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22 <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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23 <a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span> |
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24 <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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26 <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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31 <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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35 <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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36 <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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44 <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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49 <a name="l00048"></a><a class="code" href="pdo_8h.html#06b1b812ca18d3167243fb2b2acb6414">00048</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo, <a class="code" href="structMessage.html">Message</a> *pdo) |
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50 <a name="l00049"></a>00049 { |
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51 <a name="l00050"></a>00050 <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a> + numPdo; |
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52 <a name="l00051"></a>00051 <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_map = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a> + numPdo; |
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53 <a name="l00052"></a>00052 |
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54 <a name="l00053"></a>00053 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> prp_j = 0x00; |
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55 <a name="l00054"></a>00054 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> offset = 0x00; |
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56 <a name="l00055"></a>00055 <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) TPDO_map-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
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57 <a name="l00056"></a>00056 |
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58 <a name="l00057"></a>00057 pdo-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> & 0x7FF; |
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59 <a name="l00058"></a>00058 pdo-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>; |
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60 <a name="l00059"></a>00059 |
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61 <a name="l00060"></a>00060 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3009, <span class="stringliteral">" PDO CobId is : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>); |
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62 <a name="l00061"></a>00061 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300D, <span class="stringliteral">" Number of objects mapped : "</span>,*pMappingCount ); |
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63 <a name="l00062"></a>00062 |
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64 <a name="l00063"></a>00063 <span class="keywordflow">do</span>{ |
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65 <a name="l00064"></a>00064 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType; <span class="comment">/* Unused */</span> |
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66 <a name="l00065"></a>00065 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0}; <span class="comment">/* temporary space to hold bits */</span> |
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67 <a name="l00066"></a>00066 |
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68 <a name="l00067"></a>00067 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span> |
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69 <a name="l00068"></a>00068 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>* pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) TPDO_map-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[prp_j + 1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
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70 <a name="l00069"></a>00069 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) >> 16); |
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71 <a name="l00070"></a>00070 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter); <span class="comment">/* Size in bits */</span> |
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72 <a name="l00071"></a>00071 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span> |
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73 <a name="l00072"></a>00072 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(( (*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)8 ) & (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x000000FF); |
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74 <a name="l00073"></a>00073 |
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75 <a name="l00074"></a>00074 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300F, <span class="stringliteral">" got mapping parameter : "</span>, *pMappingParameter); |
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76 <a name="l00075"></a>00075 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3050, <span class="stringliteral">" at index : "</span>, TPDO_map-><a class="code" href="structtd__indextable.html#886a98ee4bd1ff0cd6182d0b0be8c486">index</a>); |
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77 <a name="l00076"></a>00076 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3051, <span class="stringliteral">" sub-index : "</span>, prp_j + 1); |
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78 <a name="l00077"></a>00077 |
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79 <a name="l00078"></a>00078 <span class="keywordflow">if</span>( <a class="code" href="objacces_8c.html#cad0c118b1e06230c9cceb8e3985822b">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> ){ |
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80 <a name="l00079"></a>00079 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)(*pMappingParameter)); |
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81 <a name="l00080"></a>00080 <span class="keywordflow">return</span> 0xFF; |
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82 <a name="l00081"></a>00081 } |
