144   UNS8 	pdoNum,       /* number of the actual processed pdo-nr. */

   144   UNS8 res;

   145         prp_j;

   146 

   147   const UNS8 *     pMappingCount = NULL;      /* count of mapped objects...*/

   148   /* pointer to the var which is mapped to a pdo */

   149   /* void *     pMappedAppObject = NULL; */

   150   /* pointer fo the var which holds the mapping parameter of an mapping entry  */

   151   UNS32 *    pMappingParameter = NULL;  

   152   /* pointer to the transmissiontype...*/

   153   UNS8 *     pTransmissionType = NULL;  

   154   UNS32 *    pwCobId = NULL;	

   155 

   156   UNS8 dataType;

   157   UNS16 index;

   158   UNS8 subIndex;

   159   UNS8 offset;

   160   UNS8 status;

   161   UNS8 Size;

   162   UNS32 objDict;	

   163   UNS16 offsetObjdict;

   164   UNS16 offsetObjdictMap;

   165   UNS16 lastIndex;

   166   

   167   status = state3;

   168   pdoNum = 0x00;

   169   prp_j = 0x00;

   170   offset = 0x00;

   180   /* So, the node is in operational state */

   156   /*Call user app callback*/

   181   /* study all PDO stored in the objects dictionary */	

   157   (*d->post_TPDO)();

   182  

   183   offsetObjdict = d->firstIndex->PDO_TRS;

   184   lastIndex = d->lastIndex->PDO_TRS;

   185   offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;

   187   if(offsetObjdict) while( offsetObjdict <= lastIndex) {  

   159   return res;

   188     switch( status ) {

   160   

   189                     

   190     case state3:    /* get the PDO transmission type */

   191       if (d->objdict[offsetObjdict].bSubCount <= 2) {

   192 	  MSG_ERR(0x1004, "Subindex 2  not found at index ", 0x1800 + pdoNum);

   193 	  return 0xFF;

   194 	}

   195       pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;    

   196       MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);

   197       status = state4; 

   198       break;     

   199     case state4:	/* check if transmission type is after (this) SYNC */

   200                         /* The message may not be transmited every SYNC but every n SYNC */      

   201       if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&

   202           (++d->count_sync[pdoNum] == *pTransmissionType) ) {	

   203 	d->count_sync[pdoNum] = 0;

   204 	MSG_WAR(0x3007, "  PDO is on SYNCHRO. Trans type : ", *pTransmissionType);

   205 	status = state5;

   206 	break;

   207       }

   208       else {

   209 	MSG_WAR(0x3008, "  Not on synchro or not at this SYNC. Trans type : ", 

   210 		*pTransmissionType);

   211 	pdoNum++;

   212 	offsetObjdict++;

   213 	offsetObjdictMap++;

   214 	status = state11;

   215 	break;

   216       }      

   217     case state5:	/* get PDO CobId */

   218         pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;     

   219 	MSG_WAR(0x3009, "  PDO CobId is : ", *pwCobId);

   220 	status = state7;

   221 	break;     

   222     case state7:  /* get mapped objects number to transmit with this PDO */

   223       pMappingCount = (UNS8*) d->objdict[offsetObjdictMap].pSubindex[0].pObject;

   224 	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );

   225 	status = state8;

   226     case state8:	/* get mapping parameters */

   227       pMappingParameter = (UNS32*) d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;

   228 	MSG_WAR(0x300F, "  got mapping parameter : ", *pMappingParameter);

   229 	MSG_WAR(0x3050, "    at index : ", 0x1A00 + pdoNum);

   230 	MSG_WAR(0x3051, "    sub-index : ", prp_j + 1);

   231 	status = state9;

   232     

   233     case state9:	/* get data to transmit */ 

   234 	{

   235 	  UNS8 ByteSize;

   236 	  UNS8 tmp[]= {0,0,0,0,0,0,0,0};

   237 	  index = (UNS16)((*pMappingParameter) >> 16);

   238           subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);

   239 	  Size = (UNS8)(*pMappingParameter); /* Size in bits */

   240 	  ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */

   241 	  objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );

   242 	  /* copy bit per bit in little endian*/

   243 	  CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);

   244 	}   

   245         if( objDict != OD_SUCCESSFUL ){

   246           MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));

   247           return 0xFF;

   248         }

   249 	

   250 	offset += Size ;

   251 	d->process_var.count = 1 + ((offset - 1) >> 3);

   252 	prp_j++;

   253 	status = state10;	 

   254 	break;					

   255       

   256     case state10:	/* loop to get all the data to transmit */

   257       if( prp_j < *pMappingCount ){

   258 	MSG_WAR(0x3014, "  next variable mapped : ", prp_j);

   259 	status = state8;

   260 	break;

   261       }

   262       else {

   263 	MSG_WAR(0x3015, "  End scan mapped variable", 0);

   264 	PDOmGR( d, *pwCobId );	

   265 	MSG_WAR(0x3016, "  End of this pdo. Should have been sent", 0);

   266 	pdoNum++;

   267 	offsetObjdict++;

   268 	offsetObjdictMap++;

   269 	offset = 0x00;

   270 	prp_j = 0x00;

   271 	status = state11;

   272 	break;

   273       }

   274       

   275     case state11:     

   276       MSG_WAR(0x3017, "next pdo index : ", pdoNum);

   277       status = state3;

   278       break;

   279       

   280     default:

   281       MSG_ERR(0x1019,"Unknown state has been reached : %d",status);

   282       return 0xFF;

   283     }/* end switch case */

   284     

   285   }/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */

   286    

   287   (*d->post_TPDO)();

   288 

   289   return 0;