|
|
|
472 |
<a name="l00503"></a>00503 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pMappingParameter = NULL;
|
|
210
|
473 |
<a name="l00504"></a>00504 <span class="keywordtype">void</span> * pMappedAppObject = NULL;
|
|
215
|
474 |
<a name="l00505"></a>00505 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
|
|
|
475 |
<a name="l00506"></a>00506 <span class="comment"> type */</span>
|
|
|
476 |
<a name="l00507"></a>00507 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pwCobId = NULL;
|
|
|
477 |
<a name="l00508"></a>00508 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pSize;
|
|
|
478 |
<a name="l00509"></a>00509 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> size;
|
|
|
479 |
<a name="l00510"></a>00510 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> dataType;
|
|
|
480 |
<a name="l00511"></a>00511 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdict;
|
|
|
481 |
<a name="l00512"></a>00512 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdictPrm;
|
|
|
482 |
<a name="l00513"></a>00513 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex;
|
|
|
483 |
<a name="l00514"></a>00514 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> numMap;
|
|
210
|
484 |
<a name="l00515"></a>00515 ind = 0x00;
|
|
|
485 |
<a name="l00516"></a>00516 sub_ind = 1;
|
|
|
486 |
<a name="l00517"></a>00517 offset = 0x00;
|
|
|
487 |
<a name="l00518"></a>00518 pSize = &size;
|
|
215
|
488 |
<a name="l00519"></a>00519 status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
|
|
210
|
489 |
<a name="l00520"></a>00520
|
|
|
490 |
<a name="l00521"></a>00521
|
|
215
|
491 |
<a name="l00522"></a>00522 <span class="comment">/* look for the index and subindex where the variable is mapped */</span>
|
|
|
492 |
<a name="l00523"></a>00523 <span class="comment">/* Then, send the pdo which contains the variable. */</span>
|
|
|
493 |
<a name="l00524"></a>00524
|
|
|
494 |
<a name="l00525"></a>00525 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0);
|
|
|
495 |
<a name="l00526"></a>00526 offsetObjdictPrm = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
|
|
210
|
496 |
<a name="l00527"></a>00527
|
|
215
|
497 |
<a name="l00528"></a>00528 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
|
|
|
498 |
<a name="l00529"></a>00529 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
|
|
210
|
499 |
<a name="l00530"></a>00530
|
|
|
500 |
<a name="l00531"></a>00531 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
|
|
215
|
501 |
<a name="l00532"></a>00532 <span class="comment">/* Loop on PDO Transmit */</span>
|
|
210
|
502 |
<a name="l00533"></a>00533 <span class="keywordflow">while</span>(offsetObjdict <= lastIndex){
|
|
215
|
503 |
<a name="l00534"></a>00534 <span class="comment">/* Check the transmission mode */</span>
|
|
|
504 |
<a name="l00535"></a>00535 pTransmissionType = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictPrm].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
505 |
<a name="l00536"></a>00536 <span class="keywordflow">if</span> (*pTransmissionType != <a class="code" href="objdictdef_8h.html#85c21667cdfc019327398abd11cf30b4">TRANS_EVENT</a>) {
|
|
210
|
506 |
<a name="l00537"></a>00537 ind++;
|
|
|
507 |
<a name="l00538"></a>00538 offsetObjdict++;
|
|
|
508 |
<a name="l00539"></a>00539 offsetObjdictPrm++;
|
|
|
509 |
<a name="l00540"></a>00540 <span class="keywordflow">continue</span>;
|
|
|
510 |
<a name="l00541"></a>00541 }
|
|
215
|
511 |
<a name="l00542"></a>00542 pMappingCount = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
512 |
<a name="l00543"></a>00543 numMap = 1; <span class="comment">/* mapped variable */</span>
|
|
210
|
513 |
<a name="l00544"></a>00544 <span class="keywordflow">while</span> (numMap <= *pMappingCount) {
|
|
215
|
514 |