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83 <a name="l00082"></a>00082 <span class="comment">/* copy bit per bit in little endian*/</span> |
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84 <a name="l00083"></a>00083 <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0 , 0, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&pdo-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset>>3], offset%8, 0); |
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85 <a name="l00084"></a>00084 |
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86 <a name="l00085"></a>00085 offset += Size ; |
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87 <a name="l00086"></a>00086 prp_j++; |
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88 <a name="l00087"></a>00087 }<span class="keywordflow">while</span>( prp_j < *pMappingCount ); |
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89 <a name="l00088"></a>00088 |
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90 <a name="l00089"></a>00089 pdo-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1 + ((offset - 1) >> 3); |
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91 <a name="l00090"></a>00090 |
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92 <a name="l00091"></a>00091 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3015, <span class="stringliteral">" End scan mapped variable"</span>, 0); |
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93 <a name="l00092"></a>00092 |
|
94 <a name="l00093"></a>00093 <span class="keywordflow">return</span> 0; |
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95 <a name="l00094"></a>00094 } |
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96 <a name="l00095"></a>00095 |
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97 <a name="l00104"></a><a class="code" href="pdo_8h.html#2a4d6e86bc4447a3c45c9b96bd61f995">00104</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> RPDOIndex ) |
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98 <a name="l00105"></a>00105 { |
|
99 <a name="l00106"></a>00106 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pwCobId; |
|
100 <a name="l00107"></a>00107 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>; |
|
101 <a name="l00108"></a>00108 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>; |
|
102 <a name="l00109"></a>00109 |
|
103 <a name="l00110"></a>00110 <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span> |
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104 <a name="l00111"></a>00111 <span class="comment"> receive */</span> |
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105 <a name="l00112"></a>00112 <span class="comment">/* part dictionary */</span> |
|
106 <a name="l00113"></a>00113 |
|
107 <a name="l00114"></a>00114 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest RPDO Index : "</span>,RPDOIndex); |
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108 <a name="l00115"></a>00115 |
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109 <a name="l00116"></a>00116 <span class="keywordflow">if</span> (offset && RPDOIndex >= 0x1400){ |
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110 <a name="l00117"></a>00117 offset += RPDOIndex - 0x1400; |
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111 <a name="l00118"></a>00118 <span class="keywordflow">if</span> (offset <= lastIndex) { |
|
112 <a name="l00119"></a>00119 <span class="comment">/* get the CobId*/</span> |
|
113 <a name="l00120"></a>00120 pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
|
114 <a name="l00121"></a>00121 |
|
115 <a name="l00122"></a>00122 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest cobId is : "</span>,*pwCobId); |
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116 <a name="l00123"></a>00123 |
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117 <a name="l00124"></a>00124 <a class="code" href="structMessage.html">Message</a> pdo = {*pwCobId, <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>, 0}; |
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118 <a name="l00125"></a>00125 <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&pdo); |
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119 <a name="l00126"></a>00126 } |
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120 <a name="l00127"></a>00127 } |
|
121 <a name="l00128"></a>00128 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : RPDO Index not found : "</span>, RPDOIndex); |
|
122 <a name="l00129"></a>00129 <span class="keywordflow">return</span> 0xFF; |
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123 <a name="l00130"></a>00130 } |
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124 <a name="l00131"></a>00131 |
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125 <a name="l00132"></a>00132 |
|
126 <a name="l00141"></a><a class="code" href="pdo_8h.html#f653b9e9cc46d8290b3ce2d6392b5a52">00141</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m) |
|
127 <a name="l00142"></a>00142 { |
|
128 <a name="l00143"></a>00143 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo; |
|
129 <a name="l00144"></a>00144 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numMap; <span class="comment">/* Number of the mapped varable */</span> |
|
130 <a name="l00145"></a>00145 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i; |
|
131 <a name="l00146"></a>00146 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span> |
|
132 <a name="l00147"></a>00147 <span class="comment">/* pointer to the var which is mapped to a pdo... */</span> |
|
133 <a name="l00148"></a>00148 <span class="comment">/* void * pMappedAppObject = NULL; */</span> |
|
134 <a name="l00149"></a>00149 <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span> |
|
135 <a name="l00150"></a>00150 <span class="comment"> mapping entry */</span> |
|
136 <a name="l00151"></a>00151 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pMappingParameter = NULL; |
|
137 <a name="l00152"></a>00152 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span> |
|
138 <a name="l00153"></a>00153 <span class="comment"> type */</span> |
|
139 <a name="l00154"></a>00154 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pwCobId = NULL; |
|
140 <a name="l00155"></a>00155 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Size; |
|
141 <a name="l00156"></a>00156 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType; |
|
142 <a name="l00157"></a>00157 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> offset; |
|
143 <a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> status; |
|
144 <a name="l00159"></a>00159 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> objDict; |
|
