14 <ul> |
14 <ul> |
15 <li><a href="files.html"><span>File List</span></a></li> |
15 <li><a href="files.html"><span>File List</span></a></li> |
16 <li><a href="globals.html"><span>Globals</span></a></li> |
16 <li><a href="globals.html"><span>Globals</span></a></li> |
17 </ul></div> |
17 </ul></div> |
18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/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> |
18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/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> |
19 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
19 <a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span> |
20 <a name="l00003"></a>00003 <span class="comment"></span> |
20 <a name="l00003"></a>00003 <span class="comment"> Stack.</span> |
21 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
21 <a name="l00004"></a>00004 <span class="comment"></span> |
22 <a name="l00005"></a>00005 <span class="comment"></span> |
22 <a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
23 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
23 <a name="l00006"></a>00006 <span class="comment"></span> |
24 <a name="l00007"></a>00007 <span class="comment"></span> |
24 <a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span> |
25 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
25 <a name="l00008"></a>00008 <span class="comment"></span> |
26 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
26 <a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span> |
27 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
27 <a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span> |
28 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
28 <a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span> |
29 <a name="l00012"></a>00012 <span class="comment"></span> |
29 <a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span> |
30 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
30 <a name="l00013"></a>00013 <span class="comment"></span> |
31 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
31 <a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span> |
32 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
32 <a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
33 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
33 <a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
34 <a name="l00017"></a>00017 <span class="comment"></span> |
34 <a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span> |
35 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
35 <a name="l00018"></a>00018 <span class="comment"></span> |
36 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
36 <a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span> |
37 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
37 <a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span> |
38 <a name="l00021"></a>00021 <span class="comment">*/</span> |
38 <a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span> |
39 <a name="l00022"></a>00022 <span class="preprocessor">#include "pdo.h"</span> |
39 <a name="l00022"></a>00022 <span class="comment"> USA</span> |
40 <a name="l00023"></a>00023 <span class="preprocessor">#include "objacces.h"</span> |
40 <a name="l00023"></a>00023 <span class="comment">*/</span> |
41 <a name="l00024"></a>00024 <span class="preprocessor">#include "canfestival.h"</span> |
41 <a name="l00024"></a>00024 <span class="preprocessor">#include "pdo.h"</span> |
42 <a name="l00025"></a>00025 |
42 <a name="l00025"></a>00025 <span class="preprocessor">#include "objacces.h"</span> |
43 <a name="l00026"></a>00026 <span class="comment">/****************************************************************************/</span> |
43 <a name="l00026"></a>00026 <span class="preprocessor">#include "canfestival.h"</span> |
44 <a name="l00027"></a><a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">00027</a> UNS8 <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(CO_Data* d, s_PDO pdo, UNS8 req) |
44 <a name="l00027"></a>00027 |
45 <a name="l00028"></a>00028 { |
45 <a name="l00037"></a><a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">00037</a> UNS8 <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(CO_Data* d, s_PDO pdo, UNS8 req) |
46 <a name="l00029"></a>00029 UNS8 i; |
46 <a name="l00038"></a>00038 { |
47 <a name="l00030"></a>00030 <span class="keywordflow">if</span>( d->nodeState == Operational ) { |
47 <a name="l00039"></a>00039 UNS8 i; |
48 <a name="l00031"></a>00031 Message m; |
48 <a name="l00040"></a>00040 <span class="keywordflow">if</span>( d->nodeState == Operational ) { |
49 <a name="l00032"></a>00032 |
49 <a name="l00041"></a>00041 Message m; |
50 <a name="l00033"></a>00033 <span class="comment">/* Message copy for sending */</span> |
50 <a name="l00042"></a>00042 |
51 <a name="l00034"></a>00034 m.cob_id.w = pdo.cobId & 0x7FF; <span class="comment">/* Because the cobId is 11 bytes length */</span> |
51 <a name="l00044"></a>00044 m.cob_id.w = pdo.cobId & 0x7FF; |
52 <a name="l00035"></a>00035 <span class="keywordflow">if</span> ( req == NOT_A_REQUEST ) { |
52 <a name="l00046"></a>00046 <span class="keywordflow">if</span> ( req == NOT_A_REQUEST ) { |
53 <a name="l00036"></a>00036 UNS8 i; |
53 <a name="l00047"></a>00047 UNS8 i; |
54 <a name="l00037"></a>00037 m.rtr = NOT_A_REQUEST; |
54 <a name="l00048"></a>00048 m.rtr = NOT_A_REQUEST; |
55 <a name="l00038"></a>00038 m.len = pdo.len; |
55 <a name="l00049"></a>00049 m.len = pdo.len; |
56 <a name="l00039"></a>00039 <span class="comment">/* memcpy(&m.data, &pdo.data, m.len); */</span> |
56 <a name="l00052"></a>00052 <span class="keywordflow">for</span> (i = 0 ; i < pdo.len ; i++) |
57 <a name="l00040"></a>00040 <span class="comment">/* This Memcpy depends on packing structure. Avoid */</span> |
57 <a name="l00053"></a>00053 m.data[i] = pdo.data[i]; |
58 <a name="l00041"></a>00041 <span class="keywordflow">for</span> (i = 0 ; i < pdo.len ; i++) |
58 <a name="l00054"></a>00054 } |
59 <a name="l00042"></a>00042 m.data[i] = pdo.data[i]; |
59 <a name="l00055"></a>00055 <span class="keywordflow">else</span> { |
60 <a name="l00043"></a>00043 } |
60 <a name="l00056"></a>00056 m.rtr = REQUEST; |
61 <a name="l00044"></a>00044 <span class="keywordflow">else</span> { |
61 <a name="l00057"></a>00057 m.len = 0; |
62 <a name="l00045"></a>00045 m.rtr = REQUEST; |
62 <a name="l00058"></a>00058 } |
63 <a name="l00046"></a>00046 m.len = 0; |
|
64 <a name="l00047"></a>00047 } |
|
65 <a name="l00048"></a>00048 |
|
66 <a name="l00049"></a>00049 MSG_WAR(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.cob_id.w); |
|
67 <a name="l00050"></a>00050 MSG_WAR(0x3902, <span class="stringliteral">" Nb octets : "</span>, m.len); |
|
68 <a name="l00051"></a>00051 <span class="keywordflow">for</span> (i = 0 ; i < m.len ; i++) { |
|
69 <a name="l00052"></a>00052 MSG_WAR(0x3903,<span class="stringliteral">" data : "</span>, m.data[i]); |
|
70 <a name="l00053"></a>00053 } |
|
71 <a name="l00054"></a>00054 |
|
72 <a name="l00055"></a>00055 <span class="keywordflow">return</span> canSend(d->canHandle,&m); |
|
73 <a name="l00056"></a>00056 } <span class="comment">/* end if */</span> |
|
74 <a name="l00057"></a>00057 <span class="keywordflow">return</span> 0xFF; |
|
75 <a name="l00058"></a>00058 } |
|
76 <a name="l00059"></a>00059 |
63 <a name="l00059"></a>00059 |
77 <a name="l00060"></a>00060 <span class="comment">/***************************************************************************/</span> |
64 <a name="l00060"></a>00060 MSG_WAR(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.cob_id.w); |
78 <a name="l00061"></a><a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">00061</a> UNS8 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(CO_Data* d, UNS32 cobId) <span class="comment">/* PDO Manager */</span> |
65 <a name="l00061"></a>00061 MSG_WAR(0x3902, <span class="stringliteral">" Nb octets : "</span>, m.len); |
79 <a name="l00062"></a>00062 { |
66 <a name="l00062"></a>00062 <span class="keywordflow">for</span> (i = 0 ; i < m.len ; i++) { |
80 <a name="l00063"></a>00063 UNS8 res; |
67 <a name="l00063"></a>00063 MSG_WAR(0x3903,<span class="stringliteral">" data : "</span>, m.data[i]); |
81 <a name="l00064"></a>00064 UNS8 i; |
68 <a name="l00064"></a>00064 } |
82 <a name="l00065"></a>00065 s_PDO pdo; |
69 <a name="l00065"></a>00065 |
83 <a name="l00066"></a>00066 |
70 <a name="l00066"></a>00066 <span class="keywordflow">return</span> canSend(d->canHandle,&m); |
