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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 #include "pdo.h" |
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23 #include "objacces.h" |
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24 |
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25 /****************************************************************************/ |
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26 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req) |
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27 { |
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28 UNS8 i; |
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29 if( d->nodeState == Operational ) { |
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30 Message m; |
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31 |
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32 /* Message copy for sending */ |
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33 m.cob_id.w = pdo.cobId & 0x7FF; // Because the cobId is 11 bytes length |
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34 if ( req == NOT_A_REQUEST ) { |
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35 UNS8 i; |
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36 m.rtr = NOT_A_REQUEST; |
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37 m.len = pdo.len; |
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38 //memcpy(&m.data, &pdo.data, m.len); |
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39 // This Memcpy depends on packing structure. Avoid |
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40 for (i = 0 ; i < pdo.len ; i++) |
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41 m.data[i] = pdo.data[i]; |
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42 } |
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43 else { |
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44 m.rtr = REQUEST; |
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45 m.len = 0; |
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46 } |
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47 |
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48 MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w); |
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49 MSG_WAR(0x3902, " Nb octets : ", m.len); |
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50 for (i = 0 ; i < m.len ; i++) { |
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51 MSG_WAR(0x3903," data : ", m.data[i]); |
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52 } |
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53 |
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54 return (*d->canSend)(&m); |
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55 } // end if |
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56 return 0xFF; |
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57 } |
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58 |
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59 /***************************************************************************/ |
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60 UNS8 PDOmGR(CO_Data* d, UNS32 cobId) //PDO Manager |
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61 { |
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62 UNS8 res; |
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63 UNS8 i; |
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64 s_PDO pdo; |
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65 |
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66 MSG_WAR(0x3905, "PDOmGR",0); |
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67 |
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68 /* if PDO is waiting for transmission, |
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69 preparation of the message to send */ |
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70 pdo.cobId = cobId; |
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71 pdo.len = d->process_var.count; |
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72 //memcpy(&(pdo.data), &(process_var.data), pdo.len); |
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73 // Ce memcpy devrait être portable |
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74 for ( i = 0 ; i < pdo.len ; i++) |
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75 pdo.data[i] = d->process_var.data[i]; |
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76 |
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77 res = sendPDO(d, pdo, NOT_A_REQUEST); |
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78 |
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79 return res; |
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80 } |
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81 |
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82 /**************************************************************************/ |
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83 UNS8 buildPDO(CO_Data* d, UNS16 index) |
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84 { // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. |
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85 UNS16 ind; |
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86 UNS8 subInd; |
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87 |
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88 UNS8 * pMappingCount = NULL; // count of mapped objects... |
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89 // pointer to the var which is mapped to a pdo |
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90 // void * pMappedAppObject = NULL; |
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91 // pointer fo the var which holds the mapping parameter of an mapping entry |
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92 UNS32 * pMappingParameter = NULL; |
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93 |
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94 UNS8 Size; |
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95 UNS8 dataType; |
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96 UNS8 offset; |
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97 UNS16 offsetObjdict; |
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98 UNS16 offsetObjdictPrm; |
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99 UNS32 objDict; |
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100 |
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101 subInd=(UNS8)0x00; |
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102 offset = 0x00; |
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103 ind = index - 0x1800; |
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104 |
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105 MSG_WAR(0x3910,"Prepare PDO to send index :", index); |
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106 |
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107 /* only operational state allows PDO transmission */ |
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108 if( d->nodeState != Operational ) { |
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109 MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index); |
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110 return 0xFF; |
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111 } |
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112 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
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113 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
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114 |
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115 if (offsetObjdictPrm && offsetObjdict) |
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116 { |
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117 /* get mapped objects number to transmit with this PDO */ |
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118 pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject; |
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119 MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount); |
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120 MSG_WAR(0x3913, " at index : ", 0x1A00 + ind); |
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121 while (subInd < *pMappingCount) { // Loop on mapped variables |
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122 /* get mapping parameters */ |
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123 pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject; |
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124 MSG_WAR(0x3914, "Get the mapping at index : ", (UNS16)0x1A00 + ind); |
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125 MSG_WAR(0x3915, " subIndex : ", subInd + 1); |
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126 MSG_WAR(0x3916, " value : ", *(UNS32 *)pMappingParameter); |
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127 // Get the mapped variable |
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128 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
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129 objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16), |
