doc/doxygen/html/pdo_8c-source.html
changeset 240 34654679f262
parent 215 f49e5a6b7804
--- a/doc/doxygen/html/pdo_8c-source.html	Fri Jul 06 10:53:15 2007 +0200
+++ b/doc/doxygen/html/pdo_8c-source.html	Mon Jul 16 08:56:03 2007 +0200
@@ -18,7 +18,7 @@
     <li><a href="globals.html"><span>Globals</span></a></li>
   </ul></div>
 <div class="nav">
-<a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.html">src</a></div>
+<a class="el" href="dir_0aa10e4f705947227e11e7ccb081fbe4.html">src</a></div>
 <h1>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>
 <a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>
 <a name="l00003"></a>00003 <span class="comment">  Stack.</span>
@@ -46,512 +46,555 @@
 <a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="objacces_8h.html">objacces.h</a>"</span>
 <a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
 <a name="l00027"></a>00027 
-<a name="l00037"></a><a class="code" href="pdo_8h.html#a6774c219dc64c1cec4b4721ba23e15a">00037</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> req)
-<a name="l00038"></a>00038 {
-<a name="l00039"></a>00039   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
-<a name="l00040"></a>00040   <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> ) {
-<a name="l00041"></a>00041     <a class="code" href="structMessage.html">Message</a> m;
-<a name="l00042"></a>00042 
-<a name="l00043"></a>00043     <span class="comment">/* Message copy for sending */</span>
-<a name="l00044"></a>00044     m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> &amp; 0x7FF; <span class="comment">/* Because the cobId is 11 bytes</span>
-<a name="l00045"></a>00045 <span class="comment">                                      length */</span>
-<a name="l00046"></a>00046     <span class="keywordflow">if</span> ( req == <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a> ) {
-<a name="l00047"></a>00047       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
-<a name="l00048"></a>00048       m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>;
-<a name="l00049"></a>00049       m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a>;
-<a name="l00050"></a>00050       <span class="comment">/* memcpy(&amp;m.data, &amp;pdo.data, m.len); */</span>
-<a name="l00051"></a>00051       <span class="comment">/* This Memcpy depends on packing structure. Avoid */</span>
-<a name="l00052"></a>00052       <span class="keywordflow">for</span> (i = 0 ; i &lt; pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> ; i++)
-<a name="l00053"></a>00053         m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i] = pdo.<a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">data</a>[i];
-<a name="l00054"></a>00054     }
-<a name="l00055"></a>00055     <span class="keywordflow">else</span> {
-<a name="l00056"></a>00056       m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a>;
-<a name="l00057"></a>00057       m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 0;
-<a name="l00058"></a>00058     }
+<a name="l00048"></a><a class="code" href="pdo_8h.html#06b1b812ca18d3167243fb2b2acb6414">00048</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo, <a class="code" href="structMessage.html">Message</a> *pdo)
+<a name="l00049"></a>00049 {
+<a name="l00050"></a>00050         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a> + numPdo; 
+<a name="l00051"></a>00051         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_map = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a> + numPdo;
+<a name="l00052"></a>00052         
+<a name="l00053"></a>00053         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> prp_j = 0x00;
+<a name="l00054"></a>00054         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> offset = 0x00;
+<a name="l00055"></a>00055         <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00056"></a>00056 
+<a name="l00057"></a>00057         pdo-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x7FF;
+<a name="l00058"></a>00058         pdo-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;
 <a name="l00059"></a>00059 
-<a name="l00060"></a>00060     <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
-<a name="l00061"></a>00061     <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3902,  <span class="stringliteral">"     Nb octets  : "</span>,  m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>);
-<a name="l00062"></a>00062     <span class="keywordflow">for</span> (i = 0 ; i &lt; m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++) {
-<a name="l00063"></a>00063       <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3903,<span class="stringliteral">"           data : "</span>, m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i]);
-<a name="l00064"></a>00064     }
-<a name="l00065"></a>00065 
-<a name="l00066"></a>00066     <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&amp;m);
-<a name="l00067"></a>00067   } <span class="comment">/* end if */</span>
-<a name="l00068"></a>00068   <span class="keywordflow">return</span> 0xFF;
-<a name="l00069"></a>00069 }
-<a name="l00070"></a>00070 
-<a name="l00079"></a><a class="code" href="pdo_8h.html#298b8291fa35cca22264cf8a70bf138a">00079</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId)
-<a name="l00080"></a>00080 {
-<a name="l00081"></a>00081   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res;
-<a name="l00082"></a>00082   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
-<a name="l00083"></a>00083   <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo;
+<a name="l00060"></a>00060         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3009, <span class="stringliteral">"  PDO CobId is : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>);
+<a name="l00061"></a>00061         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300D, <span class="stringliteral">"  Number of objects mapped : "</span>,*pMappingCount );
+<a name="l00062"></a>00062         
+<a name="l00063"></a>00063         <span class="keywordflow">do</span>{
+<a name="l00064"></a>00064                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType; <span class="comment">/* Unused */</span>
+<a name="l00065"></a>00065                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0}; <span class="comment">/* temporary space to hold bits */</span>
+<a name="l00066"></a>00066 
+<a name="l00067"></a>00067                 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span>
+<a name="l00068"></a>00068                 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>* pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[prp_j + 1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00069"></a>00069                 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16);
+<a name="l00070"></a>00070                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
+<a name="l00071"></a>00071                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt; 2, ... */</span>
+<a name="l00072"></a>00072                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(( (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)8 ) &amp; (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x000000FF);
+<a name="l00073"></a>00073                 