84 <a name="l00067"></a>00067 MSG_WAR(0x3905, <span class="stringliteral">"PDOmGR"</span>,0); |
71 <a name="l00067"></a>00067 } |
85 <a name="l00068"></a>00068 |
72 <a name="l00068"></a>00068 <span class="keywordflow">return</span> 0xFF; |
86 <a name="l00069"></a>00069 <span class="comment">/* if PDO is waiting for transmission,</span> |
73 <a name="l00069"></a>00069 } |
87 <a name="l00070"></a>00070 <span class="comment"> preparation of the message to send */</span> |
74 <a name="l00070"></a>00070 |
88 <a name="l00071"></a>00071 pdo.cobId = cobId; |
75 <a name="l00079"></a><a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">00079</a> UNS8 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(CO_Data* d, UNS32 cobId) |
89 <a name="l00072"></a>00072 pdo.len = d->process_var.count; |
76 <a name="l00080"></a>00080 { |
90 <a name="l00073"></a>00073 <span class="comment">/* memcpy(&(pdo.data), &(process_var.data), pdo.len); */</span> |
77 <a name="l00081"></a>00081 UNS8 res; |
91 <a name="l00074"></a>00074 <span class="comment">/* Ce memcpy devrait être portable */</span> |
78 <a name="l00082"></a>00082 UNS8 i; |
92 <a name="l00075"></a>00075 <span class="keywordflow">for</span> ( i = 0 ; i < pdo.len ; i++) |
79 <a name="l00083"></a>00083 s_PDO pdo; |
93 <a name="l00076"></a>00076 pdo.data[i] = d->process_var.data[i]; |
80 <a name="l00084"></a>00084 |
94 <a name="l00077"></a>00077 |
81 <a name="l00085"></a>00085 MSG_WAR(0x3905, <span class="stringliteral">"PDOmGR"</span>,0); |
95 <a name="l00078"></a>00078 res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, NOT_A_REQUEST); |
82 <a name="l00086"></a>00086 |
96 <a name="l00079"></a>00079 |
83 <a name="l00089"></a>00089 pdo.cobId = cobId; |
97 <a name="l00080"></a>00080 <span class="keywordflow">return</span> res; |
84 <a name="l00090"></a>00090 pdo.len = d->process_var.count; |
98 <a name="l00081"></a>00081 } |
85 <a name="l00092"></a>00092 <span class="comment">/* Ce memcpy devrait tre portable */</span> |
99 <a name="l00082"></a>00082 |
86 <a name="l00093"></a>00093 <span class="keywordflow">for</span> ( i = 0 ; i < pdo.len ; i++) |
100 <a name="l00083"></a>00083 <span class="preprocessor">#if 0</span> |
87 <a name="l00094"></a>00094 pdo.data[i] = d->process_var.data[i]; |
101 <a name="l00084"></a>00084 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span> |
88 <a name="l00095"></a>00095 |
102 <a name="l00085"></a>00085 <span class="comment">/* TODO : implement bit mapping */</span> |
89 <a name="l00096"></a>00096 res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, NOT_A_REQUEST); |
103 <a name="l00086"></a>00086 <span class="comment">/*********************************************************************/</span> |
90 <a name="l00097"></a>00097 |
104 <a name="l00087"></a>00087 |
91 <a name="l00098"></a>00098 <span class="keywordflow">return</span> res; |
105 <a name="l00088"></a>00088 UNS8 buildPDO(CO_Data* d, UNS16 index) |
92 <a name="l00099"></a>00099 } |
106 <a name="l00089"></a>00089 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span> |
93 <a name="l00100"></a>00100 |
107 <a name="l00090"></a>00090 UNS16 ind; |
94 <a name="l00101"></a>00101 <span class="preprocessor">#if 0</span> |
108 <a name="l00091"></a>00091 UNS8 subInd; |
95 <a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span> |
109 <a name="l00092"></a>00092 |
96 <a name="l00103"></a>00103 <span class="comment">/* TODO : implement bit mapping */</span> |
110 <a name="l00093"></a>00093 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span> |
97 <a name="l00104"></a>00104 <span class="comment">/*********************************************************************/</span> |
111 <a name="l00094"></a>00094 <span class="comment">/* pointer to the var which is mapped to a pdo */</span> |
|
112 <a name="l00095"></a>00095 <span class="comment">/* void * pMappedAppObject = NULL; */</span> |
|
113 <a name="l00096"></a>00096 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span> |
|
114 <a name="l00097"></a>00097 UNS32 * pMappingParameter = NULL; |
|
115 <a name="l00098"></a>00098 |
|
116 <a name="l00099"></a>00099 UNS8 Size; |
|
117 <a name="l00100"></a>00100 UNS8 dataType; |
|
118 <a name="l00101"></a>00101 UNS8 offset; |
|
119 <a name="l00102"></a>00102 UNS16 offsetObjdict; |
|
120 <a name="l00103"></a>00103 UNS16 offsetObjdictPrm; |
|
121 <a name="l00104"></a>00104 UNS32 objDict; |
|
122 <a name="l00105"></a>00105 |
98 <a name="l00105"></a>00105 |
123 <a name="l00106"></a>00106 subInd=(UNS8)0x00; |
99 <a name="l00106"></a>00106 UNS8 buildPDO(CO_Data* d, UNS16 index) |
124 <a name="l00107"></a>00107 offset = 0x00; |
100 <a name="l00107"></a>00107 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span> |
125 <a name="l00108"></a>00108 ind = index - 0x1800; |
101 <a name="l00108"></a>00108 UNS16 ind; |
126 <a name="l00109"></a>00109 |
102 <a name="l00109"></a>00109 UNS8 subInd; |
127 <a name="l00110"></a>00110 MSG_WAR(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index); |
103 <a name="l00110"></a>00110 |
128 <a name="l00111"></a>00111 |
104 <a name="l00111"></a>00111 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span> |
129 <a name="l00112"></a>00112 <span class="comment">/* only operational state allows PDO transmission */</span> |
105 <a name="l00112"></a>00112 <span class="comment">/* pointer to the var which is mapped to a pdo */</span> |
130 <a name="l00113"></a>00113 <span class="keywordflow">if</span>( d->nodeState != Operational ) { |
106 <a name="l00113"></a>00113 <span class="comment">/* void * pMappedAppObject = NULL; */</span> |
131 <a name="l00114"></a>00114 MSG_WAR(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index); |
107 <a name="l00114"></a>00114 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span> |
132 <a name="l00115"></a>00115 <span class="keywordflow">return</span> 0xFF; |
108 <a name="l00115"></a>00115 |
133 <a name="l00116"></a>00116 } |
109 <a name="l00116"></a>00116 UNS32 * pMappingParameter = NULL; |
134 <a name="l00117"></a>00117 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
110 <a name="l00117"></a>00117 |
135 <a name="l00118"></a>00118 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
111 <a name="l00118"></a>00118 UNS8 Size; |
136 <a name="l00119"></a>00119 |
112 <a name="l00119"></a>00119 UNS8 dataType; |
137 <a name="l00120"></a>00120 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict) |
113 <a name="l00120"></a>00120 UNS8 offset; |
138 <a name="l00121"></a>00121 { |
114 <a name="l00121"></a>00121 UNS16 offsetObjdict; |
139 <a name="l00122"></a>00122 <span class="comment">/* get mapped objects number to transmit with this PDO */</span> |
115 <a name="l00122"></a>00122 UNS16 offsetObjdictPrm; |
140 <a name="l00123"></a>00123 pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject; |
116 <a name="l00123"></a>00123 UNS32 objDict; |
141 <a name="l00124"></a>00124 MSG_WAR(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount); |
117 <a name="l00124"></a>00124 |
142 <a name="l00125"></a>00125 MSG_WAR(0x3913, <span class="stringliteral">" at index : "</span>, 0x1A00 + ind); |
118 <a name="l00125"></a>00125 subInd=(UNS8)0x00; |
143 <a name="l00126"></a>00126 <span class="keywordflow">while</span> (subInd < *pMappingCount) { <span class="comment">/* Loop on mapped variables */</span> |
119 <a name="l00126"></a>00126 offset = 0x00; |
144 <a name="l00127"></a>00127 <span class="comment">/* get mapping parameters */</span> |
120 <a name="l00127"></a>00127 ind = index - 0x1800; |
145 <a name="l00128"></a>00128 pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject; |
121 <a name="l00128"></a>00128 |
146 <a name="l00129"></a>00129 MSG_WAR(0x3914, <span class="stringliteral">"Get the mapping at index : "</span>, (UNS16)0x1A00 + ind); |
122 <a name="l00129"></a>00129 MSG_WAR(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index); |
147 <a name="l00130"></a>00130 MSG_WAR(0x3915, <span class="stringliteral">" subIndex : "</span>, subInd + 1); |
123 <a name="l00130"></a>00130 |
148 <a name="l00131"></a>00131 MSG_WAR(0x3916, <span class="stringliteral">" value : "</span>, *(UNS32 *)pMappingParameter); |
124 <a name="l00132"></a>00132 <span class="keywordflow">if</span>( d->nodeState != Operational ) { |
149 <a name="l00132"></a>00132 <span class="comment">/* Get the mapped variable */</span> |
125 <a name="l00133"></a>00133 MSG_WAR(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index); |
150 <a name="l00133"></a>00133 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
