canfestival: comparison src/pdo.c

equal deleted inserted replaced

-:f36f09f08b62
+:95cd3376cc9f
 UNS8 i;
 if( d->nodeState == Operational ) {
 Message m;
 /* Message copy for sending */
-m.cob_id.w = pdo.cobId & 0x7FF; // Because the cobId is 11 bytes length
+m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
 if ( req == NOT_A_REQUEST ) {
 UNS8 i;
 m.rtr = NOT_A_REQUEST;
 m.len = pdo.len;
-//memcpy(&m.data, &pdo.data, m.len);
+/* memcpy(&m.data, &pdo.data, m.len); */
-// This Memcpy depends on packing structure. Avoid
+/* This Memcpy depends on packing structure. Avoid */
 for (i = 0 ; i < pdo.len ; i++)
 	m.data[i] = pdo.data[i];
 }
 else {
 m.rtr = REQUEST;
 for (i = 0 ; i < m.len ; i++) {
 MSG_WAR(0x3903,"           data : ", m.data[i]);
 }
 return (*d->canSend)(&m);
-} // end if
+} /* end if */
 return 0xFF;
 }
 /***************************************************************************/
-UNS8 PDOmGR(CO_Data* d, UNS32 cobId) //PDO Manager
+UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
 {
 UNS8 res;
 UNS8 i;
 s_PDO pdo;
 /* if PDO is waiting for transmission,
 preparation of the message to send */
 pdo.cobId = cobId;
 pdo.len =  d->process_var.count;
-//memcpy(&(pdo.data), &(process_var.data), pdo.len);
+/* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
-// Ce memcpy devrait être portable
+/* Ce memcpy devrait être portable */
 for ( i = 0 ; i < pdo.len ; i++)
 pdo.data[i] = d->process_var.data[i];
 res = sendPDO(d, pdo, NOT_A_REQUEST);
 return res;
 }
 /**************************************************************************/
 UNS8 buildPDO(CO_Data* d, UNS16 index)
-{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.
+{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */
 UNS16 ind;
 UNS8      subInd;
-UNS8 *     pMappingCount = NULL;      // count of mapped objects...
+UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
-// pointer to the var which is mapped to a pdo
+/* pointer to the var which is mapped to a pdo */
-//  void *     pMappedAppObject = NULL;
+/*  void *     pMappedAppObject = NULL;  */
-// pointer fo the var which holds the mapping parameter of an mapping entry
+/* pointer fo the var which holds the mapping parameter of an mapping entry  */
 UNS32 *    pMappingParameter = NULL;
 UNS8      Size;
 UNS8      dataType;
 UNS8      offset;
 {
 	  /* get mapped objects number to transmit with this PDO */
 	  pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
 	  MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
 	  MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
-	  while (subInd < *pMappingCount) { // Loop on mapped variables
+	  while (subInd < *pMappingCount) { /* Loop on mapped variables */
 	    /* get mapping parameters */
 	    pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
 	    MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
 	    MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
 	    MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
-	    // Get the mapped variable
+	    /* Get the mapped variable */
 	     Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
 	     objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
 				    (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
 				    (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
 	     }
 	      offset += Size;
 	      d->process_var.count = offset;
 	      subInd++;
-	}// end Loop on mapped variables
+	}/* end Loop on mapped variables  */
 }
 return 0;
 }
 /**************************************************************************/
 UNS16          offset;
 UNS16          lastIndex;
 UNS8           err;
 MSG_WAR(0x3930, "sendPDOrequest ",0);
-// Sending the request only if the cobid have been found on the PDO receive
+/* Sending the request only if the cobid have been found on the PDO receive */
-// part dictionary
+/* part dictionary */
 offset = d->firstIndex->PDO_RCV;
 lastIndex = d->lastIndex->PDO_RCV;
 if (offset)
 	  while (offset <= lastIndex) {
 	    /*get the CobId*/
 /***********************************************************************/
 UNS8 proceedPDO(CO_Data* d, Message *m)
 {
 UNS8   numPdo;
-UNS8   numMap;  // Number of the mapped varable
+UNS8   numMap;  /* Number of the mapped varable */
 UNS8 i;
-UNS8 *     pMappingCount = NULL;    // count of mapped objects...
+UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
-// pointer to the var which is mapped to a pdo...
+/* pointer to the var which is mapped to a pdo... */
-//  void *     pMappedAppObject = NULL;
+/*  void *     pMappedAppObject = NULL;   */
-// pointer fo the var which holds the mapping parameter of an mapping entry
+/* pointer fo the var which holds the mapping parameter of an mapping entry */
 UNS32 *    pMappingParameter = NULL;
-UNS8  *    pTransmissionType = NULL; // pointer to the transmission type
+UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
 UNS32 *    pwCobId = NULL;
 UNS8       Size;
 UNS8       dataType;
 UNS8       offset;
 UNS8       status;
 MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
 offset = 0x00;
 numPdo = 0;
 numMap = 0;
-if((*m).rtr == NOT_A_REQUEST ) { // The PDO received is not a request.
+if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
 offsetObjdict = d->firstIndex->PDO_RCV;
 lastIndex = d->lastIndex->PDO_RCV;
 /* study of all the PDO stored in the dictionary */
 if(offsetObjdict)
 	    while (offsetObjdict <= lastIndex) {
 	      switch( status ) {
 	        case state1:	/* data are stored in process_var array */
-		  //memcpy(&(process_var.data), &m->data, (*m).len);
+		  /* memcpy(&(process_var.data), &m->data, (*m).len); */
-		  // Ce memcpy devrait être portable.
+		  /* Ce memcpy devrait être portable. */
 		  for ( i = 0 ; i < m->len ; i++)
 		    d->process_var.data[i] = m->data[i];
 		  d->process_var.count = (*m).len;
 		  status = state2;
 		case state2:
 		  /* get CobId of the dictionary correspondant to the received PDO */
 	          pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
 		  /* check the CobId coherance */
-		  //*pwCobId is the cobId read in the dictionary at the state 3
+		  /*pwCobId is the cobId read in the dictionary at the state 3 */
 		  if ( *pwCobId == (*m).cob_id.w ){
-		    // The cobId is recognized
+		    /* The cobId is recognized */
 		    status = state4;
 		    MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
 		    break;
 		  }
 		  else {
-		    // cobId received does not match with those write in the dictionnary
+		    /* cobId received does not match with those write in the dictionnary */
 		    numPdo++;
 		    offsetObjdict++;
 		    status = state2;
 		    break;
 		  }
 		case state4:	/* get mapped objects number */
-		  // The cobId of the message received has been found in the dictionnary.
+		  /* The cobId of the message received has been found in the dictionnary. */
 		  offsetObjdict = d->firstIndex->PDO_RCV_MAP;
 		  lastIndex = d->lastIndex->PDO_RCV_MAP;
 		  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 		  numMap = 0;
 		  while (numMap < *pMappingCount) {
 		    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 		    if (pMappingParameter == NULL) {
 		      MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
 		      return 0xFF;
 		    }
-		    // Get the addresse of the mapped variable.
+		    /* Get the addresse of the mapped variable. */
-		    // detail of *pMappingParameter :
+		    /* detail of *pMappingParameter : */
-	            // The 16 hight bits contains the index, the medium 8 bits contains the subindex,
+	            /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
-		    // and the lower 8 bits contains the size of the mapped variable.
+		    /* and the lower 8 bits contains the size of the mapped variable. */
 		    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
 		    objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
 				            (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
 		    }
 		    MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
 		    MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
 		    MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
-//		    MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject));
+		    /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
 		    offset += Size;
 		    numMap++;
-		  } // end loop while on mapped variables
+		  } /* end loop while on mapped variables */
 		  offset=0x00;
 		  numMap = 0;
 		  return 0;
-	      }// end switch status
+	      }/* end switch status	*/
-	    }// end while
+	    }/* end while	*/
-}// end if Donnees
+}/* end if Donnees */
 else if ((*m).rtr == REQUEST ){
 MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
 status = state1;
 	  if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
 	    status = state5;
 	    break;
 	  }
 	  else {
-	    // The requested PDO is not to send on request. So, does nothing.