+<a name="l00074"></a>00074                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300F, <span class="stringliteral">"  got mapping parameter : "</span>, *pMappingParameter);
+<a name="l00075"></a>00075                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3050, <span class="stringliteral">"    at index : "</span>, TPDO_map-&gt;<a class="code" href="structtd__indextable.html#886a98ee4bd1ff0cd6182d0b0be8c486">index</a>);
+<a name="l00076"></a>00076                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3051, <span class="stringliteral">"    sub-index : "</span>, prp_j + 1);
+<a name="l00077"></a>00077                 
+<a name="l00078"></a>00078                 <span class="keywordflow">if</span>( <a class="code" href="objacces_8c.html#cad0c118b1e06230c9cceb8e3985822b">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, subIndex, tmp, &amp;ByteSize, &amp;dataType, 0 ) != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> ){
+<a name="l00079"></a>00079                         <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)(*pMappingParameter));
+<a name="l00080"></a>00080                         <span class="keywordflow">return</span> 0xFF;
+<a name="l00081"></a>00081                 }
+<a name="l00082"></a>00082                 <span class="comment">/* copy bit per bit in little endian*/</span>
+<a name="l00083"></a>00083                 <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0 , 0, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;pdo-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0);
 <a name="l00084"></a>00084 
-<a name="l00085"></a>00085   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3905, <span class="stringliteral">"PDOmGR"</span>,0);
-<a name="l00086"></a>00086 
-<a name="l00087"></a>00087   <span class="comment">/* if PDO is waiting for transmission,</span>
-<a name="l00088"></a>00088 <span class="comment">    preparation of the message to send */</span>
-<a name="l00089"></a>00089   pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> = cobId;
-<a name="l00090"></a>00090   pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> =  <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a>;
-<a name="l00091"></a>00091   <span class="comment">/* memcpy(&amp;(pdo.data), &amp;(process_var.data), pdo.len); */</span>
-<a name="l00092"></a>00092      <span class="comment">/* Ce memcpy devrait tre portable */</span>
-<a name="l00093"></a>00093     <span class="keywordflow">for</span> ( i = 0 ; i &lt; pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> ; i++) 
-<a name="l00094"></a>00094       pdo.<a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">data</a>[i] = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[i];
+<a name="l00085"></a>00085                 offset += Size ;
+<a name="l00086"></a>00086                 prp_j++;
+<a name="l00087"></a>00087         }<span class="keywordflow">while</span>( prp_j &lt; *pMappingCount );
+<a name="l00088"></a>00088 
+<a name="l00089"></a>00089         pdo-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1 + ((offset - 1) &gt;&gt; 3);
+<a name="l00090"></a>00090 
+<a name="l00091"></a>00091         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3015, <span class="stringliteral">"  End scan mapped variable"</span>, 0);
+<a name="l00092"></a>00092 
+<a name="l00093"></a>00093         <span class="keywordflow">return</span> 0;
+<a name="l00094"></a>00094 }
 <a name="l00095"></a>00095 
-<a name="l00096"></a>00096     res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, pdo, <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>);
-<a name="l00097"></a>00097 
-<a name="l00098"></a>00098     <span class="keywordflow">return</span> res;
-<a name="l00099"></a>00099 }
-<a name="l00100"></a>00100 
-<a name="l00101"></a>00101 <span class="preprocessor">#if 0</span>
-<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span>
-<a name="l00103"></a>00103 <span class="comment">/* TODO : implement bit mapping                                                  */</span>
-<a name="l00104"></a>00104 <span class="comment">/*********************************************************************/</span>
-<a name="l00105"></a>00105 
-<a name="l00106"></a>00106 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> index)
-<a name="l00107"></a>00107 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -&gt; infinite loop if it fails. */</span>       
-<a name="l00108"></a>00108   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> ind;
-<a name="l00109"></a>00109   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>      subInd;
-<a name="l00110"></a>00110 
-<a name="l00111"></a>00111   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *     pMappingCount = NULL;      <span class="comment">/* count of mapped objects... */</span>
-<a name="l00112"></a>00112   <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
-<a name="l00113"></a>00113 <span class="comment">/*  void *     pMappedAppObject = NULL;  */</span>
-<a name="l00114"></a>00114   <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span> 
-<a name="l00115"></a>00115  
-<a name="l00116"></a>00116   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *    pMappingParameter = NULL;
-<a name="l00117"></a>00117 
-<a name="l00118"></a>00118   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>      Size;
-<a name="l00119"></a>00119   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>      dataType;
-<a name="l00120"></a>00120   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>      offset;
-<a name="l00121"></a>00121   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>     offsetObjdict;
-<a name="l00122"></a>00122   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>     offsetObjdictPrm;
-<a name="l00123"></a>00123   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>     objDict;
-<a name="l00124"></a>00124 
-<a name="l00125"></a>00125   subInd=(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)0x00;
-<a name="l00126"></a>00126   offset = 0x00;
-<a name="l00127"></a>00127   ind = index - 0x1800;
-<a name="l00128"></a>00128 
-<a name="l00129"></a>00129   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index);
-<a name="l00130"></a>00130 
-<a name="l00131"></a>00131   <span class="comment">/* only operational state allows PDO transmission */</span>
-<a name="l00132"></a>00132   <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> != <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> ) {
-<a name="l00133"></a>00133     <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index);
-<a name="l00134"></a>00134     <span class="keywordflow">return</span> 0xFF;
-<a name="l00135"></a>00135   }
-<a name="l00136"></a>00136   offsetObjdictPrm = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
-<a name="l00137"></a>00137   offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
-<a name="l00138"></a>00138 
-<a name="l00139"></a>00139   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; offsetObjdict)
-<a name="l00140"></a>00140     {
-<a name="l00141"></a>00141       <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
-<a name="l00142"></a>00142       pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + ind)-&gt;pSubindex[0].pObject;
-<a name="l00143"></a>00143       <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount);