126 <a name="l00134"></a>00134 <span class="keywordflow">return</span> 0xFF; |
151 <a name="l00134"></a>00134 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) >> 16), |
127 <a name="l00135"></a>00135 } |
152 <a name="l00135"></a>00135 (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF), |
128 <a name="l00136"></a>00136 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
153 <a name="l00136"></a>00136 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
129 <a name="l00137"></a>00137 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
154 <a name="l00137"></a>00137 |
130 <a name="l00138"></a>00138 |
155 <a name="l00138"></a>00138 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) { |
131 <a name="l00139"></a>00139 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict) |
156 <a name="l00139"></a>00139 MSG_WAR(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1); |
132 <a name="l00140"></a>00140 { |
157 <a name="l00140"></a>00140 MSG_WAR(0x2920, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
133 <a name="l00142"></a>00142 pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject; |
158 <a name="l00141"></a>00141 MSG_WAR(0x2921, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
134 <a name="l00143"></a>00143 MSG_WAR(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount); |
159 <a name="l00142"></a>00142 <span class="keywordflow">return</span> 0xFF; |
135 <a name="l00144"></a>00144 MSG_WAR(0x3913, <span class="stringliteral">" at index : "</span>, 0x1A00 + ind); |
160 <a name="l00143"></a>00143 } |
136 <a name="l00145"></a>00145 <span class="keywordflow">while</span> (subInd < *pMappingCount) { |
161 <a name="l00144"></a>00144 |
137 <a name="l00147"></a>00147 pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject; |
162 <a name="l00145"></a>00145 offset += Size; |
138 <a name="l00148"></a>00148 MSG_WAR(0x3914, <span class="stringliteral">"Get the mapping at index : "</span>, (UNS16)0x1A00 + ind); |
163 <a name="l00146"></a>00146 d->process_var.count = offset; |
139 <a name="l00149"></a>00149 MSG_WAR(0x3915, <span class="stringliteral">" subIndex : "</span>, subInd + 1); |
164 <a name="l00147"></a>00147 subInd++; |
140 <a name="l00150"></a>00150 MSG_WAR(0x3916, <span class="stringliteral">" value : "</span>, *(UNS32 *)pMappingParameter); |
165 <a name="l00148"></a>00148 }<span class="comment">/* end Loop on mapped variables */</span> |
141 <a name="l00152"></a>00152 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
166 <a name="l00149"></a>00149 } |
142 <a name="l00153"></a>00153 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) >> 16), |
167 <a name="l00150"></a>00150 <span class="keywordflow">return</span> 0; |
143 <a name="l00154"></a>00154 (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF), |
168 <a name="l00151"></a>00151 } |
144 <a name="l00155"></a>00155 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
169 <a name="l00152"></a>00152 <span class="preprocessor">#endif</span> |
145 <a name="l00156"></a>00156 |
170 <a name="l00153"></a>00153 <span class="preprocessor"></span><span class="comment">/**************************************************************************/</span> |
146 <a name="l00157"></a>00157 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) { |
171 <a name="l00154"></a><a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">00154</a> UNS8 <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( CO_Data* d, UNS32 cobId ) |
147 <a name="l00158"></a>00158 MSG_WAR(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1); |
172 <a name="l00155"></a>00155 { |
148 <a name="l00159"></a>00159 MSG_WAR(0x2920, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
173 <a name="l00156"></a>00156 UNS32 * pwCobId; |
149 <a name="l00160"></a>00160 MSG_WAR(0x2921, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
174 <a name="l00157"></a>00157 UNS16 offset; |
150 <a name="l00161"></a>00161 <span class="keywordflow">return</span> 0xFF; |
175 <a name="l00158"></a>00158 UNS16 lastIndex; |
151 <a name="l00162"></a>00162 } |
176 <a name="l00159"></a>00159 UNS8 err; |
152 <a name="l00163"></a>00163 |
177 <a name="l00160"></a>00160 |
153 <a name="l00164"></a>00164 offset += Size; |
178 <a name="l00161"></a>00161 MSG_WAR(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0); |
154 <a name="l00165"></a>00165 d->process_var.count = offset; |
179 <a name="l00162"></a>00162 <span class="comment">/* Sending the request only if the cobid have been found on the PDO receive */</span> |
155 <a name="l00166"></a>00166 subInd++; |
180 <a name="l00163"></a>00163 <span class="comment">/* part dictionary */</span> |
156 <a name="l00167"></a>00167 } |
181 <a name="l00164"></a>00164 offset = d->firstIndex->PDO_RCV; |
157 <a name="l00168"></a>00168 } |
182 <a name="l00165"></a>00165 lastIndex = d->lastIndex->PDO_RCV; |
158 <a name="l00169"></a>00169 <span class="keywordflow">return</span> 0; |
183 <a name="l00166"></a>00166 <span class="keywordflow">if</span> (offset) |
159 <a name="l00170"></a>00170 } |
184 <a name="l00167"></a>00167 <span class="keywordflow">while</span> (offset <= lastIndex) { |
160 <a name="l00171"></a>00171 <span class="preprocessor">#endif</span> |
185 <a name="l00168"></a>00168 <span class="comment">/*get the CobId*/</span> |
161 <a name="l00172"></a>00172 <span class="preprocessor"></span> |
186 <a name="l00169"></a>00169 pwCobId = d->objdict[offset].pSubindex[1].pObject; |
162 <a name="l00181"></a><a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">00181</a> UNS8 <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( CO_Data* d, UNS32 cobId ) |
187 <a name="l00170"></a>00170 |
163 <a name="l00182"></a>00182 { |
188 <a name="l00171"></a>00171 <span class="keywordflow">if</span> ( *pwCobId == cobId ) { |
164 <a name="l00183"></a>00183 UNS32 * pwCobId; |
189 <a name="l00172"></a>00172 s_PDO pdo; |
165 <a name="l00184"></a>00184 UNS16 offset; |
190 <a name="l00173"></a>00173 pdo.cobId = *pwCobId; |
166 <a name="l00185"></a>00185 UNS16 lastIndex; |
191 <a name="l00174"></a>00174 pdo.len = 0; |
167 <a name="l00186"></a>00186 UNS8 err; |
192 <a name="l00175"></a>00175 err = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, REQUEST); |
168 <a name="l00187"></a>00187 |
193 <a name="l00176"></a>00176 <span class="keywordflow">return</span> err; |
169 <a name="l00188"></a>00188 MSG_WAR(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0); |
194 <a name="l00177"></a>00177 } |
170 <a name="l00192"></a>00192 offset = d->firstIndex->PDO_RCV; |
195 <a name="l00178"></a>00178 offset++; |
171 <a name="l00193"></a>00193 lastIndex = d->lastIndex->PDO_RCV; |
196 <a name="l00179"></a>00179 } |
172 <a name="l00194"></a>00194 <span class="keywordflow">if</span> (offset) |
197 <a name="l00180"></a>00180 MSG_WAR(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId); |
173 <a name="l00195"></a>00195 <span class="keywordflow">while</span> (offset <= lastIndex) { |
198 <a name="l00181"></a>00181 <span class="keywordflow">return</span> 0xFF; |
174 <a name="l00197"></a>00197 pwCobId = d->objdict[offset].pSubindex[1].pObject; |
199 <a name="l00182"></a>00182 } |
175 <a name="l00198"></a>00198 |
200 <a name="l00183"></a>00183 |
176 <a name="l00199"></a>00199 <span class="keywordflow">if</span> ( *pwCobId == cobId ) { |
201 <a name="l00184"></a>00184 |
177 <a name="l00200"></a>00200 s_PDO pdo; |
202 <a name="l00185"></a>00185 |
178 <a name="l00201"></a>00201 pdo.cobId = *pwCobId; |
203 <a name="l00186"></a>00186 <span class="comment">/***********************************************************************/</span> |
179 <a name="l00202"></a>00202 pdo.len = 0; |
204 <a name="l00187"></a><a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00187</a> UNS8 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(CO_Data* d, Message *m) |
180 <a name="l00203"></a>00203 err = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, REQUEST); |
205 <a name="l00188"></a>00188 { |
181 <a name="l00204"></a>00204 <span class="keywordflow">return</span> err; |
206 <a name="l00189"></a>00189 UNS8 numPdo; |
182 <a name="l00205"></a>00205 } |
207 <a name="l00190"></a>00190 UNS8 numMap; <span class="comment">/* Number of the mapped varable */</span> |
183 <a name="l00206"></a>00206 offset++; |
208 <a name="l00191"></a>00191 UNS8 i; |
184 <a name="l00207"></a>00207 } |
209 <a name="l00192"></a>00192 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span> |
185 <a name="l00208"></a>00208 MSG_WAR(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId); |
