canfestival: comparison src/pdo.c

equal deleted inserted replaced

-:485e9b8a3e76
+:3e0c776da33b
 sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
 {
 UNS32 *pwCobId;
 UNS16 offset = d->firstIndex->PDO_RCV;
 UNS16 lastIndex = d->lastIndex->PDO_RCV;
+if (!d->CurrentCommunicationState.csPDO)
+{
+return 0;
+}
 /* Sending the request only if the cobid have been found on the PDO
 receive */
 /* part dictionary */
 NbBits -= BitsToCopy;
 }
 }
+static void sendPdo(CO_Data * d, UNS32 pdoNum, Message * pdo)
+{
+/*store_as_last_message */
+d->PDO_status[pdoNum].last_message = *pdo;
+MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
+MSG_WAR (0x396E, "     Nb octets  : ", pdo.len);
+canSend (d->canHandle, pdo);
+}
 /*!
 **
 **
 ** @param d
 **
 {
 /* Calls _sendPDOevent specifying it is not a sync event */
 return _sendPDOevent (d, 0);
 }
+UNS8
+sendOnePDOevent (CO_Data * d, UNS32 pdoNum)
+{
+if (!d->CurrentCommunicationState.csPDO ||
+!(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED))
+{
+return 0;
+}
+UNS16 offsetObjdict = d->firstIndex->PDO_TRS + pdoNum;
+MSG_WAR (0x3968, "  PDO is on EVENT. Trans type : ",
+*pTransmissionType);
+Message pdo;
+memset(&pdo, 0, sizeof(pdo));
+if (buildPDO (d, pdoNum, &pdo))
+{
+MSG_ERR (0x3907, " Couldn't build TPDO number : ",
+pdoNum);
+return;
+}
+/*Compare new and old PDO */
+if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id
+&& d->PDO_status[pdoNum].last_message.len == pdo.len
+&& memcmp(d->PDO_status[pdoNum].last_message.data,
+					pdo.data, 8) == 0
+)
+{
+/* No changes -> go to next pdo */
+return;
+}
+else
+{
+TIMEVAL EventTimerDuration;
+TIMEVAL InhibitTimerDuration;
+MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
+/* Changes detected -> transmit message */
+EventTimerDuration =
+*(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
+pObject;
+InhibitTimerDuration =
+*(UNS16 *) d->objdict[offsetObjdict].pSubindex[3].
+pObject;
+/* Start both event_timer and inhibit_timer */
+if (EventTimerDuration)
+{
+DelAlarm (d->PDO_status[pdoNum].event_timer);
+d->PDO_status[pdoNum].event_timer =
+SetAlarm (d, pdoNum, &PDOEventTimerAlarm,
+MS_TO_TIMEVAL (EventTimerDuration), 0);
+}
+if (InhibitTimerDuration)
+{
+DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
+d->PDO_status[pdoNum].inhibit_timer =
+SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm,
+US_TO_TIMEVAL (InhibitTimerDuration *
+100), 0);
+/* and inhibit TPDO */
+d->PDO_status[pdoNum].transmit_type_parameter |=
+PDO_INHIBITED;
+}
+sendPdo(d, pdoNum, &pdo);
+}
+}
 void
 PDOEventTimerAlarm (CO_Data * d, UNS32 pdoNum)
 {
 /* This is needed to avoid deletion of re-attribuated timer */
 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
 /* force emission of PDO by artificially changing last emitted */
 d->PDO_status[pdoNum].last_message.cob_id = 0;
-_sendPDOevent (d, 0);         /* not a Sync Event */
+sendOnePDOevent (d, pdoNum);
 }
 void
 PDOInhibitTimerAlarm (CO_Data * d, UNS32 pdoNum)
 {
 /* This is needed to avoid deletion of re-attribuated timer */
 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
 /* Remove inhibit flag */
 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