145 <a name="l00160"></a>00160 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict; |
|
146 <a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex; |
|
147 <a name="l00162"></a>00162 |
|
148 <a name="l00163"></a>00163 status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>; |
|
149 <a name="l00164"></a>00164 |
|
150 <a name="l00165"></a>00165 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff)); |
|
151 <a name="l00166"></a>00166 offset = 0x00; |
|
152 <a name="l00167"></a>00167 numPdo = 0; |
|
153 <a name="l00168"></a>00168 numMap = 0; |
|
154 <a name="l00169"></a>00169 <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span> |
|
155 <a name="l00170"></a>00170 <span class="comment"> request. */</span> |
|
156 <a name="l00171"></a>00171 |
|
157 <a name="l00172"></a>00172 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>; |
|
158 <a name="l00173"></a>00173 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>; |
|
159 <a name="l00174"></a>00174 |
|
160 <a name="l00175"></a>00175 <span class="comment">/* study of all the PDO stored in the dictionary */</span> |
|
161 <a name="l00176"></a>00176 <span class="keywordflow">if</span>(offsetObjdict) |
|
162 <a name="l00177"></a>00177 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) { |
|
163 <a name="l00178"></a>00178 |
|
164 <a name="l00179"></a>00179 <span class="keywordflow">switch</span>( status ) { |
|
165 <a name="l00180"></a>00180 |
|
166 <a name="l00181"></a>00181 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>: |
|
167 <a name="l00182"></a>00182 <span class="comment">/* get CobId of the dictionary correspondant to the received</span> |
|
168 <a name="l00183"></a>00183 <span class="comment"> PDO */</span> |
|
169 <a name="l00184"></a>00184 pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
|
170 <a name="l00185"></a>00185 <span class="comment">/* check the CobId coherance */</span> |
|
171 <a name="l00186"></a>00186 <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span> |
|
172 <a name="l00187"></a>00187 <span class="comment"> */</span> |
|
173 <a name="l00188"></a>00188 if ( *pwCobId == (*m).cob_id.w ){ |
|
174 <a name="l00189"></a>00189 <span class="comment">/* The cobId is recognized */</span> |
|
175 <a name="l00190"></a>00190 status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>; |
|
176 <a name="l00191"></a>00191 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo); |
|
177 <a name="l00192"></a>00192 <span class="keywordflow">break</span>; |
|
178 <a name="l00193"></a>00193 } |
|
179 <a name="l00194"></a>00194 <span class="keywordflow">else</span> { |
|
180 <a name="l00195"></a>00195 <span class="comment">/* cobId received does not match with those write in the</span> |
|
181 <a name="l00196"></a>00196 <span class="comment"> dictionnary */</span> |
|
182 <a name="l00197"></a>00197 numPdo++; |
|
183 <a name="l00198"></a>00198 offsetObjdict++; |
|
184 <a name="l00199"></a>00199 status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>; |
|
185 <a name="l00200"></a>00200 <span class="keywordflow">break</span>; |
|
186 <a name="l00201"></a>00201 } |
|
187 <a name="l00202"></a>00202 |
|
188 <a name="l00203"></a>00203 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span> |
|
189 <a name="l00204"></a>00204 <span class="comment">/* The cobId of the message received has been found in the</span> |
|
190 <a name="l00205"></a>00205 <span class="comment"> dictionnary. */</span> |
|
191 <a name="l00206"></a>00206 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>; |
|
192 <a name="l00207"></a>00207 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>; |
|
193 <a name="l00208"></a>00208 pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)->pSubindex[0].pObject; |
|
194 <a name="l00209"></a>00209 numMap = 0; |
|
195 <a name="l00210"></a>00210 <span class="keywordflow">while</span> (numMap < *pMappingCount) { |
|
196 <a name="l00211"></a>00211 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0}; |
|
197 <a name="l00212"></a>00212 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize; |
|
198 <a name="l00213"></a>00213 pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
|
199 <a name="l00214"></a>00214 <span class="keywordflow">if</span> (pMappingParameter == NULL) { |
|
200 <a name="l00215"></a>00215 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1); |
|
201 <a name="l00216"></a>00216 <span class="keywordflow">return</span> 0xFF; |
|
202 <a name="l00217"></a>00217 } |
|
203 <a name="l00218"></a>00218 <span class="comment">/* Get the addresse of the mapped variable. */</span> |
|
204 <a name="l00219"></a>00219 <span class="comment">/* detail of *pMappingParameter : */</span> |
|
205 <a name="l00220"></a>00220 <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span> |
|
206 <a name="l00221"></a>00221 <span class="comment"> contains the subindex, */</span> |
|
207 <a name="l00222"></a>00222 <span class="comment">/* and the lower 8 bits contains the size of the mapped</span> |
|
208 <a name="l00223"></a>00223 <span class="comment"> variable. */</span> |
|
209 <a name="l00224"></a>00224 |
|
210 <a name="l00225"></a>00225 Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter); |
|
211 <a name="l00226"></a>00226 |
|
212 <a name="l00227"></a>00227 <span class="comment">/* copy bit per bit in little endian */</span> |
|
213 <a name="l00228"></a>00228 <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset>>3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0, 0); |
|
214 <a name="l00229"></a>00229 |
|
215 <a name="l00230"></a>00230 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 =></span> |
|
216 <a name="l00231"></a>00231 <span class="comment"> 2, ... */</span> |
|
217 <a name="l00232"></a>00232 |
|
218 <a name="l00233"></a>00233 objDict = <a class="code" href="objacces_8c.html#dad5d2f7890168cade2fbb7e0e4c6200">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) >> 16), |
|
219 <a name="l00234"></a>00234 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(((*pMappingParameter) >> 8 ) & 0xFF), |
|
220 <a name="l00235"></a>00235 tmp, &ByteSize, 0 ); |
|
221 <a name="l00236"></a>00236 |
|
222 <a name="l00237"></a>00237 <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>) { |
|
223 <a name="l00238"></a>00238 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1); |
|
224 <a name="l00239"></a>00239 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
|
225 <a name="l00240"></a>00240 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
|
226 <a name="l00241"></a>00241 <span class="keywordflow">return</span> 0xFF; |
|
227 <a name="l00242"></a>00242 } |
|
228 <a name="l00243"></a>00243 |
|