210 <a name="l00193"></a>00193 <span class="comment">/* pointer to the var which is mapped to a pdo... */</span> |
186 <a name="l00209"></a>00209 <span class="keywordflow">return</span> 0xFF; |
211 <a name="l00194"></a>00194 <span class="comment">/* void * pMappedAppObject = NULL; */</span> |
187 <a name="l00210"></a>00210 } |
212 <a name="l00195"></a>00195 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span> |
188 <a name="l00211"></a>00211 |
213 <a name="l00196"></a>00196 UNS32 * pMappingParameter = NULL; |
189 <a name="l00212"></a>00212 |
214 <a name="l00197"></a>00197 UNS8 * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission type */</span> |
190 <a name="l00221"></a><a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00221</a> UNS8 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(CO_Data* d, Message *m) |
215 <a name="l00198"></a>00198 UNS32 * pwCobId = NULL; |
191 <a name="l00222"></a>00222 { |
216 <a name="l00199"></a>00199 UNS8 Size; |
192 <a name="l00223"></a>00223 UNS8 numPdo; |
217 <a name="l00200"></a>00200 UNS8 dataType; |
193 <a name="l00224"></a>00224 UNS8 numMap; |
218 <a name="l00201"></a>00201 UNS8 offset; |
194 <a name="l00225"></a>00225 UNS8 i; |
219 <a name="l00202"></a>00202 UNS8 status; |
195 <a name="l00226"></a>00226 UNS8 * pMappingCount = NULL; |
220 <a name="l00203"></a>00203 UNS32 objDict; |
196 <a name="l00231"></a>00231 UNS32 * pMappingParameter = NULL; |
221 <a name="l00204"></a>00204 UNS16 offsetObjdict; |
197 <a name="l00232"></a>00232 UNS8 * pTransmissionType = NULL; |
222 <a name="l00205"></a>00205 UNS16 lastIndex; |
198 <a name="l00234"></a>00234 UNS32 * pwCobId = NULL; |
223 <a name="l00206"></a>00206 status = state1; |
199 <a name="l00235"></a>00235 UNS8 Size; |
224 <a name="l00207"></a>00207 |
200 <a name="l00236"></a>00236 UNS8 dataType; |
225 <a name="l00208"></a>00208 MSG_WAR(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff)); |
201 <a name="l00237"></a>00237 UNS8 offset; |
226 <a name="l00209"></a>00209 offset = 0x00; |
202 <a name="l00238"></a>00238 UNS8 status; |
227 <a name="l00210"></a>00210 numPdo = 0; |
203 <a name="l00239"></a>00239 UNS32 objDict; |
228 <a name="l00211"></a>00211 numMap = 0; |
204 <a name="l00240"></a>00240 UNS16 offsetObjdict; |
229 <a name="l00212"></a>00212 <span class="keywordflow">if</span>((*m).rtr == NOT_A_REQUEST ) { <span class="comment">/* The PDO received is not a request. */</span> |
205 <a name="l00241"></a>00241 UNS16 lastIndex; |
230 <a name="l00213"></a>00213 offsetObjdict = d->firstIndex->PDO_RCV; |
206 <a name="l00242"></a>00242 status = state1; |
231 <a name="l00214"></a>00214 lastIndex = d->lastIndex->PDO_RCV; |
207 <a name="l00243"></a>00243 |
232 <a name="l00215"></a>00215 |
208 <a name="l00244"></a>00244 MSG_WAR(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff)); |
233 <a name="l00216"></a>00216 <span class="comment">/* study of all the PDO stored in the dictionary */</span> |
209 <a name="l00245"></a>00245 offset = 0x00; |
234 <a name="l00217"></a>00217 <span class="keywordflow">if</span>(offsetObjdict) |
210 <a name="l00246"></a>00246 numPdo = 0; |
235 <a name="l00218"></a>00218 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) { |
211 <a name="l00247"></a>00247 numMap = 0; |
236 <a name="l00219"></a>00219 |
212 <a name="l00248"></a>00248 <span class="keywordflow">if</span>((*m).rtr == NOT_A_REQUEST ) { |
237 <a name="l00220"></a>00220 <span class="keywordflow">switch</span>( status ) { |
213 <a name="l00250"></a>00250 offsetObjdict = d->firstIndex->PDO_RCV; |
238 <a name="l00221"></a>00221 |
214 <a name="l00251"></a>00251 lastIndex = d->lastIndex->PDO_RCV; |
239 <a name="l00222"></a>00222 <span class="keywordflow">case</span> state1: <span class="comment">/* data are stored in process_var array */</span> |
215 <a name="l00252"></a>00252 |
240 <a name="l00223"></a>00223 <span class="comment">/* memcpy(&(process_var.data), &m->data, (*m).len); */</span> |
216 <a name="l00254"></a>00254 <span class="keywordflow">if</span>(offsetObjdict) |
241 <a name="l00224"></a>00224 <span class="comment">/* Ce memcpy devrait être portable. */</span> |
217 <a name="l00255"></a>00255 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) { |
242 <a name="l00225"></a>00225 <span class="keywordflow">for</span> ( i = 0 ; i < m->len ; i++) |
218 <a name="l00256"></a>00256 |
243 <a name="l00226"></a>00226 d->process_var.data[i] = m->data[i]; |
219 <a name="l00257"></a>00257 <span class="keywordflow">switch</span>( status ) { |
244 <a name="l00227"></a>00227 d->process_var.count = (*m).len; |
220 <a name="l00258"></a>00258 |
245 <a name="l00228"></a>00228 |
221 <a name="l00259"></a>00259 <span class="keywordflow">case</span> state1: |
246 <a name="l00229"></a>00229 status = state2; |
222 <a name="l00262"></a>00262 <span class="keywordflow">for</span> ( i = 0 ; i < m->len ; i++) |
247 <a name="l00230"></a>00230 <span class="keywordflow">break</span>; |
223 <a name="l00263"></a>00263 d->process_var.data[i] = m->data[i]; |
248 <a name="l00231"></a>00231 |
224 <a name="l00264"></a>00264 d->process_var.count = (*m).len; |
249 <a name="l00232"></a>00232 <span class="keywordflow">case</span> state2: |
225 <a name="l00265"></a>00265 |
250 <a name="l00233"></a>00233 <span class="comment">/* get CobId of the dictionary correspondant to the received PDO */</span> |
226 <a name="l00266"></a>00266 status = state2; |
251 <a name="l00234"></a>00234 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; |
227 <a name="l00267"></a>00267 <span class="keywordflow">break</span>; |
252 <a name="l00235"></a>00235 <span class="comment">/* check the CobId coherance */</span> |
228 <a name="l00268"></a>00268 |
253 <a name="l00236"></a>00236 <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3 */</span> |
229 <a name="l00269"></a>00269 <span class="keywordflow">case</span> state2: |
254 <a name="l00237"></a>00237 if ( *pwCobId == (*m).cob_id.w ){ |
230 <a name="l00272"></a>00272 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; |
255 <a name="l00238"></a>00238 <span class="comment">/* The cobId is recognized */</span> |
231 <a name="l00276"></a>00276 if ( *pwCobId == (*m).cob_id.w ){ |
256 <a name="l00239"></a>00239 status = state4; |
232 <a name="l00278"></a>00278 status = state4; |
257 <a name="l00240"></a>00240 MSG_WAR(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo); |
233 <a name="l00279"></a>00279 MSG_WAR(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo); |
258 <a name="l00241"></a>00241 <span class="keywordflow">break</span>; |
234 <a name="l00280"></a>00280 <span class="keywordflow">break</span>; |
259 <a name="l00242"></a>00242 } |
235 <a name="l00281"></a>00281 } |
260 <a name="l00243"></a>00243 <span class="keywordflow">else</span> { |
236 <a name="l00282"></a>00282 <span class="keywordflow">else</span> { |
261 <a name="l00244"></a>00244 <span class="comment">/* cobId received does not match with those write in the dictionnary */</span> |
237 <a name="l00285"></a>00285 numPdo++; |
262 <a name="l00245"></a>00245 numPdo++; |
238 <a name="l00286"></a>00286 offsetObjdict++; |
263 <a name="l00246"></a>00246 offsetObjdict++; |
239 <a name="l00287"></a>00287 status = state2; |
264 <a name="l00247"></a>00247 status = state2; |
240 <a name="l00288"></a>00288 <span class="keywordflow">break</span>; |
265 <a name="l00248"></a>00248 <span class="keywordflow">break</span>; |
241 <a name="l00289"></a>00289 } |
266 <a name="l00249"></a>00249 } |
242 <a name="l00290"></a>00290 |
267 <a name="l00250"></a>00250 |
243 <a name="l00291"></a>00291 <span class="keywordflow">case</span> state4: |
268 <a name="l00251"></a>00251 <span class="keywordflow">case</span> state4: <span class="comment">/* get mapped objects number */</span> |
244 <a name="l00294"></a>00294 offsetObjdict = d->firstIndex->PDO_RCV_MAP; |
269 <a name="l00252"></a>00252 <span class="comment">/* The cobId of the message received has been found in the dictionnary. */</span> |
245 <a name="l00295"></a>00295 lastIndex = d->lastIndex->PDO_RCV_MAP; |
270 <a name="l00253"></a>00253 offsetObjdict = d->firstIndex->PDO_RCV_MAP; |
246 <a name="l00296"></a>00296 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
271 <a name="l00254"></a>00254 lastIndex = d->lastIndex->PDO_RCV_MAP; |
247 <a name="l00297"></a>00297 numMap = 0; |
272 <a name="l00255"></a>00255 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
248 <a name="l00298"></a>00298 <span class="keywordflow">while</span> (numMap < *pMappingCount) { |