-<a name="l00144"></a>00144       <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3913, <span class="stringliteral">"        at index : "</span>, 0x1A00 + ind);
-<a name="l00145"></a>00145       <span class="keywordflow">while</span> (subInd &lt; *pMappingCount) { <span class="comment">/* Loop on mapped variables */</span>
-<a name="l00146"></a>00146         <span class="comment">/* get mapping parameters */</span>
-<a name="l00147"></a>00147         pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + ind)-&gt;pSubindex[subInd + 1].pObject;
-<a name="l00148"></a>00148         <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3914, <span class="stringliteral">"Get the mapping      at index : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)0x1A00 + ind);
-<a name="l00149"></a>00149         <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3915, <span class="stringliteral">"                     subIndex : "</span>, subInd + 1);
-<a name="l00150"></a>00150         <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3916, <span class="stringliteral">"                     value    : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *)pMappingParameter);
-<a name="l00151"></a>00151         <span class="comment">/* Get the mapped variable */</span>
-<a name="l00152"></a>00152         Size = ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3));
-<a name="l00153"></a>00153         objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),
-<a name="l00154"></a>00154                              (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0x000000FF),
-<a name="l00155"></a>00155                              (<span class="keywordtype">void</span> *)&amp;<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset], &amp;Size, &amp;dataType, 0 );
-<a name="l00156"></a>00156 
-<a name="l00157"></a>00157         <span class="keywordflow">if</span> (objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
-<a name="l00158"></a>00158           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1);
-<a name="l00159"></a>00159           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2920, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
-<a name="l00160"></a>00160           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2921, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
-<a name="l00161"></a>00161           <span class="keywordflow">return</span> 0xFF;
-<a name="l00162"></a>00162         }
-<a name="l00163"></a>00163 
-<a name="l00164"></a>00164         offset += Size;
-<a name="l00165"></a>00165         <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = offset;
-<a name="l00166"></a>00166         subInd++;
-<a name="l00167"></a>00167       }<span class="comment">/* end Loop on mapped variables  */</span>
-<a name="l00168"></a>00168     }
-<a name="l00169"></a>00169   <span class="keywordflow">return</span> 0;
-<a name="l00170"></a>00170 }
-<a name="l00171"></a>00171 <span class="preprocessor">#endif</span>
-<a name="l00172"></a>00172 <span class="preprocessor"></span>
-<a name="l00181"></a><a class="code" href="pdo_8h.html#cc08547009d3d2755d2291999941694c">00181</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId )
-<a name="l00182"></a>00182 {
-<a name="l00183"></a>00183   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pwCobId;
-<a name="l00184"></a>00184   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>          offset;
-<a name="l00185"></a>00185   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>          lastIndex;
-<a name="l00186"></a>00186   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>           err;
-<a name="l00187"></a>00187 
-<a name="l00188"></a>00188   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0);
-<a name="l00189"></a>00189   <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span>
-<a name="l00190"></a>00190 <span class="comment">     receive */</span>
-<a name="l00191"></a>00191   <span class="comment">/* part dictionary */</span>
-<a name="l00192"></a>00192   offset = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
-<a name="l00193"></a>00193   lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
-<a name="l00194"></a>00194   <span class="keywordflow">if</span> (offset)
-<a name="l00195"></a>00195     <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
-<a name="l00196"></a>00196       <span class="comment">/* get the CobId*/</span>
-<a name="l00197"></a>00197       pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offset].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00198"></a>00198 
-<a name="l00199"></a>00199       <span class="keywordflow">if</span> ( *pwCobId  == cobId ) {
-<a name="l00200"></a>00200         <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo;
-<a name="l00201"></a>00201         pdo.<a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a> = *pwCobId;
-<a name="l00202"></a>00202         pdo.<a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a> = 0;
-<a name="l00203"></a>00203         err  = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, pdo, <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a>);
-<a name="l00204"></a>00204         <span class="keywordflow">return</span> err;
-<a name="l00205"></a>00205       }
-<a name="l00206"></a>00206       offset++;
-<a name="l00207"></a>00207     }
-<a name="l00208"></a>00208   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId);
-<a name="l00209"></a>00209   <span class="keywordflow">return</span> 0xFF;
-<a name="l00210"></a>00210 }
-<a name="l00211"></a>00211 
-<a name="l00212"></a>00212 
-<a name="l00221"></a><a class="code" href="pdo_8h.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00221</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
-<a name="l00222"></a>00222 {
-<a name="l00223"></a>00223   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>   numPdo;
-<a name="l00224"></a>00224   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>   numMap;  <span class="comment">/* Number of the mapped varable */</span>
-<a name="l00225"></a>00225   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
-<a name="l00226"></a>00226   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *     pMappingCount = NULL;    <span class="comment">/* count of mapped objects... */</span>
-<a name="l00227"></a>00227   <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>
-<a name="l00228"></a>00228   <span class="comment">/*  void *     pMappedAppObject = NULL;   */</span>
-<a name="l00229"></a>00229   <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span>
-<a name="l00230"></a>00230 <span class="comment">     mapping entry */</span>
-<a name="l00231"></a>00231   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *    pMappingParameter = NULL;
-<a name="l00232"></a>00232   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>  *    pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
-<a name="l00233"></a>00233 <span class="comment">                                         type */</span>
-<a name="l00234"></a>00234   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *    pwCobId = NULL;
-<a name="l00235"></a>00235   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       Size;