229 <a name="l00244"></a>00244 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>); |
|
230 <a name="l00245"></a>00245 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
|
231 <a name="l00246"></a>00246 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
|
232 <a name="l00247"></a>00247 <span class="comment">/* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */</span> |
|
233 <a name="l00248"></a>00248 offset += Size; |
|
234 <a name="l00249"></a>00249 numMap++; |
|
235 <a name="l00250"></a>00250 <span class="comment">/*TODO : check that offset is not not greater that message size (in bit) */</span> |
|
236 <a name="l00251"></a>00251 } <span class="comment">/* end loop while on mapped variables */</span> |
|
237 <a name="l00252"></a>00252 |
|
238 <a name="l00253"></a>00253 offset=0x00; |
|
239 <a name="l00254"></a>00254 numMap = 0; |
|
240 <a name="l00255"></a>00255 <span class="keywordflow">return</span> 0; |
|
241 <a name="l00256"></a>00256 |
|
242 <a name="l00257"></a>00257 }<span class="comment">/* end switch status*/</span> |
|
243 <a name="l00258"></a>00258 }<span class="comment">/* end while*/</span> |
|
244 <a name="l00259"></a>00259 }<span class="comment">/* end if Donnees */</span> |
|
245 <a name="l00260"></a>00260 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a> ){ |
|
246 <a name="l00261"></a>00261 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>); |
|
247 <a name="l00262"></a>00262 status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>; |
|
248 <a name="l00263"></a>00263 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
249 <a name="l00264"></a>00264 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
250 <a name="l00265"></a>00265 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){ |
|
251 <a name="l00266"></a>00266 <span class="comment">/* study of all PDO stored in the objects dictionary */</span> |
|
252 <a name="l00267"></a>00267 |
|
253 <a name="l00268"></a>00268 <span class="keywordflow">switch</span>( status ){ |
|
254 <a name="l00269"></a>00269 |
|
255 <a name="l00270"></a>00270 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>:<span class="comment">/* check the CobId */</span> |
|
256 <a name="l00271"></a>00271 <span class="comment">/* get CobId of the dictionary which match to the received PDO</span> |
|
257 <a name="l00272"></a>00272 <span class="comment"> */</span> |
|
258 <a name="l00273"></a>00273 pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict)->pSubindex[1].pObject; |
|
259 <a name="l00274"></a>00274 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) { |
|
260 <a name="l00275"></a>00275 status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>; |
|
261 <a name="l00276"></a>00276 <span class="keywordflow">break</span>; |
|
262 <a name="l00277"></a>00277 } |
|
263 <a name="l00278"></a>00278 <span class="keywordflow">else</span> { |
|
264 <a name="l00279"></a>00279 numPdo++; |
|
265 <a name="l00280"></a>00280 offsetObjdict++; |
|
266 <a name="l00281"></a>00281 } |
|
267 <a name="l00282"></a>00282 status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>; |
|
268 <a name="l00283"></a>00283 <span class="keywordflow">break</span>; |
|
269 <a name="l00284"></a>00284 |
|
270 <a name="l00285"></a>00285 |
|
271 <a name="l00286"></a>00286 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* check transmission type */</span> |
|
272 <a name="l00287"></a>00287 pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
|
273 <a name="l00288"></a>00288 <span class="comment">/* If PDO is to be sampled and send on RTR, do it*/</span> |
|
274 <a name="l00289"></a>00289 if ( (*pTransmissionType == TRANS_RTR)) { |
|
275 <a name="l00290"></a>00290 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>; |
|
276 <a name="l00291"></a>00291 <span class="keywordflow">break</span>; |
|
277 <a name="l00292"></a>00292 <span class="comment">/* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */</span> |
|
278 <a name="l00293"></a>00293 }<span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*pTransmissionType == TRANS_RTR_SYNC )) { |
|
279 <a name="l00294"></a>00294 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> & PDO_RTR_SYNC_READY){ |
|
280 <a name="l00295"></a>00295 <span class="comment">/*Data ready, just send*/</span> |
|
281 <a name="l00296"></a>00296 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>); |
|
282 <a name="l00297"></a>00297 <span class="keywordflow">return</span> 0; |
|
283 <a name="l00298"></a>00298 }<span class="keywordflow">else</span>{ |
|
284 <a name="l00299"></a>00299 <span class="comment">/* if SYNC did never occur, force emission with current data */</span> |
|
285 <a name="l00300"></a>00300 <span class="comment">/* DS301 do not tell what to do in such a case...*/</span> |
|
286 <a name="l00301"></a>00301 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1947, <span class="stringliteral">"Not ready RTR_SYNC TPDO send current data : "</span>, m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>); |
|
287 <a name="l00302"></a>00302 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>; |
|
288 <a name="l00303"></a>00303 } |
|
289 <a name="l00304"></a>00304 <span class="keywordflow">break</span>; |
|
290 <a name="l00305"></a>00305 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>( |
|
291 <a name="l00306"></a>00306 (*pTransmissionType == TRANS_EVENT_PROFILE) || |
|
292 <a name="l00307"></a>00307 (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) { |
|
293 <a name="l00308"></a>00308 <span class="comment">/* Zap all timers and inhibit flag */</span> |
|
294 <a name="l00309"></a>00309 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>); |
|
295 <a name="l00310"></a>00310 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>); |
|
296 <a name="l00311"></a>00311 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &= ~PDO_INHIBITED; |
|
297 <a name="l00312"></a>00312 <span class="comment">/* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span> |
|
298 <a name="l00313"></a>00313 <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo); |
|
299 <a name="l00314"></a>00314 <span class="keywordflow">return</span> 0; |
|
300 <a name="l00315"></a>00315 }<span class="keywordflow">else</span> { |
|
301 <a name="l00316"></a>00316 <span class="comment">/* The requested PDO is not to send on request. So, does</span> |
|
302 <a name="l00317"></a>00317 <span class="comment"> nothing. */</span> |
|
303 <a name="l00318"></a>00318 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>); |
|
304 <a name="l00319"></a>00319 <span class="keywordflow">return</span> 0xFF; |
|
305 <a name="l00320"></a>00320 } |
|