273 <a name="l00256"></a>00256 numMap = 0; |
249 <a name="l00299"></a>00299 UNS8 tmp[]= {0,0,0,0,0,0,0,0}; |
274 <a name="l00257"></a>00257 <span class="keywordflow">while</span> (numMap < *pMappingCount) { |
250 <a name="l00300"></a>00300 UNS8 ByteSize; |
275 <a name="l00258"></a>00258 UNS8 tmp[]= {0,0,0,0,0,0,0,0}; |
251 <a name="l00301"></a>00301 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
276 <a name="l00259"></a>00259 UNS8 ByteSize; |
252 <a name="l00302"></a>00302 <span class="keywordflow">if</span> (pMappingParameter == NULL) { |
277 <a name="l00260"></a>00260 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
253 <a name="l00303"></a>00303 MSG_ERR(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1); |
278 <a name="l00261"></a>00261 <span class="keywordflow">if</span> (pMappingParameter == NULL) { |
254 <a name="l00304"></a>00304 <span class="keywordflow">return</span> 0xFF; |
279 <a name="l00262"></a>00262 MSG_ERR(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1); |
255 <a name="l00305"></a>00305 } |
280 <a name="l00263"></a>00263 <span class="keywordflow">return</span> 0xFF; |
256 <a name="l00313"></a>00313 Size = (UNS8)(*pMappingParameter); |
281 <a name="l00264"></a>00264 } |
|
282 <a name="l00265"></a>00265 <span class="comment">/* Get the addresse of the mapped variable. */</span> |
|
283 <a name="l00266"></a>00266 <span class="comment">/* detail of *pMappingParameter : */</span> |
|
284 <a name="l00267"></a>00267 <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */</span> |
|
285 <a name="l00268"></a>00268 <span class="comment">/* and the lower 8 bits contains the size of the mapped variable. */</span> |
|
286 <a name="l00269"></a>00269 |
|
287 <a name="l00270"></a>00270 Size = (UNS8)(*pMappingParameter); |
|
288 <a name="l00271"></a>00271 |
|
289 <a name="l00272"></a>00272 <span class="comment">/* copy bit per bit in little endian */</span> |
|
290 <a name="l00273"></a>00273 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0); |
|
291 <a name="l00274"></a>00274 |
|
292 <a name="l00275"></a>00275 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span> |
|
293 <a name="l00276"></a>00276 |
|
294 <a name="l00277"></a>00277 objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, (UNS16)((*pMappingParameter) >> 16), |
|
295 <a name="l00278"></a>00278 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF), |
|
296 <a name="l00279"></a>00279 tmp, &ByteSize, 0 ); |
|
297 <a name="l00280"></a>00280 |
|
298 <a name="l00281"></a>00281 <span class="keywordflow">if</span>(objDict != OD_SUCCESSFUL) { |
|
299 <a name="l00282"></a>00282 MSG_ERR(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1); |
|
300 <a name="l00283"></a>00283 MSG_WAR(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
|
301 <a name="l00284"></a>00284 MSG_WAR(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
|
302 <a name="l00285"></a>00285 <span class="keywordflow">return</span> 0xFF; |
|
303 <a name="l00286"></a>00286 } |
|
304 <a name="l00287"></a>00287 |
|
305 <a name="l00288"></a>00288 MSG_WAR(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m->cob_id.w); |
|
306 <a name="l00289"></a>00289 MSG_WAR(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
|
307 <a name="l00290"></a>00290 MSG_WAR(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
|
308 <a name="l00291"></a>00291 <span class="comment">/* MSG_WAR(0x3945, " data : ",*((UNS32 *)pMappedAppObject)); */</span> |
|
309 <a name="l00292"></a>00292 offset += Size; |
|
310 <a name="l00293"></a>00293 numMap++; |
|
311 <a name="l00294"></a>00294 } <span class="comment">/* end loop while on mapped variables */</span> |
|
312 <a name="l00295"></a>00295 |
|
313 <a name="l00296"></a>00296 offset=0x00; |
|
314 <a name="l00297"></a>00297 numMap = 0; |
|
315 <a name="l00298"></a>00298 <span class="keywordflow">return</span> 0; |
|
316 <a name="l00299"></a>00299 |
|
317 <a name="l00300"></a>00300 }<span class="comment">/* end switch status */</span> |
|
318 <a name="l00301"></a>00301 }<span class="comment">/* end while */</span> |
|
319 <a name="l00302"></a>00302 }<span class="comment">/* end if Donnees */</span> |
|
320 <a name="l00303"></a>00303 |
|
321 <a name="l00304"></a>00304 |
|
322 <a name="l00305"></a>00305 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == REQUEST ){ |
|
323 <a name="l00306"></a>00306 MSG_WAR(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m->cob_id.w); |
|
324 <a name="l00307"></a>00307 status = state1; |
|
325 <a name="l00308"></a>00308 offsetObjdict = d->firstIndex->PDO_TRS; |
|
326 <a name="l00309"></a>00309 lastIndex = d->lastIndex->PDO_TRS; |
|
327 <a name="l00310"></a>00310 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){ |
|
328 <a name="l00311"></a>00311 <span class="comment">/* study of all PDO stored in the objects dictionary */</span> |
|
329 <a name="l00312"></a>00312 |
|
330 <a name="l00313"></a>00313 <span class="keywordflow">switch</span>( status ){ |
|
331 <a name="l00314"></a>00314 |
257 <a name="l00314"></a>00314 |
332 <a name="l00315"></a>00315 <span class="keywordflow">case</span> state1: <span class="comment">/* check the CobId */</span> |
258 <a name="l00316"></a>00316 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0); |
333 <a name="l00316"></a>00316 <span class="comment">/* get CobId of the dictionary which match to the received PDO */</span> |
259 <a name="l00317"></a>00317 |
334 <a name="l00317"></a>00317 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject; |
260 <a name="l00318"></a>00318 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 =></span> |
335 <a name="l00318"></a>00318 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) { |
261 <a name="l00319"></a>00319 <span class="comment"> 2, ... */</span> |
336 <a name="l00319"></a>00319 status = state4; |
262 <a name="l00320"></a>00320 |
337 <a name="l00320"></a>00320 <span class="keywordflow">break</span>; |
263 <a name="l00321"></a>00321 objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, (UNS16)((*pMappingParameter) >> 16), |
338 <a name="l00321"></a>00321 } |
264 <a name="l00322"></a>00322 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF), |
339 <a name="l00322"></a>00322 <span class="keywordflow">else</span> { |
265 <a name="l00323"></a>00323 tmp, &ByteSize, 0 ); |
340 <a name="l00323"></a>00323 numPdo++; |
266 <a name="l00324"></a>00324 |
341 <a name="l00324"></a>00324 offsetObjdict++; |
267 <a name="l00325"></a>00325 <span class="keywordflow">if</span>(objDict != OD_SUCCESSFUL) { |
342 <a name="l00325"></a>00325 } |
268 <a name="l00326"></a>00326 MSG_ERR(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1); |
343 <a name="l00326"></a>00326 status = state1; |
269 <a name="l00327"></a>00327 MSG_WAR(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
344 <a name="l00327"></a>00327 <span class="keywordflow">break</span>; |
270 <a name="l00328"></a>00328 MSG_WAR(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
345 <a name="l00328"></a>00328 |
271 <a name="l00329"></a>00329 <span class="keywordflow">return</span> 0xFF; |
346 <a name="l00329"></a>00329 |
272 <a name="l00330"></a>00330 } |
347 <a name="l00330"></a>00330 <span class="keywordflow">case</span> state4: <span class="comment">/* check transmission type (after request?) */</span> |
273 <a name="l00331"></a>00331 |
348 <a name="l00331"></a>00331 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject; |
274 <a name="l00332"></a>00332 MSG_WAR(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m->cob_id.w); |
349 <a name="l00332"></a>00332 <span class="keywordflow">if</span> ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) { |
275 <a name="l00333"></a>00333 MSG_WAR(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
350 <a name="l00333"></a>00333 status = state5; |
276 <a name="l00334"></a>00334 MSG_WAR(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
351 <a name="l00334"></a>00334 <span class="keywordflow">break</span>; |
277 <a name="l00336"></a>00336 offset += Size; |
352 <a name="l00335"></a>00335 } |
278 <a name="l00337"></a>00337 numMap++; |
353 <a name="l00336"></a>00336 <span class="keywordflow">else</span> { |
279 <a name="l00338"></a>00338 } |
354 <a name="l00337"></a>00337 <span class="comment">/* The requested PDO is not to send on request. So, does nothing. */</span> |
280 <a name="l00340"></a>00340 offset=0x00; |
355 <a name="l00338"></a>00338 MSG_WAR(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m->cob_id.w); |
281 <a name="l00341"></a>00341 numMap = 0; |