+	    /* The requested PDO is not to send on request. So, does nothing. */
 	    MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
 	    return 0xFF;
 	  }
 	case state5:	/* get mapped objects number */
 	  lastIndex = d->lastIndex->PDO_TRS_MAP;
 	  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 	  numMap = 0;
 	  while (numMap < *pMappingCount) {
 	    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
-	    // Get the mapped variable
+	    /* Get the mapped variable */
 	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
 	    objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
 				     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
 				     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
 	    if (objDict != OD_SUCCESSFUL) {
 	    }
 	    offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
 	    d->process_var.count = offset;
 	    numMap++;
-	  } // end while
+	  } /* end while */
-	  PDOmGR( d, *pwCobId ); // Transmit the PDO
+	  PDOmGR( d, *pwCobId ); /* Transmit the PDO */
 	  return 0;
-	}// end switch status
+	}/* end switch status */
-}// end while
+}/* end while	 */
-}// end if Requete
+}/* end if Requete */
 return 0;
 }
+#if 0
 /*********************************************************************/
 /* TODO : reimplement this using CallBacks                           */
 /*********************************************************************/
-/*
 UNS8 sendPDOevent( CO_Data* d, void * variable )
-{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.
+{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.	*/
 UNS32           objDict = 0;
 UNS8            ind, sub_ind;
 UNS8            status;
 UNS8            offset;
 UNS8 *     pMappingCount = NULL;
 UNS32 *    pMappingParameter = NULL;
 void *     pMappedAppObject = NULL;
-UNS8 *     pTransmissionType = NULL; // pointer to the transmission type
+UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
 UNS32 *    pwCobId = NULL;
 UNS8 *     pSize;
 UNS8       size;
 UNS8       dataType;
 UNS16      offsetObjdict;
 sub_ind = 1;
 offset  = 0x00;
 pSize   = &size;
 status  = state1;
-// look for the index and subindex where the variable is mapped
+/* look for the index and subindex where the variable is mapped */
-// Then, send the pdo which contains the variable.
+/* Then, send the pdo which contains the variable. */
 MSG_WAR (0x3960, "sendPDOevent", 0);
 offsetObjdictPrm = d->firstIndex->PDO_TRS;
 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
 lastIndex = d->lastIndex->PDO_TRS_MAP;
 if (offsetObjdictPrm && offsetObjdict)
-	  // Loop on PDO Transmit
+	  /* Loop on PDO Transmit */
 	  while(offsetObjdict <= lastIndex){
-	    // Check the transmission mode
+	    /* Check the transmission mode */
 	    pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
 	    if (*pTransmissionType != TRANS_EVENT) {
 	      ind++;
 	      offsetObjdict++;
 	      offsetObjdictPrm++;
 	      continue;
 	    }
 	    pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
-	    numMap = 1; // mapped variable
+	    numMap = 1; /* mapped variable */
 	    while (numMap <= *pMappingCount) {
 	      pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
-	      // Get the variable
+	      /* Get the variable */
 	      objDict = getODentry( d,
 	                            (UNS16)((*pMappingParameter) >> 16),
 				    (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
 				    (void * *)&pMappedAppObject, pSize, &dataType, 0 );
 	      if( objDict != OD_SUCCESSFUL ) {
 		MSG_WAR(0x3963, "Variable to send found at index : ",
 			(*pMappingParameter) >> 16);
 		MSG_WAR(0x3964, "                       subIndex : ",
 			((*pMappingParameter) >> 8 ) & 0x000000FF);
 		buildPDO(d, 0x1800 + ind);
-		// Get the cobId
+		/* Get the cobId */
 		pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
-		PDOmGR( d, *pwCobId ); // Send the PDO
+		PDOmGR( d, *pwCobId ); /* Send the PDO */
 		return 0;
 	      }
 	      numMap++;
-	    } // End loop on mapped variable
+	    } /* End loop on mapped variable */
 	    ind++;
 	    offsetObjdict++;
 	    offsetObjdictPrm++;
-	  } // End loop while on PDO
+	  } /* End loop while on PDO */
 MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
 return 0xFF;
 }
-*/
+#endif

changeset 71	95cd3376cc9f
parent 0	4472ee7c6c3e
child 90	7df322d86ae1