-<a name="l00236"></a>00236   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       dataType;
-<a name="l00237"></a>00237   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       offset;
-<a name="l00238"></a>00238   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       status;
-<a name="l00239"></a>00239   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>      objDict;
-<a name="l00240"></a>00240   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>      offsetObjdict;
-<a name="l00241"></a>00241   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>      lastIndex;
-<a name="l00242"></a>00242   status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
+<a name="l00104"></a><a class="code" href="pdo_8h.html#2a4d6e86bc4447a3c45c9b96bd61f995">00104</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> RPDOIndex )
+<a name="l00105"></a>00105 {
+<a name="l00106"></a>00106   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pwCobId;
+<a name="l00107"></a>00107   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
+<a name="l00108"></a>00108   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
+<a name="l00109"></a>00109 
+<a name="l00110"></a>00110   <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span>
+<a name="l00111"></a>00111 <span class="comment">     receive */</span>
+<a name="l00112"></a>00112   <span class="comment">/* part dictionary */</span>
+<a name="l00113"></a>00113   
+<a name="l00114"></a>00114   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest RPDO Index : "</span>,RPDOIndex);
+<a name="l00115"></a>00115   
+<a name="l00116"></a>00116   <span class="keywordflow">if</span> (offset &amp;&amp; RPDOIndex &gt;= 0x1400){
+<a name="l00117"></a>00117     offset += RPDOIndex - 0x1400;  
+<a name="l00118"></a>00118     <span class="keywordflow">if</span> (offset &lt;= lastIndex) {
+<a name="l00119"></a>00119       <span class="comment">/* get the CobId*/</span>
+<a name="l00120"></a>00120       pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00121"></a>00121 
+<a name="l00122"></a>00122       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest cobId is : "</span>,*pwCobId);
+<a name="l00123"></a>00123 
+<a name="l00124"></a>00124       <a class="code" href="structMessage.html">Message</a> pdo = {*pwCobId, <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>, 0};
+<a name="l00125"></a>00125       <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
+<a name="l00126"></a>00126     }
+<a name="l00127"></a>00127   }
+<a name="l00128"></a>00128   <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : RPDO Index not found : "</span>, RPDOIndex);
+<a name="l00129"></a>00129   <span class="keywordflow">return</span> 0xFF;
+<a name="l00130"></a>00130 }
+<a name="l00131"></a>00131 
+<a name="l00132"></a>00132 
+<a name="l00141"></a><a class="code" href="pdo_8h.html#f653b9e9cc46d8290b3ce2d6392b5a52">00141</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
+<a name="l00142"></a>00142 {
+<a name="l00143"></a>00143   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numPdo;
+<a name="l00144"></a>00144   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numMap;  <span class="comment">/* Number of the mapped varable */</span>
+<a name="l00145"></a>00145   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i;
+<a name="l00146"></a>00146   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *     pMappingCount = NULL;    <span class="comment">/* count of mapped objects... */</span>
+<a name="l00147"></a>00147   <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>
+<a name="l00148"></a>00148   <span class="comment">/*  void *     pMappedAppObject = NULL;   */</span>
+<a name="l00149"></a>00149   <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span>
+<a name="l00150"></a>00150 <span class="comment">     mapping entry */</span>
+<a name="l00151"></a>00151   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pMappingParameter = NULL;
+<a name="l00152"></a>00152   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  *    pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
+<a name="l00153"></a>00153 <span class="comment">                                         type */</span>
+<a name="l00154"></a>00154   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pwCobId = NULL;
+<a name="l00155"></a>00155   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       Size;
+<a name="l00156"></a>00156   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       dataType;
+<a name="l00157"></a>00157   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       offset;
+<a name="l00158"></a>00158   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       status;
+<a name="l00159"></a>00159   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>      objDict;
+<a name="l00160"></a>00160   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      offsetObjdict;
+<a name="l00161"></a>00161   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      lastIndex;
+<a name="l00162"></a>00162   
+<a name="l00163"></a>00163   status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;
+<a name="l00164"></a>00164 
+<a name="l00165"></a>00165   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w &amp; 0x7ff));
+<a name="l00166"></a>00166   offset = 0x00;
+<a name="l00167"></a>00167   numPdo = 0;
+<a name="l00168"></a>00168   numMap = 0;
+<a name="l00169"></a>00169   <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span>
+<a name="l00170"></a>00170 <span class="comment">                                     request. */</span>
+<a name="l00171"></a>00171 
+<a name="l00172"></a>00172     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
+<a name="l00173"></a>00173     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;
+<a name="l00174"></a>00174 
+<a name="l00175"></a>00175     <span class="comment">/* study of all the PDO stored in the dictionary */</span>
+<a name="l00176"></a>00176     <span class="keywordflow">if</span>(offsetObjdict)
+<a name="l00177"></a>00177       <span class="keywordflow">while</span> (offsetObjdict &lt;= lastIndex) {
+<a name="l00178"></a>00178 
+<a name="l00179"></a>00179         <span class="keywordflow">switch</span>( status ) {
+<a name="l00180"></a>00180 
+<a name="l00181"></a>00181         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>:
+<a name="l00182"></a>00182           <span class="comment">/* get CobId of the dictionary correspondant to the received</span>
+<a name="l00183"></a>00183 <span class="comment">             PDO */</span>
+<a name="l00184"></a>00184           pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00185"></a>00185           <span class="comment">/* check the CobId coherance */</span>
+<a name="l00186"></a>00186           <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span>
+<a name="l00187"></a>00187 <span class="comment">            */</span>
+<a name="l00188"></a>00188           if ( *pwCobId == (*m).cob_id.w ){
+<a name="l00189"></a>00189             <span class="comment">/* The cobId is recognized */</span>
+<a name="l00190"></a>00190             status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;
+<a name="l00191"></a>00191             <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
+<a name="l00192"></a>00192             <span class="keywordflow">break</span>;