356 <a name="l00339"></a>00339 <span class="keywordflow">return</span> 0xFF; |
282 <a name="l00342"></a>00342 <span class="keywordflow">return</span> 0; |
357 <a name="l00340"></a>00340 } |
283 <a name="l00343"></a>00343 |
358 <a name="l00341"></a>00341 |
284 <a name="l00344"></a>00344 } |
359 <a name="l00342"></a>00342 <span class="keywordflow">case</span> state5: <span class="comment">/* get mapped objects number */</span> |
285 <a name="l00345"></a>00345 } |
360 <a name="l00343"></a>00343 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
286 <a name="l00346"></a>00346 } |
361 <a name="l00344"></a>00344 lastIndex = d->lastIndex->PDO_TRS_MAP; |
287 <a name="l00347"></a>00347 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == REQUEST ){ |
362 <a name="l00345"></a>00345 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
288 <a name="l00348"></a>00348 MSG_WAR(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m->cob_id.w); |
363 <a name="l00346"></a>00346 numMap = 0; |
289 <a name="l00349"></a>00349 status = state1; |
364 <a name="l00347"></a>00347 <span class="keywordflow">while</span> (numMap < *pMappingCount) { |
290 <a name="l00350"></a>00350 offsetObjdict = d->firstIndex->PDO_TRS; |
365 <a name="l00348"></a>00348 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
291 <a name="l00351"></a>00351 lastIndex = d->lastIndex->PDO_TRS; |
366 <a name="l00349"></a>00349 <span class="comment">/* Get the mapped variable */</span> |
292 <a name="l00352"></a>00352 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){ |
367 <a name="l00350"></a>00350 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
293 <a name="l00355"></a>00355 <span class="keywordflow">switch</span>( status ){ |
368 <a name="l00351"></a>00351 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) >> (UNS8)16), |
294 <a name="l00356"></a>00356 |
369 <a name="l00352"></a>00352 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF), |
295 <a name="l00357"></a>00357 <span class="keywordflow">case</span> state1: |
370 <a name="l00353"></a>00353 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
296 <a name="l00360"></a>00360 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject; |
371 <a name="l00354"></a>00354 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) { |
297 <a name="l00361"></a>00361 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) { |
372 <a name="l00355"></a>00355 MSG_ERR(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1); |
298 <a name="l00362"></a>00362 status = state4; |
373 <a name="l00356"></a>00356 MSG_WAR(0x2949, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
299 <a name="l00363"></a>00363 <span class="keywordflow">break</span>; |
374 <a name="l00357"></a>00357 MSG_WAR(0x2950, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
300 <a name="l00364"></a>00364 } |
375 <a name="l00358"></a>00358 <span class="keywordflow">return</span> 0xFF; |
301 <a name="l00365"></a>00365 <span class="keywordflow">else</span> { |
376 <a name="l00359"></a>00359 } |
302 <a name="l00366"></a>00366 numPdo++; |
377 <a name="l00360"></a>00360 offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3); |
303 <a name="l00367"></a>00367 offsetObjdict++; |
378 <a name="l00361"></a>00361 d->process_var.count = offset; |
304 <a name="l00368"></a>00368 } |
379 <a name="l00362"></a>00362 numMap++; |
305 <a name="l00369"></a>00369 status = state1; |
380 <a name="l00363"></a>00363 |
306 <a name="l00370"></a>00370 <span class="keywordflow">break</span>; |
381 <a name="l00364"></a>00364 } <span class="comment">/* end while */</span> |
307 <a name="l00371"></a>00371 |
382 <a name="l00365"></a>00365 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); <span class="comment">/* Transmit the PDO */</span> |
308 <a name="l00372"></a>00372 |
383 <a name="l00366"></a>00366 <span class="keywordflow">return</span> 0; |
309 <a name="l00373"></a>00373 <span class="keywordflow">case</span> state4: |
384 <a name="l00367"></a>00367 |
310 <a name="l00374"></a>00374 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject; |
385 <a name="l00368"></a>00368 }<span class="comment">/* end switch status */</span> |
311 <a name="l00375"></a>00375 <span class="keywordflow">if</span> ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) { |
386 <a name="l00369"></a>00369 }<span class="comment">/* end while */</span> |
312 <a name="l00376"></a>00376 status = state5; |
387 <a name="l00370"></a>00370 }<span class="comment">/* end if Requete */</span> |
313 <a name="l00377"></a>00377 <span class="keywordflow">break</span>; |
388 <a name="l00371"></a>00371 |
314 <a name="l00378"></a>00378 } |
389 <a name="l00372"></a>00372 <span class="keywordflow">return</span> 0; |
315 <a name="l00379"></a>00379 <span class="keywordflow">else</span> { |
390 <a name="l00373"></a>00373 } |
316 <a name="l00382"></a>00382 MSG_WAR(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m->cob_id.w); |
391 <a name="l00374"></a>00374 |
317 <a name="l00383"></a>00383 <span class="keywordflow">return</span> 0xFF; |
392 <a name="l00375"></a>00375 |
318 <a name="l00384"></a>00384 } |
393 <a name="l00376"></a><a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">00376</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian) |
319 <a name="l00385"></a>00385 |
394 <a name="l00377"></a>00377 { |
320 <a name="l00386"></a>00386 <span class="keywordflow">case</span> state5: |
395 <a name="l00378"></a>00378 <span class="comment">//This loop copy as many bits that it can each time, crossing successively bytes</span> |
321 <a name="l00387"></a>00387 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
396 <a name="l00379"></a>00379 <span class="comment">// boundaries from LSB to MSB.</span> |
322 <a name="l00388"></a>00388 lastIndex = d->lastIndex->PDO_TRS_MAP; |
397 <a name="l00380"></a>00380 <span class="keywordflow">while</span>(NbBits > 0) |
323 <a name="l00389"></a>00389 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject; |
398 <a name="l00381"></a>00381 { |
324 <a name="l00390"></a>00390 numMap = 0; |
399 <a name="l00382"></a>00382 <span class="comment">// Bit missalignement between src and dest</span> |
325 <a name="l00391"></a>00391 <span class="keywordflow">while</span> (numMap < *pMappingCount) { |
400 <a name="l00383"></a>00383 INTEGER8 Vect = DestBitIndex - SrcBitIndex; |
326 <a name="l00392"></a>00392 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject; |
401 <a name="l00384"></a>00384 |
327 <a name="l00394"></a>00394 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); |
402 <a name="l00385"></a>00385 <span class="comment">// We can now get src and align it to dest</span> |
328 <a name="l00395"></a>00395 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) >> (UNS8)16), |
403 <a name="l00386"></a>00386 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect; |
329 <a name="l00396"></a>00396 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF), |
404 <a name="l00387"></a>00387 |
330 <a name="l00397"></a>00397 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 ); |
405 <a name="l00388"></a>00388 <span class="comment">// Compute the nb of bit we will be able to copy</span> |
331 <a name="l00398"></a>00398 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) { |
406 <a name="l00389"></a>00389 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex ); |
332 <a name="l00399"></a>00399 MSG_ERR(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1); |
407 <a name="l00390"></a>00390 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit; |
333 <a name="l00400"></a>00400 MSG_WAR(0x2949, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16); |
408 <a name="l00391"></a>00391 |
334 <a name="l00401"></a>00401 MSG_WAR(0x2950, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF); |
409 <a name="l00392"></a>00392 <span class="comment">// Create a mask that will serve in:</span> |
335 <a name="l00402"></a>00402 <span class="keywordflow">return</span> 0xFF; |
410 <a name="l00393"></a>00393 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex))); |
336 <a name="l00403"></a>00403 } |
411 <a name="l00394"></a>00394 |
337 <a name="l00404"></a>00404 offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3); |
412 <a name="l00395"></a>00395 <span class="comment">// - Filtering src</span> |
338 <a name="l00405"></a>00405 d->process_var.count = offset; |
413 <a name="l00396"></a>00396 UNS8 Filtered = Aligned & ~Mask; |
339 <a name="l00406"></a>00406 numMap++; |
414 <a name="l00397"></a>00397 |