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130 (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF), |
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131 (void *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
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132 |
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133 if (objDict != OD_SUCCESSFUL) { |
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134 MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1); |
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135 MSG_WAR(0x2920, " Mapped at index : ", (*pMappingParameter) >> 16); |
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136 MSG_WAR(0x2921, " subindex : "getODentry, ((*pMappingParameter) >> 8 ) & 0xFF); |
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137 return 0xFF; |
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138 } |
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139 |
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140 offset += Size; |
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141 d->process_var.count = offset; |
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142 subInd++; |
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143 }// end Loop on mapped variables |
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144 } |
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145 return 0; |
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146 } |
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147 |
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148 /**************************************************************************/ |
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149 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId ) |
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150 { |
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151 UNS32 * pwCobId; |
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152 UNS16 offset; |
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153 UNS16 lastIndex; |
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154 UNS8 err; |
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155 |
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156 MSG_WAR(0x3930, "sendPDOrequest ",0); |
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157 // Sending the request only if the cobid have been found on the PDO receive |
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158 // part dictionary |
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159 offset = d->firstIndex->PDO_RCV; |
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160 lastIndex = d->lastIndex->PDO_RCV; |
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161 if (offset) |
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162 while (offset <= lastIndex) { |
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163 /*get the CobId*/ |
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164 pwCobId = d->objdict[offset].pSubindex[1].pObject; |
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165 |
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166 if ( *pwCobId == cobId ) { |
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167 s_PDO pdo; |
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168 pdo.cobId = *pwCobId; |
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169 pdo.len = 0; |
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170 err = sendPDO(d, pdo, REQUEST); |
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171 return err; |
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172 } |
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173 offset++; |
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174 } |
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175 MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); |
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176 return 0xFF; |
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177 } |
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178 |
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179 |
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180 |
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181 /***********************************************************************/ |
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182 UNS8 proceedPDO(CO_Data* d, Message *m) |
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183 { |
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184 UNS8 numPdo; |
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185 UNS8 numMap; // Number of the mapped varable |
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186 UNS8 i; |
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187 UNS8 * pMappingCount = NULL; // count of mapped objects... |
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188 // pointer to the var which is mapped to a pdo... |
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189 // void * pMappedAppObject = NULL; |
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190 // pointer fo the var which holds the mapping parameter of an mapping entry |
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191 UNS32 * pMappingParameter = NULL; |
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192 UNS8 * pTransmissionType = NULL; // pointer to the transmission type |
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193 UNS32 * pwCobId = NULL; |
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194 UNS8 Size; |
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195 UNS8 dataType; |
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196 UNS8 offset; |
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197 UNS8 status; |
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198 UNS32 objDict; |
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199 UNS16 offsetObjdict; |
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200 UNS16 lastIndex; |
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201 status = state1; |
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202 |
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203 MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); |
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204 offset = 0x00; |
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205 numPdo = 0; |
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206 numMap = 0; |
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207 if((*m).rtr == NOT_A_REQUEST ) { // The PDO received is not a request. |
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208 offsetObjdict = d->firstIndex->PDO_RCV; |
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209 lastIndex = d->lastIndex->PDO_RCV; |
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210 |
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211 /* study of all the PDO stored in the dictionary */ |
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212 if(offsetObjdict) |
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213 while (offsetObjdict <= lastIndex) { |
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214 |
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215 switch( status ) { |
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216 |
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217 case state1: /* data are stored in process_var array */ |
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218 //memcpy(&(process_var.data), &m->data, (*m).len); |
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219 // Ce memcpy devrait être portable. |
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220 for ( i = 0 ; i < m->len ; i++) |
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221 d->process_var.data[i] = m->data[i]; |
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222 d->process_var.count = (*m).len; |
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223 |
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224 status = state2; |
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225 break; |
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226 |
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227 case state2: |
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228 /* get CobId of the dictionary correspondant to the received PDO */ |
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229 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; |
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230 /* check the CobId coherance */ |
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231 //*pwCobId is the cobId read in the dictionary at the state 3 |
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232 if ( *pwCobId == (*m).cob_id.w ){ |
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233 // The cobId is recognized |
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234 status = state4; |
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235 MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo); |
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236 break; |
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237 } |
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238 else { |
