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src/pdo.c
changeset 217 94c3f89bc3cc
parent 215 f49e5a6b7804
child 235 f812bf6b7237
equal deleted inserted replaced
216:8ae2ae25b096 217:94c3f89bc3cc 
   192   offset = d->firstIndex->PDO_RCV;
 
   192   offset = d->firstIndex->PDO_RCV;
 
   193   lastIndex = d->lastIndex->PDO_RCV;
 
   193   lastIndex = d->lastIndex->PDO_RCV;
 
   194   if (offset)
 
   194   if (offset)
 
   195     while (offset <= lastIndex) {
 
   195     while (offset <= lastIndex) {
 
   196       /* get the CobId*/
 
   196       /* get the CobId*/
 
   197       pwCobId = d->objdict[offset].pSubindex[1].pObject;
 
   197       pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
 
   198 
   198 
   199       if ( *pwCobId  == cobId ) {
 
   199       if ( *pwCobId  == cobId ) {
 
   200         s_PDO pdo;
 
   200         s_PDO pdo;
 
   201         pdo.cobId = *pwCobId;
 
   201         pdo.cobId = *pwCobId;
 
   202         pdo.len = 0;
 
   202         pdo.len = 0;
 
   267           break;
 
   267           break;
 
   268 
   268 
   269         case state2:
 
   269         case state2:
 
   270           /* get CobId of the dictionary correspondant to the received
 
   270           /* get CobId of the dictionary correspondant to the received
 
   271              PDO */
 
   271              PDO */
 
   272           pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
 
   272           pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
 
   273           /* check the CobId coherance */
 
   273           /* check the CobId coherance */
 
   274           /*pwCobId is the cobId read in the dictionary at the state 3
 
   274           /*pwCobId is the cobId read in the dictionary at the state 3
 
   275             */
 
   275             */
 
   276           if ( *pwCobId == (*m).cob_id.w ){
 
   276           if ( *pwCobId == (*m).cob_id.w ){
 
   277             /* The cobId is recognized */
 
   277             /* The cobId is recognized */
 
   291             case state4:/* Get Mapped Objects Number */
 
   291             case state4:/* Get Mapped Objects Number */
 
   292                /* The cobId of the message received has been found in the
 
   292                /* The cobId of the message received has been found in the
 
   293                  dictionnary. */
 
   293                  dictionnary. */
 
   294                offsetObjdict = d->firstIndex->PDO_RCV_MAP;
 
   294                offsetObjdict = d->firstIndex->PDO_RCV_MAP;
 
   295              lastIndex = d->lastIndex->PDO_RCV_MAP;
 
   295              lastIndex = d->lastIndex->PDO_RCV_MAP;
 
   296              pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 
   296              pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 
   297              numMap = 0;
 
   297              numMap = 0;
 
   298              while (numMap < *pMappingCount) {
 
   298              while (numMap < *pMappingCount) {
 
   299                UNS8 tmp[]= {0,0,0,0,0,0,0,0};
 
   299                UNS8 tmp[]= {0,0,0,0,0,0,0,0};
 
   300                UNS8 ByteSize;
 
   300                UNS8 ByteSize;
 
   301                pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 
   301                pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 
   302                if (pMappingParameter == NULL) {
 
   302                if (pMappingParameter == NULL) {
 
   303                  MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
 
   303                  MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
 
   304                  return 0xFF;
 
   304                  return 0xFF;
 
   305                }
 
   305                }
 
   306                /* Get the addresse of the mapped variable. */
 
   306                /* Get the addresse of the mapped variable. */
 
   355       switch( status ){
 
   355       switch( status ){
 
   356 
   356 
   357       case state1:/* check the CobId */
 
   357       case state1:/* check the CobId */
 
   358         /* get CobId of the dictionary which match to the received PDO
 
   358         /* get CobId of the dictionary which match to the received PDO
 
   359          */
 
   359          */
 
   360         pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
 
   360         pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
 
   361         if ( *pwCobId == (*m).cob_id.w ) {
 
   361         if ( *pwCobId == (*m).cob_id.w ) {
 
   362           status = state4;
 
   362           status = state4;
 
   363           break;
 
   363           break;
 
   364         }
 
   364         }
 
   365         else {
 
   365         else {
 
   369         status = state1;
 
   369         status = state1;
 
   370         break;
 
   370         break;
 
   371 
   371 
   372 
   372 
   373       case state4:/* check transmission type (after request?) */
 
   373       case state4:/* check transmission type (after request?) */
 
   374         pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
 
   374         pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
 
   375         if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
 
   375         if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
 
   376           status = state5;
 
   376           status = state5;
 
   377           break;
 
   377           break;
 
   378         }
 
   378         }
 
   379         else {
 
   379         else {
 
   384         }
 
   384         }
 
   385 
   385 
   386       case state5:/* get mapped objects number */
 
   386       case state5:/* get mapped objects number */
 
   387         offsetObjdict = d->firstIndex->PDO_TRS_MAP;
 
   387         offsetObjdict = d->firstIndex->PDO_TRS_MAP;
 
   388         lastIndex = d->lastIndex->PDO_TRS_MAP;
 
   388         lastIndex = d->lastIndex->PDO_TRS_MAP;
 
   389         pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 
   389         pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 
   390         numMap = 0;
 
   390         numMap = 0;
 
   391         while (numMap < *pMappingCount) {
 
   391         while (numMap < *pMappingCount) {
 
   392           pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 
   392           pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 
   393           /* Get the mapped variable */
 
   393           /* Get the mapped variable */
 
   394           Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
 
   394           Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
 
   395           objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
 
   395           objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
 
   396                                 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
 
   396                                 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
 
   397                                 (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
 
   397                                 (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
canfestival