306 <a name="l00321"></a>00321 |
|
307 <a name="l00322"></a>00322 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>:<span class="comment">/* build and send requested PDO */</span> |
|
308 <a name="l00323"></a>00323 { |
|
309 <a name="l00324"></a>00324 <a class="code" href="structMessage.html">Message</a> pdo; |
|
310 <a name="l00325"></a>00325 <span class="keywordflow">if</span>( <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo, &pdo)) |
|
311 <a name="l00326"></a>00326 { |
|
312 <a name="l00327"></a>00327 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1948, <span class="stringliteral">" Couldn't build TPDO n°"</span>, numPdo); |
|
313 <a name="l00328"></a>00328 <span class="keywordflow">return</span> 0xFF; |
|
314 <a name="l00329"></a>00329 } |
|
315 <a name="l00330"></a>00330 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&pdo); |
|
316 <a name="l00331"></a>00331 <span class="keywordflow">return</span> 0; |
|
317 <a name="l00332"></a>00332 } |
|
318 <a name="l00333"></a>00333 }<span class="comment">/* end switch status */</span> |
|
319 <a name="l00334"></a>00334 }<span class="comment">/* end while */</span> |
|
320 <a name="l00335"></a>00335 }<span class="comment">/* end if Requete */</span> |
|
321 <a name="l00336"></a>00336 |
|
322 <a name="l00337"></a>00337 <span class="keywordflow">return</span> 0; |
|
323 <a name="l00338"></a>00338 } |
|
324 <a name="l00339"></a>00339 |
|
325 <a name="l00351"></a><a class="code" href="pdo_8h.html#ad755ad656fe0f661ca6bd17acb1245a">00351</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBigEndian) |
|
326 <a name="l00352"></a>00352 { |
|
327 <a name="l00353"></a>00353 <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span> |
|
328 <a name="l00354"></a>00354 <span class="comment">/* successively bytes*/</span> |
|
329 <a name="l00355"></a>00355 <span class="comment">// boundaries from LSB to MSB.</span> |
|
330 <a name="l00356"></a>00356 <span class="keywordflow">while</span>(NbBits > 0) |
|
331 <a name="l00357"></a>00357 { |
|
332 <a name="l00358"></a>00358 <span class="comment">/* Bit missalignement between src and dest*/</span> |
|
333 <a name="l00359"></a>00359 <a class="code" href="hcs12_2applicfg_8h.html#6452da7d208e10c600824e6f8d437ea6">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex; |
|
334 <a name="l00360"></a>00360 |
|
335 <a name="l00361"></a>00361 <span class="comment">/* We can now get src and align it to dest*/</span> |
|
336 <a name="l00362"></a>00362 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect; |
|
337 <a name="l00363"></a>00363 |
|
338 <a name="l00364"></a>00364 <span class="comment">/* Compute the nb of bit we will be able to copy*/</span> |
|
339 <a name="l00365"></a>00365 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex ); |
|
340 <a name="l00366"></a>00366 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit; |
|
341 <a name="l00367"></a>00367 |
|
342 <a name="l00368"></a>00368 <span class="comment">/* Create a mask that will serve in:*/</span> |
|
343 <a name="l00369"></a>00369 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex))); |
|
344 <a name="l00370"></a>00370 |
|
345 <a name="l00371"></a>00371 <span class="comment">/* - Filtering src*/</span> |
|
346 <a name="l00372"></a>00372 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Filtered = Aligned & ~Mask; |
|
347 <a name="l00373"></a>00373 |
|
348 <a name="l00374"></a>00374 <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span> |
|
349 <a name="l00375"></a>00375 *DestByteIndex &= Mask; |
|
350 <a name="l00376"></a>00376 |
|
351 <a name="l00377"></a>00377 <span class="comment">/* Then write.*/</span> |
|
352 <a name="l00378"></a>00378 *DestByteIndex |= Filtered ; |
|
353 <a name="l00379"></a>00379 |
|
354 <a name="l00380"></a>00380 <span class="comment">/*Compute next time cursors for src*/</span> |
|
355 <a name="l00381"></a>00381 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7)<span class="comment">/* cross boundary ?*/</span> |
|
356 <a name="l00382"></a>00382 { |
|
357 <a name="l00383"></a>00383 SrcBitIndex = 0;<span class="comment">/* First bit*/</span> |
|
358 <a name="l00384"></a>00384 SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span> |
|
359 <a name="l00385"></a>00385 } |
|
360 <a name="l00386"></a>00386 |
|
361 <a name="l00387"></a>00387 |
|
362 <a name="l00388"></a>00388 <span class="comment">/*Compute next time cursors for dest*/</span> |
|
363 <a name="l00389"></a>00389 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7) |
|
364 <a name="l00390"></a>00390 { |
|
365 <a name="l00391"></a>00391 DestBitIndex = 0;<span class="comment">/* First bit*/</span> |
|
366 <a name="l00392"></a>00392 DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span> |
|
367 <a name="l00393"></a>00393 } |
|
368 <a name="l00394"></a>00394 |
|
369 <a name="l00395"></a>00395 <span class="comment">/*And decrement counter.*/</span> |
|
370 <a name="l00396"></a>00396 NbBits -= BitsToCopy; |
|
371 <a name="l00397"></a>00397 } |
|
372 <a name="l00398"></a>00398 |
|
373 <a name="l00399"></a>00399 } |
|
374 <a name="l00408"></a><a class="code" href="pdo_8h.html#adaae758ac4e9333eec59ff123ba98ad">00408</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#adaae758ac4e9333eec59ff123ba98ad">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>) |
|
375 <a name="l00409"></a>00409 { |
|
376 <a name="l00410"></a>00410 <span class="comment">/* Calls _sendPDOevent specifying it is not a sync event */</span> |
|
377 <a name="l00411"></a>00411 <span class="keywordflow">return</span> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0); |
|
378 <a name="l00412"></a>00412 } |
|
379 <a name="l00413"></a>00413 |
|
380 <a name="l00414"></a>00414 |
|
381 <a name="l00415"></a><a class="code" href="pdo_8h.html#1e6f0540474e95f2928151efec83ccb6">00415</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum) |
|
382 <a name="l00416"></a>00416 { |
|
383 <a name="l00417"></a>00417 <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span> |
|
384 <a name="l00418"></a>00418 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = TIMER_NONE; |
|
385 <a name="l00419"></a>00419 <span class="comment">/* force emission of PDO by artificially changing last emitted*/</span> |
|
386 <a name="l00420"></a>00420 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0; |
|
387 <a name="l00421"></a>00421 <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span> |
|
388 <a name="l00422"></a>00422 } |
|
389 <a name="l00423"></a>00423 |
|
390 <a name="l00424"></a><a class="code" href="pdo_8h.html#adf6445208b9af9b11f66f66a5d1f1f9">00424</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum) |