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239 // cobId received does not match with those write in the dictionnary |
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240 numPdo++; |
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241 offsetObjdict++; |
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242 status = state2; |
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243 break; |
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244 } |
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245 |
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246 case state4: /* get mapped objects number */ |
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247 // The cobId of the message received has been found in the dictionnary. |
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248 offsetObjdict = d->firstIndex->PDO_RCV_MAP; |
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249 lastIndex = d->lastIndex->PDO_RCV_MAP; |
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250 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
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251 numMap = 0; |
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252 while (numMap < *pMappingCount) { |
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253 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
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254 if (pMappingParameter == NULL) { |
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255 MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); |
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256 return 0xFF; |
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257 } |
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258 // Get the addresse of the mapped variable. |
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259 // detail of *pMappingParameter : |
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260 // The 16 hight bits contains the index, the medium 8 bits contains the subindex, |
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261 // and the lower 8 bits contains the size of the mapped variable. |
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262 |
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263 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
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264 |
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265 objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16), |
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266 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF), |
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267 (void *)&d->process_var.data[offset], &Size, 0 ); |
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268 |
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269 if(objDict != OD_SUCCESSFUL) { |
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270 MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1); |
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271 MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16); |
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272 MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF); |
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273 return 0xFF; |
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274 } |
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275 |
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276 MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w); |
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277 MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16); |
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278 MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF); |
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279 // MSG_WAR(0x3945, " data : ",*((UNS32 *)pMappedAppObject)); |
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280 offset += Size; |
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281 numMap++; |
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282 } // end loop while on mapped variables |
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283 |
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284 offset=0x00; |
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285 numMap = 0; |
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286 return 0; |
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287 |
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288 }// end switch status |
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289 }// end while |
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290 }// end if Donnees |
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291 |
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292 |
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293 else if ((*m).rtr == REQUEST ){ |
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294 MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w); |
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295 status = state1; |
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296 offsetObjdict = d->firstIndex->PDO_TRS; |
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297 lastIndex = d->lastIndex->PDO_TRS; |
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298 if(offsetObjdict) while( offsetObjdict <= lastIndex ){ |
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299 /* study of all PDO stored in the objects dictionary */ |
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300 |
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301 switch( status ){ |
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302 |
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303 case state1: /* check the CobId */ |
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304 /* get CobId of the dictionary which match to the received PDO */ |
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305 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject; |
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306 if ( *pwCobId == (*m).cob_id.w ) { |
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307 status = state4; |
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308 break; |
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309 } |
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310 else { |
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311 numPdo++; |
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312 offsetObjdict++; |
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313 } |
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314 status = state1; |
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315 break; |
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316 |
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317 |
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318 case state4: /* check transmission type (after request?) */ |
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319 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject; |
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320 if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) { |
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321 status = state5; |
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322 break; |
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323 } |
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324 else { |
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325 // The requested PDO is not to send on request. So, does nothing. |
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326 MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w); |
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327 return 0xFF; |
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328 } |
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329 |
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330 case state5: /* get mapped objects number */ |
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331 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
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332 lastIndex = d->lastIndex->PDO_TRS_MAP; |
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333 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
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334 numMap = 0; |
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335 while (numMap < *pMappingCount) { |
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336 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
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337 // Get the mapped variable |
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338 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
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339 objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), |
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340 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF), |
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341 (void *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
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342 if (objDict != OD_SUCCESSFUL) { |
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343 MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1); |