<a name="l00545"></a>00545 pMappingParameter = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[numMap].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
515 |
<a name="l00546"></a>00546 <span class="comment">/* Get the variable */</span>
|
|
|
516 |
<a name="l00547"></a>00547 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,
|
|
|
517 |
<a name="l00548"></a>00548 (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) >> 16),
|
|
|
518 |
<a name="l00549"></a>00549 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(( (*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) & (<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>)0x000000FF),
|
|
210
|
519 |
<a name="l00550"></a>00550 (<span class="keywordtype">void</span> * *)&pMappedAppObject, pSize, &dataType, 0 );
|
|
215
|
520 |
<a name="l00551"></a>00551 <span class="keywordflow">if</span>( objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> ) {
|
|
|
521 |
<a name="l00552"></a>00552 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>,
|
|
|
522 |
<a name="l00553"></a>00553 (*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)16);
|
|
210
|
523 |
<a name="l00554"></a>00554
|
|
215
|
524 |
<a name="l00555"></a>00555 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2962, <span class="stringliteral">" subindex : "</span>,
|
|
|
525 |
<a name="l00556"></a>00556 ((*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) & (UNS32)0x000000FF);
|
|
210
|
526 |
<a name="l00557"></a>00557 <span class="keywordflow">return</span> 0xFF;
|
|
|
527 |
<a name="l00558"></a>00558 }
|
|
|
528 |
<a name="l00559"></a>00559 <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span>
|
|
215
|
529 |
<a name="l00560"></a>00560 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>,
|
|
210
|
530 |
<a name="l00561"></a>00561 (*pMappingParameter) >> 16);
|
|
215
|
531 |
<a name="l00562"></a>00562 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3964, <span class="stringliteral">" subIndex : "</span>,
|
|
210
|
532 |
<a name="l00563"></a>00563 ((*pMappingParameter) >> 8 ) & 0x000000FF);
|
|
215
|
533 |
<a name="l00564"></a>00564 <a class="code" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, 0x1800 + ind);
|
|
|
534 |
<a name="l00565"></a>00565 <span class="comment">/* Get the cobId */</span>
|
|
|
535 |
<a name="l00566"></a>00566 pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictPrm].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
|
|
|
536 |
<a name="l00567"></a>00567 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *pwCobId ); <span class="comment">/* Send the PDO */</span>
|
|
210
|
537 |
<a name="l00568"></a>00568 <span class="keywordflow">return</span> 0;
|
|
|
538 |
<a name="l00569"></a>00569 }
|
|
|
539 |
<a name="l00570"></a>00570 numMap++;
|
|
215
|
540 |
<a name="l00571"></a>00571 } <span class="comment">/* End loop on mapped variable */</span>
|
|
210
|
541 |
<a name="l00572"></a>00572 ind++;
|
|
|
542 |
<a name="l00573"></a>00573 offsetObjdict++;
|
|
|
543 |
<a name="l00574"></a>00574 offsetObjdictPrm++;
|
|
215
|
544 |
<a name="l00575"></a>00575 } <span class="comment">/* End loop while on PDO */</span>
|
|
|
545 |
<a name="l00576"></a>00576
|
|
|
546 |
<a name="l00577"></a>00577 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0);
|
|
210
|
547 |
<a name="l00578"></a>00578 <span class="keywordflow">return</span> 0xFF;
|
|
|
548 |
<a name="l00579"></a>00579
|
|
|
549 |
<a name="l00580"></a>00580 }
|
|
|
550 |
<a name="l00581"></a>00581 <span class="preprocessor">#endif</span>
|
|
|
551 |
<a name="l00582"></a>00582 <span class="preprocessor"></span>
|
|
|
552 |
<a name="l00583"></a>00583
|
|
|
553 |
<a name="l00584"></a>00584
|
|
215
|
554 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by
|
|
207
|
555 |
<a href="http://www.doxygen.org/index.html">
|
|
|
556 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
557 |
</body>
|
|
|
558 |
</html>
|