340 <a name="l00407"></a>00407 |
415 <a name="l00398"></a>00398 <span class="comment">// - and erase bits where we write, preserve where we don't</span> |
341 <a name="l00408"></a>00408 } |
416 <a name="l00399"></a>00399 *DestByteIndex &= Mask; |
342 <a name="l00409"></a>00409 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); |
417 <a name="l00400"></a>00400 |
343 <a name="l00410"></a>00410 <span class="keywordflow">return</span> 0; |
418 <a name="l00401"></a>00401 <span class="comment">// Then write.</span> |
344 <a name="l00411"></a>00411 |
419 <a name="l00402"></a>00402 *DestByteIndex |= Filtered ; |
345 <a name="l00412"></a>00412 } |
420 <a name="l00403"></a>00403 |
346 <a name="l00413"></a>00413 } |
421 <a name="l00404"></a>00404 <span class="comment">//Compute next time cursors for src</span> |
347 <a name="l00414"></a>00414 } |
422 <a name="l00405"></a>00405 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7) <span class="comment">// cross boundary ?</span> |
348 <a name="l00416"></a>00416 <span class="keywordflow">return</span> 0; |
423 <a name="l00406"></a>00406 { |
349 <a name="l00417"></a>00417 } |
424 <a name="l00407"></a>00407 SrcBitIndex = 0; <span class="comment">// First bit</span> |
350 <a name="l00418"></a>00418 |
425 <a name="l00408"></a>00408 SrcByteIndex += (SrcBigEndian ? -1 : 1); <span class="comment">// Next byte</span> |
351 <a name="l00430"></a><a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">00430</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian) |
426 <a name="l00409"></a>00409 } |
352 <a name="l00431"></a>00431 { |
427 <a name="l00410"></a>00410 |
353 <a name="l00434"></a>00434 <span class="comment">// boundaries from LSB to MSB.</span> |
428 <a name="l00411"></a>00411 <span class="comment">//Compute next time cursors for dest</span> |
354 <a name="l00435"></a>00435 <span class="keywordflow">while</span>(NbBits > 0) |
429 <a name="l00412"></a>00412 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7) |
355 <a name="l00436"></a>00436 { |
430 <a name="l00413"></a>00413 { |
356 <a name="l00438"></a>00438 INTEGER8 Vect = DestBitIndex - SrcBitIndex; |
431 <a name="l00414"></a>00414 DestBitIndex = 0; <span class="comment">// First bit</span> |
357 <a name="l00439"></a>00439 |
432 <a name="l00415"></a>00415 DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">// Next byte</span> |
358 <a name="l00441"></a>00441 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect; |
433 <a name="l00416"></a>00416 } |
359 <a name="l00442"></a>00442 |
434 <a name="l00417"></a>00417 |
360 <a name="l00444"></a>00444 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex ); |
435 <a name="l00418"></a>00418 <span class="comment">//And decrement counter.</span> |
361 <a name="l00445"></a>00445 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit; |
436 <a name="l00419"></a>00419 NbBits -= BitsToCopy; |
362 <a name="l00446"></a>00446 |
437 <a name="l00420"></a>00420 } |
363 <a name="l00448"></a>00448 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex))); |
438 <a name="l00421"></a>00421 |
364 <a name="l00449"></a>00449 |
439 <a name="l00422"></a>00422 } |
365 <a name="l00451"></a>00451 UNS8 Filtered = Aligned & ~Mask; |
440 <a name="l00423"></a>00423 |
366 <a name="l00452"></a>00452 |
441 <a name="l00424"></a>00424 <span class="preprocessor">#if 0</span> |
367 <a name="l00454"></a>00454 *DestByteIndex &= Mask; |
442 <a name="l00425"></a>00425 <span class="preprocessor"></span> |
368 <a name="l00455"></a>00455 |
443 <a name="l00426"></a>00426 <span class="comment">/*********************************************************************/</span> |
369 <a name="l00457"></a>00457 *DestByteIndex |= Filtered ; |
444 <a name="l00427"></a>00427 <span class="comment">/* TODO : reimplement this using CallBacks */</span> |
370 <a name="l00458"></a>00458 |
445 <a name="l00428"></a>00428 <span class="comment">/*********************************************************************/</span> |
371 <a name="l00460"></a>00460 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7) |
446 <a name="l00429"></a>00429 |
372 <a name="l00461"></a>00461 { |
447 <a name="l00430"></a>00430 UNS8 sendPDOevent( CO_Data* d, <span class="keywordtype">void</span> * variable ) |
373 <a name="l00462"></a>00462 SrcBitIndex = 0; |
448 <a name="l00431"></a>00431 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span> |
374 <a name="l00463"></a>00463 SrcByteIndex += (SrcBigEndian ? -1 : 1); |
449 <a name="l00432"></a>00432 UNS32 objDict = 0; |
375 <a name="l00464"></a>00464 } |
450 <a name="l00433"></a>00433 UNS8 ind, sub_ind; |
376 <a name="l00465"></a>00465 |
451 <a name="l00434"></a>00434 UNS8 status; |
377 <a name="l00466"></a>00466 |
452 <a name="l00435"></a>00435 UNS8 offset; |
378 <a name="l00468"></a>00468 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7) |
453 <a name="l00436"></a>00436 UNS8 * pMappingCount = NULL; |
379 <a name="l00469"></a>00469 { |
454 <a name="l00437"></a>00437 UNS32 * pMappingParameter = NULL; |
380 <a name="l00470"></a>00470 DestBitIndex = 0; |
455 <a name="l00438"></a>00438 <span class="keywordtype">void</span> * pMappedAppObject = NULL; |
381 <a name="l00471"></a>00471 DestByteIndex += (DestBigEndian ? -1 : 1); |
456 <a name="l00439"></a>00439 UNS8 * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission type */</span> |
382 <a name="l00472"></a>00472 } |
457 <a name="l00440"></a>00440 UNS32 * pwCobId = NULL; |
383 <a name="l00473"></a>00473 |
458 <a name="l00441"></a>00441 UNS8 * pSize; |
384 <a name="l00475"></a>00475 NbBits -= BitsToCopy; |
459 <a name="l00442"></a>00442 UNS8 size; |
385 <a name="l00476"></a>00476 } |
460 <a name="l00443"></a>00443 UNS8 dataType; |
386 <a name="l00477"></a>00477 |
461 <a name="l00444"></a>00444 UNS16 offsetObjdict; |
387 <a name="l00478"></a>00478 } |
462 <a name="l00445"></a>00445 UNS16 offsetObjdictPrm; |
388 <a name="l00479"></a>00479 |
463 <a name="l00446"></a>00446 UNS16 lastIndex; |
389 <a name="l00480"></a>00480 <span class="preprocessor">#if 0</span> |
464 <a name="l00447"></a>00447 UNS8 numMap; |
390 <a name="l00481"></a>00481 <span class="preprocessor"></span> |
465 <a name="l00448"></a>00448 ind = 0x00; |
391 <a name="l00482"></a>00482 <span class="comment">/*********************************************************************/</span> |
466 <a name="l00449"></a>00449 sub_ind = 1; |
392 <a name="l00483"></a>00483 <span class="comment">/* TODO : reimplement this using CallBacks</span> |
467 <a name="l00450"></a>00450 offset = 0x00; |
393 <a name="l00484"></a>00484 <span class="comment"> */</span> |
468 <a name="l00451"></a>00451 pSize = &size; |
394 <a name="l00485"></a>00485 <span class="comment">/*********************************************************************/</span> |
469 <a name="l00452"></a>00452 status = state1; |
395 <a name="l00486"></a>00486 |
470 <a name="l00453"></a>00453 |
396 <a name="l00495"></a>00495 UNS8 sendPDOevent( CO_Data* d, <span class="keywordtype">void</span> * variable ) |
471 <a name="l00454"></a>00454 <span class="comment">/* look for the index and subindex where the variable is mapped */</span> |
397 <a name="l00496"></a>00496 { |
472 <a name="l00455"></a>00455 <span class="comment">/* Then, send the pdo which contains the variable. */</span> |
398 <a name="l00498"></a>00498 UNS32 objDict = 0; |
473 <a name="l00456"></a>00456 |
399 <a name="l00499"></a>00499 UNS8 ind, sub_ind; |
474 <a name="l00457"></a>00457 MSG_WAR (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0); |
400 <a name="l00500"></a>00500 UNS8 status; |
475 <a name="l00458"></a>00458 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
401 <a name="l00501"></a>00501 UNS8 offset; |
476 <a name="l00459"></a>00459 |
402 <a name="l00502"></a>00502 UNS8 * pMappingCount = NULL; |
477 <a name="l00460"></a>00460 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
403 <a name="l00503"></a>00503 UNS32 * pMappingParameter = NULL; |
478 <a name="l00461"></a>00461 lastIndex = d->lastIndex->PDO_TRS_MAP; |
404 <a name="l00504"></a>00504 <span class="keywordtype">void</span> * pMappedAppObject = NULL; |
479 <a name="l00462"></a>00462 |
405 <a name="l00505"></a>00505 UNS8 * pTransmissionType = NULL; |
480 <a name="l00463"></a>00463 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict) |
406 <a name="l00507"></a>00507 UNS32 * pwCobId = NULL; |
481 <a name="l00464"></a>00464 <span class="comment">/* Loop on PDO Transmit */</span> |
407 <a name="l00508"></a>00508 UNS8 * pSize; |