-_sendPDOevent (d, 0);         /* not a Sync Event */
+sendOnePDOevent (d, pdoNum);
 }
 /*!
 **
 **
 UNS8 *pTransmissionType = NULL;
 UNS8 status = state3;
 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
 UNS16 lastIndex = d->lastIndex->PDO_TRS;
+if (!d->CurrentCommunicationState.csPDO)
+{
+return 0;
+}
 /* study all PDO stored in the objects dictionary */
 if (offsetObjdict)
 {
 Message pdo;/* = Message_Initializer;*/
 status = state11;
 break;
 /* If transmission on Event and not inhibited, check for changes */
 }
 else
-if ((isSyncEvent
+if ( (isSyncEvent && (*pTransmissionType == TRANS_SYNC_ACYCLIC))
-&& (*pTransmissionType == TRANS_SYNC_ACYCLIC))
+||
-||
+(!isSyncEvent && (*pTransmissionType == TRANS_EVENT_PROFILE || *pTransmissionType == TRANS_EVENT_SPECIFIC)
-((*pTransmissionType == TRANS_EVENT_PROFILE
+&& !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)))
-|| *pTransmissionType == TRANS_EVENT_SPECIFIC)
-&& !(d->PDO_status[pdoNum].
-transmit_type_parameter & PDO_INHIBITED)))
 {
-MSG_WAR (0x3968, "  PDO is on EVENT. Trans type : ",
+sendOnePDOevent(d, pdoNum);
-*pTransmissionType);
+status = state11;
-memset(&pdo, 0, sizeof(pdo));
-/*{
-Message msg_init = Message_Initializer;
-pdo = msg_init;
-}*/
-if (buildPDO (d, pdoNum, &pdo))
-{
-MSG_ERR (0x3907, " Couldn't build TPDO number : ",
-pdoNum);
-status = state11;
-break;
-}
-/*Compare new and old PDO */
-if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id
-&& d->PDO_status[pdoNum].last_message.len == pdo.len
-&& memcmp(d->PDO_status[pdoNum].last_message.data,
-							pdo.data, 8) == 0
-)
-{
-/* No changes -> go to next pdo */
-status = state11;
-}
-else
-{
-TIMEVAL EventTimerDuration;
-TIMEVAL InhibitTimerDuration;
-MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
-/* Changes detected -> transmit message */
-EventTimerDuration =
-*(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
-pObject;
-InhibitTimerDuration =
-*(UNS16 *) d->objdict[offsetObjdict].pSubindex[3].
-pObject;
-status = state5;
-/* Start both event_timer and inhibit_timer */
-if (EventTimerDuration)
-{
-DelAlarm (d->PDO_status[pdoNum].event_timer);
-d->PDO_status[pdoNum].event_timer =
-SetAlarm (d, pdoNum, &PDOEventTimerAlarm,
-MS_TO_TIMEVAL (EventTimerDuration), 0);
-}
-if (InhibitTimerDuration)
-{
-DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
-d->PDO_status[pdoNum].inhibit_timer =
-SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm,
-US_TO_TIMEVAL (InhibitTimerDuration *
-100), 0);
-/* and inhibit TPDO */
-d->PDO_status[pdoNum].transmit_type_parameter |=
-PDO_INHIBITED;
-}
-}
 }
 else
 {
 MSG_WAR (0x306C,
 "  PDO is not on EVENT or synchro or not at this SYNC. Trans type : ",
 *pTransmissionType);
 status = state11;
 }
 break;
 case state5:       /*Send the pdo */
-/*store_as_last_message */
+sendPdo(d, pdoNum, &pdo);
-d->PDO_status[pdoNum].last_message = pdo;
-MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
-MSG_WAR (0x396E, "     Nb octets  : ", pdo.len);
-canSend (d->canHandle, &pdo);
 status = state11;
 break;
 case state11:      /*Go to next TPDO */
 pdoNum++;
 offsetObjdict++;

changeset 611	3e0c776da33b
parent 587	c175351a6994
child 619	96f84395154f