|
391 <a name="l00425"></a>00425 { |
|
392 <a name="l00426"></a>00426 <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span> |
|
393 <a name="l00427"></a>00427 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = TIMER_NONE; |
|
394 <a name="l00428"></a>00428 <span class="comment">/* Remove inhibit flag */</span> |
|
395 <a name="l00429"></a>00429 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &= ~PDO_INHIBITED; |
|
396 <a name="l00430"></a>00430 <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span> |
|
397 <a name="l00431"></a>00431 } |
|
398 <a name="l00432"></a>00432 |
|
399 <a name="l00442"></a><a class="code" href="pdo_8h.html#fbf33713253ccf33f9277e31c78a6cb5">00442</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> isSyncEvent ) |
|
400 <a name="l00443"></a>00443 { |
|
401 <a name="l00444"></a>00444 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> pdoNum = 0x00; <span class="comment">/* number of the actual processed pdo-nr. */</span> |
|
402 <a name="l00445"></a>00445 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pTransmissionType = NULL; |
|
403 <a name="l00446"></a>00446 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>; |
|
404 <a name="l00447"></a>00447 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
405 <a name="l00448"></a>00448 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdictMap = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a>; |
|
406 <a name="l00449"></a>00449 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
407 <a name="l00450"></a>00450 |
|
408 <a name="l00451"></a>00451 <span class="comment">/* study all PDO stored in the objects dictionary */</span> |
|
409 <a name="l00452"></a>00452 <span class="keywordflow">if</span>(offsetObjdict){ |
|
410 <a name="l00453"></a>00453 <a class="code" href="structMessage.html">Message</a> pdo = <a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>; |
|
411 <a name="l00454"></a>00454 <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) { |
|
412 <a name="l00455"></a>00455 <span class="keywordflow">switch</span>( status ) { |
|
413 <a name="l00456"></a>00456 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>: |
|
414 <a name="l00457"></a>00457 <span class="keywordflow">if</span> (<span class="comment">/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/</span> |
|
415 <a name="l00458"></a>00458 <span class="comment">/* check if TPDO is not valid */</span> |
|
416 <a name="l00459"></a>00459 *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> & 0x8000) { |
|
417 <a name="l00460"></a>00460 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3960, <span class="stringliteral">"Not a valid PDO "</span>, 0x1800 + pdoNum); |
|
418 <a name="l00461"></a>00461 <span class="comment">/*Go next TPDO*/</span> |
|
419 <a name="l00462"></a>00462 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
420 <a name="l00463"></a>00463 <span class="keywordflow">break</span>; |
|
421 <a name="l00464"></a>00464 } |
|
422 <a name="l00465"></a>00465 <span class="comment">/* get the PDO transmission type */</span> |
|
423 <a name="l00466"></a>00466 pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
|
424 <a name="l00467"></a>00467 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3962, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum); |
|
425 <a name="l00468"></a>00468 |
|
426 <a name="l00469"></a>00469 <span class="comment">/* check if transmission type is SYNCRONOUS */</span> |
|
427 <a name="l00470"></a>00470 <span class="comment">/* The message is transmited every n SYNC with n=TransmissionType */</span> |
|
428 <a name="l00471"></a>00471 <span class="keywordflow">if</span>( isSyncEvent && |
|
429 <a name="l00472"></a>00472 (*pTransmissionType >= TRANS_SYNC_MIN) && |
|
430 <a name="l00473"></a>00473 (*pTransmissionType <= TRANS_SYNC_MAX) && |
|
431 <a name="l00474"></a>00474 (++<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> == *pTransmissionType) ) { |
|
432 <a name="l00475"></a>00475 <span class="comment">/*Reset count of SYNC*/</span> |
|
433 <a name="l00476"></a>00476 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0; |
|
434 <a name="l00477"></a>00477 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3964, <span class="stringliteral">" PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType); |
|
435 <a name="l00478"></a>00478 pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>; |
|
436 <a name="l00479"></a>00479 <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &pdo)) |
|
437 <a name="l00480"></a>00480 { |
|
438 <a name="l00481"></a>00481 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1906, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum); |
|
439 <a name="l00482"></a>00482 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
440 <a name="l00483"></a>00483 <span class="keywordflow">break</span>; |
|
441 <a name="l00484"></a>00484 } |
|
442 <a name="l00485"></a>00485 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>; |
|
443 <a name="l00486"></a>00486 <span class="comment">/* If transmission RTR, with data sampled on SYNC */</span> |
|
444 <a name="l00487"></a>00487 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>( isSyncEvent && |
|
445 <a name="l00488"></a>00488 (*pTransmissionType == TRANS_RTR_SYNC)) { |
|
446 <a name="l00489"></a>00489 <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &d-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>)) |
|
447 <a name="l00490"></a>00490 { |
|
448 <a name="l00491"></a>00491 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1966, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum); |
|
449 <a name="l00492"></a>00492 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY; |
|
450 <a name="l00493"></a>00493 }<span class="keywordflow">else</span>{ |
|
451 <a name="l00494"></a>00494 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY; |
|
452 <a name="l00495"></a>00495 } |
|
453 <a name="l00496"></a>00496 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
454 <a name="l00497"></a>00497 <span class="keywordflow">break</span>; |
|
455 <a name="l00498"></a>00498 <span class="comment">/* If transmission on Event and not inhibited, check for changes */</span> |
|
456 <a name="l00499"></a>00499 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>((*pTransmissionType == TRANS_EVENT_PROFILE || |
|
457 <a name="l00500"></a>00500 *pTransmissionType == TRANS_EVENT_SPECIFIC )&& |
|
458 <a name="l00501"></a>00501 !(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> & PDO_INHIBITED)) { |
|