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344 MSG_WAR(0x2949, " Mapped at index : ", (*pMappingParameter) >> 16); |
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345 MSG_WAR(0x2950, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF); |
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346 return 0xFF; |
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347 } |
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348 offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3); |
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349 d->process_var.count = offset; |
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350 numMap++; |
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351 |
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352 } // end while |
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353 PDOmGR( d, *pwCobId ); // Transmit the PDO |
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354 return 0; |
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355 |
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356 }// end switch status |
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357 }// end while |
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358 }// end if Requete |
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359 |
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360 return 0; |
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361 } |
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362 |
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363 |
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364 |
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365 |
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366 /*********************************************************************/ |
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367 /* TODO : reimplement this using CallBacks */ |
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368 /*********************************************************************/ |
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369 /* |
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370 UNS8 sendPDOevent( CO_Data* d, void * variable ) |
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371 { // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. |
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372 UNS32 objDict = 0; |
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373 UNS8 ind, sub_ind; |
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374 UNS8 status; |
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375 UNS8 offset; |
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376 UNS8 * pMappingCount = NULL; |
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377 UNS32 * pMappingParameter = NULL; |
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378 void * pMappedAppObject = NULL; |
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379 UNS8 * pTransmissionType = NULL; // pointer to the transmission type |
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380 UNS32 * pwCobId = NULL; |
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381 UNS8 * pSize; |
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382 UNS8 size; |
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383 UNS8 dataType; |
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384 UNS16 offsetObjdict; |
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385 UNS16 offsetObjdictPrm; |
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386 UNS16 lastIndex; |
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387 UNS8 numMap; |
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388 ind = 0x00; |
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389 sub_ind = 1; |
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390 offset = 0x00; |
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391 pSize = &size; |
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392 status = state1; |
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393 |
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394 // look for the index and subindex where the variable is mapped |
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395 // Then, send the pdo which contains the variable. |
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396 |
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397 MSG_WAR (0x3960, "sendPDOevent", 0); |
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398 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
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399 |
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400 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
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401 lastIndex = d->lastIndex->PDO_TRS_MAP; |
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402 |
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403 if (offsetObjdictPrm && offsetObjdict) |
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404 // Loop on PDO Transmit |
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405 while(offsetObjdict <= lastIndex){ |
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406 // Check the transmission mode |
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407 pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject; |
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408 if (*pTransmissionType != TRANS_EVENT) { |
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409 ind++; |
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410 offsetObjdict++; |
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411 offsetObjdictPrm++; |
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412 continue; |
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413 } |
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414 pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; |
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415 numMap = 1; // mapped variable |
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416 while (numMap <= *pMappingCount) { |
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417 pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject; |
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418 // Get the variable |
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419 objDict = getODentry( d, |
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420 (UNS16)((*pMappingParameter) >> 16), |
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421 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF), |
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422 (void * *)&pMappedAppObject, pSize, &dataType, 0 ); |
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423 if( objDict != OD_SUCCESSFUL ) { |
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424 MSG_WAR(0x2961, "Error in dict. at index : ", |
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425 (*pMappingParameter) >> (UNS8)16); |
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426 |
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427 MSG_WAR(0x2962, " subindex : ", |
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428 ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF); |
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429 return 0xFF; |
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430 } |
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431 if (pMappedAppObject == variable) { // Variable found ! |
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432 MSG_WAR(0x3963, "Variable to send found at index : ", |
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433 (*pMappingParameter) >> 16); |
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434 MSG_WAR(0x3964, " subIndex : ", |
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435 ((*pMappingParameter) >> 8 ) & 0x000000FF); |
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436 buildPDO(d, 0x1800 + ind); |
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437 // Get the cobId |
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438 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject; |
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439 PDOmGR( d, *pwCobId ); // Send the PDO |
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440 return 0; |
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441 } |
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442 numMap++; |
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443 } // End loop on mapped variable |
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444 ind++; |
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445 offsetObjdict++; |
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446 offsetObjdictPrm++; |
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447 } // End loop while on PDO |
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448 |
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449 MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0); |
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450 return 0xFF; |
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451 |
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452 } |
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453 */ |