482 <a name="l00465"></a>00465 <span class="keywordflow">while</span>(offsetObjdict <= lastIndex){ |
408 <a name="l00509"></a>00509 UNS8 size; |
483 <a name="l00466"></a>00466 <span class="comment">/* Check the transmission mode */</span> |
409 <a name="l00510"></a>00510 UNS8 dataType; |
484 <a name="l00467"></a>00467 pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject; |
410 <a name="l00511"></a>00511 UNS16 offsetObjdict; |
485 <a name="l00468"></a>00468 <span class="keywordflow">if</span> (*pTransmissionType != TRANS_EVENT) { |
411 <a name="l00512"></a>00512 UNS16 offsetObjdictPrm; |
486 <a name="l00469"></a>00469 ind++; |
412 <a name="l00513"></a>00513 UNS16 lastIndex; |
487 <a name="l00470"></a>00470 offsetObjdict++; |
413 <a name="l00514"></a>00514 UNS8 numMap; |
488 <a name="l00471"></a>00471 offsetObjdictPrm++; |
414 <a name="l00515"></a>00515 ind = 0x00; |
489 <a name="l00472"></a>00472 <span class="keywordflow">continue</span>; |
415 <a name="l00516"></a>00516 sub_ind = 1; |
490 <a name="l00473"></a>00473 } |
416 <a name="l00517"></a>00517 offset = 0x00; |
491 <a name="l00474"></a>00474 pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; |
417 <a name="l00518"></a>00518 pSize = &size; |
492 <a name="l00475"></a>00475 numMap = 1; <span class="comment">/* mapped variable */</span> |
418 <a name="l00519"></a>00519 status = state1; |
493 <a name="l00476"></a>00476 <span class="keywordflow">while</span> (numMap <= *pMappingCount) { |
419 <a name="l00520"></a>00520 |
494 <a name="l00477"></a>00477 pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject; |
420 <a name="l00521"></a>00521 |
495 <a name="l00478"></a>00478 <span class="comment">/* Get the variable */</span> |
421 <a name="l00525"></a>00525 MSG_WAR (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0); |
496 <a name="l00479"></a>00479 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, |
422 <a name="l00526"></a>00526 offsetObjdictPrm = d->firstIndex->PDO_TRS; |
497 <a name="l00480"></a>00480 (UNS16)((*pMappingParameter) >> 16), |
423 <a name="l00527"></a>00527 |
498 <a name="l00481"></a>00481 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF), |
424 <a name="l00528"></a>00528 offsetObjdict = d->firstIndex->PDO_TRS_MAP; |
499 <a name="l00482"></a>00482 (<span class="keywordtype">void</span> * *)&pMappedAppObject, pSize, &dataType, 0 ); |
425 <a name="l00529"></a>00529 lastIndex = d->lastIndex->PDO_TRS_MAP; |
500 <a name="l00483"></a>00483 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ) { |
426 <a name="l00530"></a>00530 |
501 <a name="l00484"></a>00484 MSG_WAR(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>, |
427 <a name="l00531"></a>00531 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict) |
502 <a name="l00485"></a>00485 (*pMappingParameter) >> (UNS8)16); |
428 <a name="l00533"></a>00533 <span class="keywordflow">while</span>(offsetObjdict <= lastIndex){ |
503 <a name="l00486"></a>00486 |
429 <a name="l00535"></a>00535 pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject; |
504 <a name="l00487"></a>00487 MSG_WAR(0x2962, <span class="stringliteral">" subindex : "</span>, |
430 <a name="l00536"></a>00536 <span class="keywordflow">if</span> (*pTransmissionType != TRANS_EVENT) { |
505 <a name="l00488"></a>00488 ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF); |
431 <a name="l00537"></a>00537 ind++; |
506 <a name="l00489"></a>00489 <span class="keywordflow">return</span> 0xFF; |
432 <a name="l00538"></a>00538 offsetObjdict++; |
507 <a name="l00490"></a>00490 } |
433 <a name="l00539"></a>00539 offsetObjdictPrm++; |
508 <a name="l00491"></a>00491 <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span> |
434 <a name="l00540"></a>00540 <span class="keywordflow">continue</span>; |
509 <a name="l00492"></a>00492 MSG_WAR(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>, |
435 <a name="l00541"></a>00541 } |
510 <a name="l00493"></a>00493 (*pMappingParameter) >> 16); |
436 <a name="l00542"></a>00542 pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; |
511 <a name="l00494"></a>00494 MSG_WAR(0x3964, <span class="stringliteral">" subIndex : "</span>, |
437 <a name="l00543"></a>00543 numMap = 1; |
512 <a name="l00495"></a>00495 ((*pMappingParameter) >> 8 ) & 0x000000FF); |
438 <a name="l00544"></a>00544 <span class="keywordflow">while</span> (numMap <= *pMappingCount) { |
513 <a name="l00496"></a>00496 buildPDO(d, 0x1800 + ind); |
439 <a name="l00545"></a>00545 pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject; |
514 <a name="l00497"></a>00497 <span class="comment">/* Get the cobId */</span> |
440 <a name="l00547"></a>00547 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, |
515 <a name="l00498"></a>00498 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject; |
441 <a name="l00548"></a>00548 (UNS16)((*pMappingParameter) >> 16), |
516 <a name="l00499"></a>00499 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); <span class="comment">/* Send the PDO */</span> |
442 <a name="l00549"></a>00549 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF), |
517 <a name="l00500"></a>00500 <span class="keywordflow">return</span> 0; |
443 <a name="l00550"></a>00550 (<span class="keywordtype">void</span> * *)&pMappedAppObject, pSize, &dataType, 0 ); |
518 <a name="l00501"></a>00501 } |
444 <a name="l00551"></a>00551 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ) { |
519 <a name="l00502"></a>00502 numMap++; |
445 <a name="l00552"></a>00552 MSG_WAR(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>, |
520 <a name="l00503"></a>00503 } <span class="comment">/* End loop on mapped variable */</span> |
446 <a name="l00553"></a>00553 (*pMappingParameter) >> (UNS8)16); |
521 <a name="l00504"></a>00504 ind++; |
447 <a name="l00554"></a>00554 |
522 <a name="l00505"></a>00505 offsetObjdict++; |
448 <a name="l00555"></a>00555 MSG_WAR(0x2962, <span class="stringliteral">" subindex : "</span>, |
523 <a name="l00506"></a>00506 offsetObjdictPrm++; |
449 <a name="l00556"></a>00556 ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF); |
524 <a name="l00507"></a>00507 } <span class="comment">/* End loop while on PDO */</span> |
450 <a name="l00557"></a>00557 <span class="keywordflow">return</span> 0xFF; |
525 <a name="l00508"></a>00508 |
451 <a name="l00558"></a>00558 } |
526 <a name="l00509"></a>00509 MSG_WAR(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0); |
452 <a name="l00559"></a>00559 <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span> |
527 <a name="l00510"></a>00510 <span class="keywordflow">return</span> 0xFF; |
453 <a name="l00560"></a>00560 MSG_WAR(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>, |
528 <a name="l00511"></a>00511 |
454 <a name="l00561"></a>00561 (*pMappingParameter) >> 16); |
529 <a name="l00512"></a>00512 } |
455 <a name="l00562"></a>00562 MSG_WAR(0x3964, <span class="stringliteral">" subIndex : "</span>, |
530 <a name="l00513"></a>00513 <span class="preprocessor">#endif</span> |
456 <a name="l00563"></a>00563 ((*pMappingParameter) >> 8 ) & 0x000000FF); |
531 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by |
457 <a name="l00564"></a>00564 buildPDO(d, 0x1800 + ind); |
|
458 <a name="l00566"></a>00566 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject; |
|
459 <a name="l00567"></a>00567 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); |
|
460 <a name="l00568"></a>00568 <span class="keywordflow">return</span> 0; |
|
461 <a name="l00569"></a>00569 } |
|
462 <a name="l00570"></a>00570 numMap++; |
|
463 <a name="l00571"></a>00571 } |
|
464 <a name="l00572"></a>00572 ind++; |
|
465 <a name="l00573"></a>00573 offsetObjdict++; |
|
466 <a name="l00574"></a>00574 offsetObjdictPrm++; |
|
467 <a name="l00575"></a>00575 } |
|
468 <a name="l00577"></a>00577 MSG_WAR(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0); |
|
469 <a name="l00578"></a>00578 <span class="keywordflow">return</span> 0xFF; |
|
470 <a name="l00579"></a>00579 |
|
471 <a name="l00580"></a>00580 } |
|
472 <a name="l00581"></a>00581 <span class="preprocessor">#endif</span> |
|
473 <a name="l00582"></a>00582 <span class="preprocessor"></span> |
|
474 <a name="l00583"></a>00583 |
|
475 <a name="l00584"></a>00584 |
|
476 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by |
532 <a href="http://www.doxygen.org/index.html"> |
477 <a href="http://www.doxygen.org/index.html"> |
533 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
478 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
534 </body> |
479 </body> |
535 </html> |
480 </html> |