+<a name="l00193"></a>00193           }
+<a name="l00194"></a>00194           <span class="keywordflow">else</span> {
+<a name="l00195"></a>00195             <span class="comment">/* cobId received does not match with those write in the</span>
+<a name="l00196"></a>00196 <span class="comment">              dictionnary */</span>
+<a name="l00197"></a>00197             numPdo++;
+<a name="l00198"></a>00198             offsetObjdict++;
+<a name="l00199"></a>00199             status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;
+<a name="l00200"></a>00200             <span class="keywordflow">break</span>;
+<a name="l00201"></a>00201           }
+<a name="l00202"></a>00202 
+<a name="l00203"></a>00203             <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span>
+<a name="l00204"></a>00204                <span class="comment">/* The cobId of the message received has been found in the</span>
+<a name="l00205"></a>00205 <span class="comment">                 dictionnary. */</span>
+<a name="l00206"></a>00206                offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;
+<a name="l00207"></a>00207              lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;
+<a name="l00208"></a>00208              pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;
+<a name="l00209"></a>00209              numMap = 0;
+<a name="l00210"></a>00210              <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {
+<a name="l00211"></a>00211                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};
+<a name="l00212"></a>00212                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize;
+<a name="l00213"></a>00213                pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;
+<a name="l00214"></a>00214                <span class="keywordflow">if</span> (pMappingParameter == NULL) {
+<a name="l00215"></a>00215                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
+<a name="l00216"></a>00216                  <span class="keywordflow">return</span> 0xFF;
+<a name="l00217"></a>00217                }
+<a name="l00218"></a>00218                <span class="comment">/* Get the addresse of the mapped variable. */</span>
+<a name="l00219"></a>00219                <span class="comment">/* detail of *pMappingParameter : */</span>
+<a name="l00220"></a>00220                <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span>
+<a name="l00221"></a>00221 <span class="comment">                 contains the subindex, */</span>
+<a name="l00222"></a>00222                <span class="comment">/* and the lower 8 bits contains the size of the mapped</span>
+<a name="l00223"></a>00223 <span class="comment">                 variable. */</span>
+<a name="l00224"></a>00224 
+<a name="l00225"></a>00225                Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter);
+<a name="l00226"></a>00226 
+<a name="l00227"></a>00227                <span class="comment">/* copy bit per bit in little endian */</span>
+<a name="l00228"></a>00228                <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0, 0);
+<a name="l00229"></a>00229 
+<a name="l00230"></a>00230                ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt;</span>
+<a name="l00231"></a>00231 <span class="comment">                                                   2, ... */</span>
+<a name="l00232"></a>00232 
+<a name="l00233"></a>00233                objDict = <a class="code" href="objacces_8c.html#dad5d2f7890168cade2fbb7e0e4c6200">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),
+<a name="l00234"></a>00234                                     (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),
+<a name="l00235"></a>00235                                  tmp, &amp;ByteSize, 0 );
+<a name="l00236"></a>00236 
+<a name="l00237"></a>00237                <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>) {
+<a name="l00238"></a>00238                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
+<a name="l00239"></a>00239                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2939, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
+<a name="l00240"></a>00240                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
+<a name="l00241"></a>00241                  <span class="keywordflow">return</span> 0xFF;
+<a name="l00242"></a>00242                }
 <a name="l00243"></a>00243 
-<a name="l00244"></a>00244   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w &amp; 0x7ff));
-<a name="l00245"></a>00245   offset = 0x00;
-<a name="l00246"></a>00246   numPdo = 0;
-<a name="l00247"></a>00247   numMap = 0;
-<a name="l00248"></a>00248   <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span>
-<a name="l00249"></a>00249 <span class="comment">                                     request. */</span>
-<a name="l00250"></a>00250     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
-<a name="l00251"></a>00251     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#cadbae6acd5ded4e8eebf0ce88c2ec55">PDO_RCV</a>;
+<a name="l00244"></a>00244                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
+<a name="l00245"></a>00245                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
+<a name="l00246"></a>00246                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
+<a name="l00247"></a>00247                <span class="comment">/* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */</span>
+<a name="l00248"></a>00248                offset += Size;
+<a name="l00249"></a>00249                numMap++;
+<a name="l00250"></a>00250                <span class="comment">/*TODO :  check that offset is not not greater that message size (in bit) */</span>
+<a name="l00251"></a>00251              } <span class="comment">/* end loop while on mapped variables */</span>
 <a name="l00252"></a>00252 
-<a name="l00253"></a>00253     <span class="comment">/* study of all the PDO stored in the dictionary */</span>
-<a name="l00254"></a>00254     <span class="keywordflow">if</span>(offsetObjdict)
-<a name="l00255"></a>00255       <span class="keywordflow">while</span> (offsetObjdict &lt;= lastIndex) {
+<a name="l00253"></a>00253              offset=0x00;
+<a name="l00254"></a>00254              numMap = 0;
+<a name="l00255"></a>00255              <span class="keywordflow">return</span> 0;
 <a name="l00256"></a>00256 
-<a name="l00257"></a>00257         <span class="keywordflow">switch</span>( status ) {
-<a name="l00258"></a>00258 
-<a name="l00259"></a>00259         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>:<span class="comment">/* data are stored in process_var array */</span>
-<a name="l00260"></a>00260           <span class="comment">/* memcpy(&amp;(process_var.data), &amp;m-&gt;data, (*m).len); */</span>
-<a name="l00261"></a>00261           <span class="comment">/* Ce memcpy devrait etre portable */</span>
-<a name="l00262"></a>00262           <span class="keywordflow">for</span> ( i = 0 ; i &lt; m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++)
-<a name="l00263"></a>00263             <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[i] = m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i];
-<a name="l00264"></a>00264           <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = (*m).len;
