canfestival: comparison src/pdo.c

equal deleted inserted replaced

-:003cc3c63855
+:f49e5a6b7804
 {
 UNS8 i;
 if( d->nodeState == Operational ) {
 Message m;
-/*! Message copy for sending */
+/* Message copy for sending */
-m.cob_id.w = pdo.cobId & 0x7FF; /*! Because the cobId is 11 bytes
+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 canSend(d->canHandle,&m);
-} /*! end if */
+} /* end if */
 return 0xFF;
 }
 /*!
 ** PDO Manager
 UNS8 i;
 s_PDO pdo;
 MSG_WAR(0x3905, "PDOmGR",0);
-/*! if PDO is waiting for transmission,
+/* 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 tre portable */
 for ( i = 0 ; i < pdo.len ; i++)
 pdo.data[i] = d->process_var.data[i];
 res = sendPDO(d, pdo, NOT_A_REQUEST);
 offset = 0x00;
 ind = index - 0x1800;
 MSG_WAR(0x3910,"Prepare PDO to send index :", index);
-/*! only operational state allows PDO transmission */
+/* only operational state allows PDO transmission */
 if( d->nodeState != Operational ) {
 MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
 return 0xFF;
 }
 offsetObjdictPrm = d->firstIndex->PDO_TRS;
 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
 if (offsetObjdictPrm && offsetObjdict)
 {
-/*! get mapped objects number to transmit with this PDO */
+/* 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 */
+/* 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;
 }
 #endif
 UNS16          offset;
 UNS16          lastIndex;
 UNS8           err;
 MSG_WAR(0x3930, "sendPDOrequest ",0);
-/*! Sending the request only if the cobid have been found on the PDO
+/* 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*/
+/* get the CobId*/
 pwCobId = d->objdict[offset].pSubindex[1].pObject;
 if ( *pwCobId  == cobId ) {
 s_PDO pdo;
 pdo.cobId = *pwCobId;
 ** @return
 **/
 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
+/* pointer fo the var which holds the mapping parameter of an
 mapping entry */
 UNS32 *    pMappingParameter = NULL;
-UNS8  *    pTransmissionType = NULL; /*! pointer to the transmission
+UNS8  *    pTransmissionType = NULL; /* pointer to the transmission
 type */
 UNS32 *    pwCobId = NULL;
 UNS8       Size;
 UNS8       dataType;
 UNS8       offset;
 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
+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 */
+/* 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 */
+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 etre portable */
+/* Ce memcpy devrait etre portable */
 for ( i = 0 ; i < m->len ; i++)
 d->process_var.data[i] = m->data[i];
 d->process_var.count = (*m).len;
 status = state2;
 break;
 case state2:
-/*! get CobId of the dictionary correspondant to the received
+/* get CobId of the dictionary correspondant to the received
 PDO */
 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
-/*! check the CobId coherance */
+/* 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
+/* cobId received does not match with those write in the
 dictionnary */
 numPdo++;
 offsetObjdict++;
 status = state2;
 break;
 }
-case state4:/*! Get Mapped Objects Number */
+case state4:/* Get Mapped Objects Number */
-/*! The cobId of the message received has been found in the
+/* 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;
 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
+/* 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
+/* and the lower 8 bits contains the size of the mapped
 variable. */
 Size = (UNS8)(*pMappingParameter);
-/*! copy bit per bit in little endian */
+/* copy bit per bit in little endian */
 CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
 2, ... */
 }
 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;
 offsetObjdict = d->firstIndex->PDO_TRS;
 lastIndex = d->lastIndex->PDO_TRS;
 if(offsetObjdict) while( offsetObjdict  <= lastIndex ){
-/*! study of all PDO stored in the objects dictionary */
+/* study of all PDO stored in the objects dictionary */
 switch( status ){
-case state1:/*! check the CobId */
+case state1:/* check the CobId */
-/*! get CobId of the dictionary which match to the received PDO
+/* get CobId of the dictionary which match to the received PDO
 */
 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
 if ( *pwCobId == (*m).cob_id.w ) {
 status = state4;
 break;
 }
 status = state1;
 break;
-case state4:/*! check transmission type (after request?) */
+case state4:/* check transmission type (after request?) */
 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
 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
+/* 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 */
+case state5:/* get mapped objects number */
 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
 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;
 }
 /*!
 ** @param DestBitIndex
 ** @param DestBigEndian
 **/
 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
 {
-/*! This loop copy as many bits that it can each time, crossing*/
+/* This loop copy as many bits that it can each time, crossing*/
-/*! successively bytes*/
+/* successively bytes*/
 // boundaries from LSB to MSB.
 while(NbBits > 0)
 {
-/*! Bit missalignement between src and dest*/
+/* Bit missalignement between src and dest*/
 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
-/*! We can now get src and align it to dest*/
+/* We can now get src and align it to dest*/
 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
-/*! Compute the nb of bit we will be able to copy*/
+/* Compute the nb of bit we will be able to copy*/
 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
-/*! Create a mask that will serve in:*/
+/* Create a mask that will serve in:*/
 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
-/*! - Filtering src*/
+/* - Filtering src*/
 UNS8 Filtered = Aligned & ~Mask;
-/*! - and erase bits where we write, preserve where we don't*/
+/* - and erase bits where we write, preserve where we don't*/
 *DestByteIndex &= Mask;
-/*! Then write.*/
+/* Then write.*/
 *DestByteIndex |= Filtered ;
-/*!Compute next time cursors for src*/
+/*Compute next time cursors for src*/
-if((SrcBitIndex += BitsToCopy)>7)/*! cross boundary ?*/
+if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
 {
-SrcBitIndex = 0;/*! First bit*/
+SrcBitIndex = 0;/* First bit*/
-SrcByteIndex += (SrcBigEndian ? -1 : 1);/*! Next byte*/
+SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
 }
-/*!Compute next time cursors for dest*/
+/*Compute next time cursors for dest*/
 if((DestBitIndex += BitsToCopy)>7)
 {
-DestBitIndex = 0;/*! First bit*/
+DestBitIndex = 0;/* First bit*/
-DestByteIndex += (DestBigEndian ? -1 : 1);/*! Next byte*/
+DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
 }
-/*!And decrement counter.*/
+/*And decrement counter.*/
 NbBits -= BitsToCopy;
 }
 }
 ** @param variable
 **
 ** @return
 **/
 UNS8 sendPDOevent( CO_Data* d, void * variable )
-{ /*! DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
+{ /* 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
+UNS8 *     pTransmissionType = NULL; /* pointer to the transmission
 type */
 UNS32 *    pwCobId = NULL;
 UNS8 *     pSize;
 UNS8       size;
 UNS8       dataType;
 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;
 }

changeset 215	f49e5a6b7804
parent 208	05d95c45b388
child 217	94c3f89bc3cc