459 <a name="l00502"></a>00502 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3968, <span class="stringliteral">" PDO is on EVENT. Trans type : "</span>, *pTransmissionType); |
|
460 <a name="l00503"></a>00503 pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>; |
|
461 <a name="l00504"></a>00504 <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &pdo)) |
|
462 <a name="l00505"></a>00505 { |
|
463 <a name="l00506"></a>00506 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x3907, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum); |
|
464 <a name="l00507"></a>00507 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
465 <a name="l00508"></a>00508 <span class="keywordflow">break</span>; |
|
466 <a name="l00509"></a>00509 } |
|
467 <a name="l00510"></a>00510 |
|
468 <a name="l00511"></a>00511 <span class="comment">/*Compare new and old PDO*/</span> |
|
469 <a name="l00512"></a>00512 <span class="keywordflow">if</span>(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> && |
|
470 <a name="l00513"></a>00513 d->PDO_status[pdoNum].last_message.len == pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> && |
|
471 <a name="l00514"></a>00514 *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&pdo.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0])){ |
|
472 <a name="l00515"></a>00515 <span class="comment">/* No changes -> go to next pdo*/</span> |
|
473 <a name="l00516"></a>00516 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
474 <a name="l00517"></a>00517 }<span class="keywordflow">else</span>{ |
|
475 <a name="l00518"></a>00518 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306A, <span class="stringliteral">"Changes TPDO number : "</span>, pdoNum); |
|
476 <a name="l00519"></a>00519 <span class="comment">/* Changes detected -> transmit message */</span> |
|
477 <a name="l00520"></a>00520 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>; |
|
478 <a name="l00521"></a>00521 |
|
479 <a name="l00522"></a>00522 <span class="comment">/* Start both event_timer and inhibit_timer*/</span> |
|
480 <a name="l00523"></a>00523 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d->PDO_status[pdoNum].event_timer); |
|
481 <a name="l00524"></a>00524 d->PDO_status[pdoNum].event_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &<a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d->objdict[offsetObjdict].pSubindex[5].pObject), 0); |
|
482 <a name="l00525"></a>00525 |
|
483 <a name="l00526"></a>00526 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d->PDO_status[pdoNum].inhibit_timer); |
|
484 <a name="l00527"></a>00527 d->PDO_status[pdoNum].inhibit_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &<a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#5f44d2f770d3bd711510372589f5ae9c">US_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d->objdict[offsetObjdict].pSubindex[3].pObject * 100), 0); |
|
485 <a name="l00528"></a>00528 |
|
486 <a name="l00529"></a>00529 <span class="comment">/* and inhibit TPDO */</span> |
|
487 <a name="l00530"></a>00530 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED; |
|
488 <a name="l00531"></a>00531 } |
|
489 <a name="l00532"></a>00532 }<span class="keywordflow">else</span>{ |
|
490 <a name="l00533"></a>00533 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306C, <span class="stringliteral">" PDO is not on EVENT or synchro or not at this SYNC. Trans type : "</span>, *pTransmissionType); |
|
491 <a name="l00534"></a>00534 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
492 <a name="l00535"></a>00535 } |
|
493 <a name="l00536"></a>00536 <span class="keywordflow">break</span>; |
|
494 <a name="l00537"></a>00537 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>: <span class="comment">/*Send the pdo*/</span> |
|
495 <a name="l00538"></a>00538 <span class="comment">/*store_as_last_message*/</span> |
|
496 <a name="l00539"></a>00539 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a> = pdo; |
|
497 <a name="l00540"></a>00540 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396D, <span class="stringliteral">"sendPDO cobId :"</span>, pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>); |
|
498 <a name="l00541"></a>00541 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396E, <span class="stringliteral">" Nb octets : "</span>, pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>); |
|
499 <a name="l00542"></a>00542 |
|
500 <a name="l00543"></a>00543 <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&pdo); |
|
501 <a name="l00544"></a>00544 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>; |
|
502 <a name="l00545"></a>00545 <span class="keywordflow">break</span>; |
|
503 <a name="l00546"></a>00546 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>: <span class="comment">/*Go to next TPDO*/</span> |
|
504 <a name="l00547"></a>00547 pdoNum++; |
|
505 <a name="l00548"></a>00548 offsetObjdict++; |
|
506 <a name="l00549"></a>00549 offsetObjdictMap++; |
|
507 <a name="l00550"></a>00550 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3970, <span class="stringliteral">"next pdo index : "</span>, pdoNum); |
|
508 <a name="l00551"></a>00551 status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>; |
|
509 <a name="l00552"></a>00552 <span class="keywordflow">break</span>; |
|
510 <a name="l00553"></a>00553 |
|
511 <a name="l00554"></a>00554 <span class="keywordflow">default</span>: |
|
512 <a name="l00555"></a>00555 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1972,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status); |
|
513 <a name="l00556"></a>00556 <span class="keywordflow">return</span> 0xFF; |
|
514 <a name="l00557"></a>00557 }<span class="comment">/* end switch case */</span> |
|
515 <a name="l00558"></a>00558 |
|
516 <a name="l00559"></a>00559 }<span class="comment">/* end while */</span> |
|
517 <a name="l00560"></a>00560 } |
|
518 <a name="l00561"></a>00561 <span class="keywordflow">return</span> 0; |
|
519 <a name="l00562"></a>00562 } |
|
520 <a name="l00563"></a>00563 |
|
521 <a name="l00573"></a><a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">00573</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * OD_entry, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex) |
|
522 <a name="l00574"></a>00574 { |
|
523 <a name="l00575"></a>00575 <span class="comment">/* If PDO are actives */</span> |
|
524 <a name="l00576"></a>00576 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#9e525c64ecaa9ffd9f2f9e6dea031fed">csPDO</a>) <span class="keywordflow">switch</span>(bSubindex) |
|
525 <a name="l00577"></a>00577 { |
|
526 <a name="l00578"></a>00578 <span class="keywordflow">case</span> 2: <span class="comment">/* Changed transmition type */</span> |
