1 /*

     2 This file is part of CanFestival, a library implementing CanOpen Stack. 

     3 

     4 Copyright (C): Edouard TISSERANT and Francis DUPIN

     5 

     6 See COPYING file for copyrights details.

     7 

     8 This library is free software; you can redistribute it and/or

     9 modify it under the terms of the GNU Lesser General Public

    10 License as published by the Free Software Foundation; either

    11 version 2.1 of the License, or (at your option) any later version.

    12 

    13 This library is distributed in the hope that it will be useful,

    14 but WITHOUT ANY WARRANTY; without even the implied warranty of

    15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16 Lesser General Public License for more details.

    17 

    18 You should have received a copy of the GNU Lesser General Public

    19 License along with this library; if not, write to the Free Software

    20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21 */

    22 

    23 #ifndef __pdo_h__

    24 #define __pdo_h__

    25 

    26 #include <applicfg.h>

    27 #include <def.h>

    28 

    29 /* The process_var structure

    30  Used to store the PDO before the transmission or the reception.

    31 */

    32 typedef struct struct_s_process_var {

    33   UNS8 count; // Size of data. Ex : for a PDO of 6 bytes of data, count = 6

    34   // WARNING s_process_var.data is subject to ENDIANISATION 

    35   // (with respect to CANOPEN_BIG_ENDIAN)

    36   UNS8 data[PDO_MAX_LEN];

    37 }s_process_var;

    38 

    39 #include "data.h"

    40 

    41 /** The PDO structure */

    42 typedef struct struct_s_PDO {

    43   UNS32 cobId;	  // COB-ID

    44   UNS8           len;	  // Number of data transmitted (in data[])

    45   UNS8           data[8]; // Contain the data

    46 }s_PDO;

    47 

    48 /** Transmit a PDO data frame on the bus bus_id

    49  * pdo is a structure which contains the pdo to transmit

    50  * bus_id is hardware dependant

    51  * return canSend(bus_id,&m) or 0xFF if error

    52  * request can take the value  REQUEST or NOT_A_REQUEST

    53  */

    54 UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);

    55 

    56 /** Prepare a PDO frame transmission, 

    57  * whose different parameters are stored in process_var table,

    58  * to the slave.

    59  * bus_id is hardware dependant

    60  * call the function sendPDO

    61  * return the result of the function sendPDO or 0xFF if error

    62  */

    63 UNS8 PDOmGR (CO_Data* d, UNS32 cobId);

    64 

    65 /** Prepare the PDO defined at index to be sent by  PDOmGR

    66  * Copy all the data to transmit in process_var

    67  * *pwCobId : returns the value of the cobid. (subindex 1)

    68  * Return 0 or 0xFF if error.

    69  */

    70 UNS8 buildPDO (CO_Data* d, UNS16 index);

    71 

    72 /** Transmit a PDO request frame on the bus bus_id

    73  * to the slave.

    74  * bus_id is hardware dependant

    75  * Returns 0xFF if error, other in success.

    76  */

    77 UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);

    78 

    79 /** Compute a PDO frame reception

    80  * bus_id is hardware dependant

    81  * return 0xFF if error, else return 0

    82  */

    83 UNS8 proceedPDO (CO_Data* d, Message *m);

    84 

    85 /* used by the application to send a variable by PDO.

    86  * Check in which PDO the variable is mapped, and send the PDO. 

    87  * of course, the others variables mapped in the PDO are also sent !

    88  * ( ie when a specific event occured)

    89  * bus_id is hardware dependant

    90  * variable is a pointer to the variable which has to be sent. Must be

    91  * defined in the object dictionary

    92  * return 0xFF if error, else return 0

    93  */

    94 UNS8 sendPDOevent (CO_Data* d, void * variable);

    95 

    96 #endif