-<a name="l00265"></a>00265 
-<a name="l00266"></a>00266           status = <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>;
-<a name="l00267"></a>00267           <span class="keywordflow">break</span>;
-<a name="l00268"></a>00268 
-<a name="l00269"></a>00269         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>:
-<a name="l00270"></a>00270           <span class="comment">/* get CobId of the dictionary correspondant to the received</span>
-<a name="l00271"></a>00271 <span class="comment">             PDO */</span>
-<a name="l00272"></a>00272           pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00273"></a>00273           <span class="comment">/* check the CobId coherance */</span>
-<a name="l00274"></a>00274           <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span>
-<a name="l00275"></a>00275 <span class="comment">            */</span>
-<a name="l00276"></a>00276           if ( *pwCobId == (*m).cob_id.w ){
-<a name="l00277"></a>00277             <span class="comment">/* The cobId is recognized */</span>
-<a name="l00278"></a>00278             status = <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>;
-<a name="l00279"></a>00279             <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
-<a name="l00280"></a>00280             <span class="keywordflow">break</span>;
-<a name="l00281"></a>00281           }
-<a name="l00282"></a>00282           <span class="keywordflow">else</span> {
-<a name="l00283"></a>00283             <span class="comment">/* cobId received does not match with those write in the</span>
-<a name="l00284"></a>00284 <span class="comment">              dictionnary */</span>
-<a name="l00285"></a>00285             numPdo++;
-<a name="l00286"></a>00286             offsetObjdict++;
-<a name="l00287"></a>00287             status = <a class="code" href="def_8h.html#9f640b93661d9249bd7bd6559f397ca5">state2</a>;
-<a name="l00288"></a>00288             <span class="keywordflow">break</span>;
-<a name="l00289"></a>00289           }
-<a name="l00290"></a>00290 
-<a name="l00291"></a>00291             <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span>
-<a name="l00292"></a>00292                <span class="comment">/* The cobId of the message received has been found in the</span>
-<a name="l00293"></a>00293 <span class="comment">                 dictionnary. */</span>
-<a name="l00294"></a>00294                offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#9a83f9efff533e71d580fda6118b101e">PDO_RCV_MAP</a>;
-<a name="l00295"></a>00295              lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#9a83f9efff533e71d580fda6118b101e">PDO_RCV_MAP</a>;
-<a name="l00296"></a>00296              pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;
-<a name="l00297"></a>00297              numMap = 0;
-<a name="l00298"></a>00298              <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {
-<a name="l00299"></a>00299                <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};
-<a name="l00300"></a>00300                <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> ByteSize;
-<a name="l00301"></a>00301                pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;
-<a name="l00302"></a>00302                <span class="keywordflow">if</span> (pMappingParameter == NULL) {
-<a name="l00303"></a>00303                  <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
-<a name="l00304"></a>00304                  <span class="keywordflow">return</span> 0xFF;
-<a name="l00305"></a>00305                }
-<a name="l00306"></a>00306                <span class="comment">/* Get the addresse of the mapped variable. */</span>
-<a name="l00307"></a>00307                <span class="comment">/* detail of *pMappingParameter : */</span>
-<a name="l00308"></a>00308                <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span>
-<a name="l00309"></a>00309 <span class="comment">                 contains the subindex, */</span>
-<a name="l00310"></a>00310                <span class="comment">/* and the lower 8 bits contains the size of the mapped</span>
-<a name="l00311"></a>00311 <span class="comment">                 variable. */</span>
-<a name="l00312"></a>00312 
-<a name="l00313"></a>00313                Size = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(*pMappingParameter);
-<a name="l00314"></a>00314 
-<a name="l00315"></a>00315                <span class="comment">/* copy bit per bit in little endian */</span>
-<a name="l00316"></a>00316                <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)&amp;<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset&gt;&gt;3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)tmp), 0, 0);
-<a name="l00317"></a>00317 
-<a name="l00318"></a>00318                ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt;</span>
-<a name="l00319"></a>00319 <span class="comment">                                                   2, ... */</span>
-<a name="l00320"></a>00320 
-<a name="l00321"></a>00321                objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),
-<a name="l00322"></a>00322                                     (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),
-<a name="l00323"></a>00323                                  tmp, &amp;ByteSize, 0 );
-<a name="l00324"></a>00324 
-<a name="l00325"></a>00325                <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
-<a name="l00326"></a>00326                  <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
-<a name="l00327"></a>00327                  <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2939, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
-<a name="l00328"></a>00328                  <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
-<a name="l00329"></a>00329                  <span class="keywordflow">return</span> 0xFF;
-<a name="l00330"></a>00330                }
-<a name="l00331"></a>00331 
-<a name="l00332"></a>00332                <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
-<a name="l00333"></a>00333                <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
-<a name="l00334"></a>00334                <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
-<a name="l00335"></a>00335                <span class="comment">/* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */</span>
-<a name="l00336"></a>00336                offset += Size;
-<a name="l00337"></a>00337                numMap++;
-<a name="l00338"></a>00338              } <span class="comment">/* end loop while on mapped variables */</span>
+<a name="l00257"></a>00257         }<span class="comment">/* end switch status*/</span>
+<a name="l00258"></a>00258       }<span class="comment">/* end while*/</span>
+<a name="l00259"></a>00259   }<span class="comment">/* end if Donnees */</span>
+<a name="l00260"></a>00260   <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a> ){
+<a name="l00261"></a>00261     <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
+<a name="l00262"></a>00262     status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;
+<a name="l00263"></a>00263     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00264"></a>00264     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00265"></a>00265     <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= lastIndex ){