|
527 <a name="l00579"></a>00579 <span class="keywordflow">case</span> 3: <span class="comment">/* Changed inhibit time */</span> |
|
528 <a name="l00580"></a>00580 <span class="keywordflow">case</span> 5: <span class="comment">/* Changed event time */</span> |
|
529 <a name="l00581"></a>00581 { |
|
530 <a name="l00582"></a>00582 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> pTransmissionType = *(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) OD_entry-><a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>; |
|
531 <a name="l00583"></a>00583 <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
532 <a name="l00584"></a>00584 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo = OD_entry - TPDO_com; <span class="comment">/* number of the actual processed pdo-nr. */</span> |
|
533 <a name="l00585"></a>00585 |
|
534 <a name="l00586"></a>00586 <span class="comment">/* Zap all timers and inhibit flag */</span> |
|
535 <a name="l00587"></a>00587 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>); |
|
536 <a name="l00588"></a>00588 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>); |
|
537 <a name="l00589"></a>00589 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0; |
|
538 <a name="l00590"></a>00590 <span class="comment">/* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span> |
|
539 <a name="l00591"></a>00591 <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo); |
|
540 <a name="l00592"></a>00592 <span class="keywordflow">return</span> 0; |
|
541 <a name="l00593"></a>00593 } |
|
542 <a name="l00594"></a>00594 |
|
543 <a name="l00595"></a>00595 <span class="keywordflow">default</span>: <span class="comment">/* other subindex are ignored*/</span> |
|
544 <a name="l00596"></a>00596 <span class="keywordflow">break</span>; |
|
545 <a name="l00597"></a>00597 } |
|
546 <a name="l00598"></a>00598 <span class="keywordflow">return</span> 0; |
|
547 <a name="l00599"></a>00599 } |
|
548 <a name="l00600"></a>00600 |
|
549 <a name="l00601"></a><a class="code" href="pdo_8h.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">00601</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">PDOInit</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>) |
|
550 <a name="l00602"></a>00602 { |
|
551 <a name="l00603"></a>00603 <span class="comment">/* For each TPDO mapping parameters */</span> |
|
552 <a name="l00604"></a>00604 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> pdoIndex = 0x1800; <span class="comment">/* OD index of TDPO */</span> |
|
553 <a name="l00605"></a>00605 |
|
554 <a name="l00606"></a>00606 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
555 <a name="l00607"></a>00607 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
556 <a name="l00608"></a>00608 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) { |
|
557 <a name="l00609"></a>00609 <span class="comment">/* Assign callbacks to sensible TPDO mapping subindexes */</span> |
|
558 <a name="l00610"></a>00610 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> errorCode; |
|
559 <a name="l00611"></a>00611 <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> *CallbackList; |
|
560 <a name="l00612"></a>00612 <span class="comment">/* Find callback list */</span> |
|
561 <a name="l00613"></a>00613 <a class="code" href="objacces_8c.html#b2839d53051e322c12605c1d7f3dc4e5">scanIndexOD</a> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoIndex, &errorCode, &CallbackList); |
|
562 <a name="l00614"></a>00614 <span class="keywordflow">if</span>(errorCode == <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> && CallbackList) |
|
563 <a name="l00615"></a>00615 { |
|
564 <a name="l00616"></a>00616 <span class="comment">/*Assign callbacks to corresponding subindex*/</span> |
|
565 <a name="l00617"></a>00617 <span class="comment">/* Transmission type */</span> |
|
566 <a name="l00618"></a>00618 CallbackList[2] = &<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>; |
|
567 <a name="l00619"></a>00619 <span class="comment">/* Inhibit time */</span> |
|
568 <a name="l00620"></a>00620 CallbackList[3] = &<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>; |
|
569 <a name="l00621"></a>00621 <span class="comment">/* Event timer */</span> |
|
570 <a name="l00622"></a>00622 CallbackList[5] = &<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>; |
|
571 <a name="l00623"></a>00623 } |
|
572 <a name="l00624"></a>00624 pdoIndex++; |
|
573 <a name="l00625"></a>00625 offsetObjdict++; |
|
574 <a name="l00626"></a>00626 } |
|
575 <a name="l00627"></a>00627 |
|
576 <a name="l00628"></a>00628 <span class="comment">/* Trigger a non-sync event */</span> |
|
577 <a name="l00629"></a>00629 <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); |
|
578 <a name="l00630"></a>00630 } |
|
579 <a name="l00631"></a>00631 |
|
580 <a name="l00632"></a><a class="code" href="pdo_8h.html#e31b98506e436ee213de906c19cc59f1">00632</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e31b98506e436ee213de906c19cc59f1">PDOStop</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>) |
|
581 <a name="l00633"></a>00633 { |
|
582 <a name="l00634"></a>00634 <span class="comment">/* For each TPDO mapping parameters */</span> |
|
583 <a name="l00635"></a>00635 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> pdoNum = 0x00; <span class="comment">/* number of the actual processed pdo-nr. */</span> |
|
584 <a name="l00636"></a>00636 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
585 <a name="l00637"></a>00637 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-><a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; |
|
586 <a name="l00638"></a>00638 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) { |
|
587 <a name="l00639"></a>00639 <span class="comment">/* Delete TPDO timers */</span> |
|
588 <a name="l00640"></a>00640 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>); |
|
589 <a name="l00641"></a>00641 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>); |
|
590 <a name="l00642"></a>00642 <span class="comment">/* Reset transmit type parameter */</span> |
|
591 <a name="l00643"></a>00643 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0; |
|
592 <a name="l00644"></a>00644 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0; |
|
593 <a name="l00645"></a>00645 pdoNum++; |
|
594 <a name="l00646"></a>00646 offsetObjdict++; |
|
595 <a name="l00647"></a>00647 } |
|
596 <a name="l00648"></a>00648 } |
|
597 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
|
598 <a href="http://www.doxygen.org/index.html"> |
|
599 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
|
600 </body> |
|
601 </html> |
|