+<a name="l00266"></a>00266       <span class="comment">/* study of all PDO stored in the objects dictionary */</span>
+<a name="l00267"></a>00267 
+<a name="l00268"></a>00268       <span class="keywordflow">switch</span>( status ){
+<a name="l00269"></a>00269 
+<a name="l00270"></a>00270       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>:<span class="comment">/* check the CobId */</span>
+<a name="l00271"></a>00271         <span class="comment">/* get CobId of the dictionary which match to the received PDO</span>
+<a name="l00272"></a>00272 <span class="comment">         */</span>
+<a name="l00273"></a>00273         pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict)-&gt;pSubindex[1].pObject;
+<a name="l00274"></a>00274         <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
+<a name="l00275"></a>00275           status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;
+<a name="l00276"></a>00276           <span class="keywordflow">break</span>;
+<a name="l00277"></a>00277         }
+<a name="l00278"></a>00278         <span class="keywordflow">else</span> {
+<a name="l00279"></a>00279           numPdo++;
+<a name="l00280"></a>00280           offsetObjdict++;
+<a name="l00281"></a>00281         }
+<a name="l00282"></a>00282         status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;
+<a name="l00283"></a>00283         <span class="keywordflow">break</span>;
+<a name="l00284"></a>00284 
+<a name="l00285"></a>00285 
+<a name="l00286"></a>00286       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* check transmission type */</span>
+<a name="l00287"></a>00287         pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00288"></a>00288         <span class="comment">/* If PDO is to be sampled and send on RTR, do it*/</span>
+<a name="l00289"></a>00289         if ( (*pTransmissionType == TRANS_RTR)) {
+<a name="l00290"></a>00290           status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
+<a name="l00291"></a>00291           <span class="keywordflow">break</span>;
+<a name="l00292"></a>00292         <span class="comment">/* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */</span>
+<a name="l00293"></a>00293         }<span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*pTransmissionType == TRANS_RTR_SYNC )) {
+<a name="l00294"></a>00294           <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_RTR_SYNC_READY){
+<a name="l00295"></a>00295             <span class="comment">/*Data ready, just send*/</span>
+<a name="l00296"></a>00296             <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>);
+<a name="l00297"></a>00297             <span class="keywordflow">return</span> 0;
+<a name="l00298"></a>00298           }<span class="keywordflow">else</span>{
+<a name="l00299"></a>00299             <span class="comment">/* if SYNC did never occur, force emission with current data */</span>
+<a name="l00300"></a>00300             <span class="comment">/* DS301 do not tell what to do in such a case...*/</span>
+<a name="l00301"></a>00301             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1947, <span class="stringliteral">"Not ready RTR_SYNC TPDO send current data : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
+<a name="l00302"></a>00302             status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
+<a name="l00303"></a>00303           }
+<a name="l00304"></a>00304           <span class="keywordflow">break</span>;
+<a name="l00305"></a>00305         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(
+<a name="l00306"></a>00306              (*pTransmissionType == TRANS_EVENT_PROFILE) ||
+<a name="l00307"></a>00307              (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
+<a name="l00308"></a>00308           <span class="comment">/* Zap all timers and inhibit flag */</span>
+<a name="l00309"></a>00309           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
+<a name="l00310"></a>00310           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
+<a name="l00311"></a>00311           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;
+<a name="l00312"></a>00312           <span class="comment">/* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span>
+<a name="l00313"></a>00313           <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo);
+<a name="l00314"></a>00314           <span class="keywordflow">return</span> 0;
+<a name="l00315"></a>00315         }<span class="keywordflow">else</span> {
+<a name="l00316"></a>00316           <span class="comment">/* The requested PDO is not to send on request. So, does</span>
+<a name="l00317"></a>00317 <span class="comment">            nothing. */</span>
+<a name="l00318"></a>00318           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
+<a name="l00319"></a>00319           <span class="keywordflow">return</span> 0xFF;
+<a name="l00320"></a>00320         }
+<a name="l00321"></a>00321 
+<a name="l00322"></a>00322       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>:<span class="comment">/* build and send requested PDO */</span>
+<a name="l00323"></a>00323       {
+<a name="l00324"></a>00324         <a class="code" href="structMessage.html">Message</a> pdo;
+<a name="l00325"></a>00325         <span class="keywordflow">if</span>( <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo, &amp;pdo))
+<a name="l00326"></a>00326         {
+<a name="l00327"></a>00327           <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1948, <span class="stringliteral">" Couldn't build TPDO n°"</span>, numPdo);
+<a name="l00328"></a>00328           <span class="keywordflow">return</span> 0xFF;
+<a name="l00329"></a>00329         }
+<a name="l00330"></a>00330         <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
+<a name="l00331"></a>00331         <span class="keywordflow">return</span> 0;
+<a name="l00332"></a>00332       }
+<a name="l00333"></a>00333       }<span class="comment">/* end switch status */</span>
+<a name="l00334"></a>00334     }<span class="comment">/* end while */</span>
+<a name="l00335"></a>00335   }<span class="comment">/* end if Requete */</span>
+<a name="l00336"></a>00336 
+<a name="l00337"></a>00337   <span class="keywordflow">return</span> 0;
+<a name="l00338"></a>00338 }
 <a name="l00339"></a>00339 
-<a name="l00340"></a>00340              offset=0x00;
-<a name="l00341"></a>00341              numMap = 0;
-<a name="l00342"></a>00342              <span class="keywordflow">return</span> 0;
-<a name="l00343"></a>00343 
-<a name="l00344"></a>00344         }<span class="comment">/* end switch status*/</span>
-<a name="l00345"></a>00345       }<span class="comment">/* end while*/</span>
-<a name="l00346"></a>00346   }<span class="comment">/* end if Donnees */</span>
-<a name="l00347"></a>00347   <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a> ){
-<a name="l00348"></a>00348     <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
-<a name="l00349"></a>00349     status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
-<a name="l00350"></a>00350     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
-<a name="l00351"></a>00351     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
-<a name="l00352"></a>00352     <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= lastIndex ){
-<a name="l00353"></a>00353       <span class="comment">/* study of all PDO stored in the objects dictionary */</span>
-<a name="l00354"></a>00354 
-<a name="l00355"></a>00355       <span class="keywordflow">switch</span>( status ){
-<a name="l00356"></a>00356 
-<a name="l00357"></a>00357       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>:<span class="comment">/* check the CobId */</span>
-<a name="l00358"></a>00358         <span class="comment">/* get CobId of the dictionary which match to the received PDO</span>
-<a name="l00359"></a>00359 <span class="comment">         */</span>
-<a name="l00360"></a>00360         pwCobId = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict)-&gt;pSubindex[1].pObject;
-<a name="l00361"></a>00361         <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
-<a name="l00362"></a>00362           status = <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>;
-<a name="l00363"></a>00363           <span class="keywordflow">break</span>;
-<a name="l00364"></a>00364         }
-<a name="l00365"></a>00365         <span class="keywordflow">else</span> {
-<a name="l00366"></a>00366           numPdo++;
-<a name="l00367"></a>00367           offsetObjdict++;
-<a name="l00368"></a>00368         }
-<a name="l00369"></a>00369         status = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
-<a name="l00370"></a>00370         <span class="keywordflow">break</span>;
-<a name="l00371"></a>00371 
-<a name="l00372"></a>00372 
-<a name="l00373"></a>00373       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>:<span class="comment">/* check transmission type (after request?) */</span>
-<a name="l00374"></a>00374         pTransmissionType = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00375"></a>00375         <span class="keywordflow">if</span> ( (*pTransmissionType == <a class="code" href="objdictdef_8h.html#1a9dbd29fbf815b9f24dd8e177cfecdb">TRANS_RTR</a>) || (*pTransmissionType == <a class="code" href="objdictdef_8h.html#1796da41c02afb8d119aa2a103cebbc2">TRANS_RTR_SYNC</a> ) || (*pTransmissionType == <a class="code" href="objdictdef_8h.html#85c21667cdfc019327398abd11cf30b4">TRANS_EVENT</a>) ) {
-<a name="l00376"></a>00376           status = <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>;
-<a name="l00377"></a>00377           <span class="keywordflow">break</span>;
-<a name="l00378"></a>00378         }
-<a name="l00379"></a>00379         <span class="keywordflow">else</span> {
-<a name="l00380"></a>00380           <span class="comment">/* The requested PDO is not to send on request. So, does</span>
-<a name="l00381"></a>00381 <span class="comment">            nothing. */</span>
-<a name="l00382"></a>00382           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>);
-<a name="l00383"></a>00383           <span class="keywordflow">return</span> 0xFF;
-<a name="l00384"></a>00384         }
-<a name="l00385"></a>00385 
-<a name="l00386"></a>00386       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>:<span class="comment">/* get mapped objects number */</span>
-<a name="l00387"></a>00387         offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
-<a name="l00388"></a>00388         lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
-<a name="l00389"></a>00389         pMappingCount = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;
-<a name="l00390"></a>00390         numMap = 0;
-<a name="l00391"></a>00391         <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {
-<a name="l00392"></a>00392           pMappingParameter = (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;
-<a name="l00393"></a>00393           <span class="comment">/* Get the mapped variable */</span>
-<a name="l00394"></a>00394           Size = ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3));
-<a name="l00395"></a>00395           objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)16),
-<a name="l00396"></a>00396                                 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(( (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) &amp; 0xFF),
-<a name="l00397"></a>00397                                 (<span class="keywordtype">void</span> *)&amp;<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset], &amp;Size, &amp;dataType, 0 );
-<a name="l00398"></a>00398           <span class="keywordflow">if</span> (objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a>) {
-<a name="l00399"></a>00399             <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
-<a name="l00400"></a>00400             <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2949, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
-<a name="l00401"></a>00401             <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2950, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);
-<a name="l00402"></a>00402             <span class="keywordflow">return</span> 0xFF;
-<a name="l00403"></a>00403           }
-<a name="l00404"></a>00404           offset += (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (((*pMappingParameter) &amp; 0xFF) &gt;&gt; 3);
-<a name="l00405"></a>00405           <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = offset;
-<a name="l00406"></a>00406           numMap++;
-<a name="l00407"></a>00407 
-<a name="l00408"></a>00408         } <span class="comment">/* end while */</span>
-<a name="l00409"></a>00409         <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *pwCobId ); <span class="comment">/* Transmit the PDO */</span>
-<a name="l00410"></a>00410         <span class="keywordflow">return</span> 0;
-<a name="l00411"></a>00411 
-<a name="l00412"></a>00412       }<span class="comment">/* end switch status */</span>
-<a name="l00413"></a>00413     }<span class="comment">/* end while */</span>
-<a name="l00414"></a>00414   }<span class="comment">/* end if Requete */</span>
-<a name="l00415"></a>00415 
-<a name="l00416"></a>00416   <span class="keywordflow">return</span> 0;
-<a name="l00417"></a>00417 }
-<a name="l00418"></a>00418 
-<a name="l00430"></a><a class="code" href="pdo_8h.html#e468510c9f77f502207d961d26389918">00430</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBigEndian)
-<a name="l00431"></a>00431 {
-<a name="l00432"></a>00432   <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span>
-<a name="l00433"></a>00433   <span class="comment">/* successively bytes*/</span>
-<a name="l00434"></a>00434   <span class="comment">// boundaries from LSB to MSB.</span>
-<a name="l00435"></a>00435   <span class="keywordflow">while</span>(NbBits &gt; 0)
-<a name="l00436"></a>00436     {
-<a name="l00437"></a>00437       <span class="comment">/* Bit missalignement between src and dest*/</span>
-<a name="l00438"></a>00438       <a class="code" href="hcs12_2applicfg_8h.html#662ebb8e51dc6acbd8850e22f172c5bf">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex;
-<a name="l00439"></a>00439 
-<a name="l00440"></a>00440       <span class="comment">/* We can now get src and align it to dest*/</span>
-<a name="l00441"></a>00441       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Aligned = Vect&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -Vect;
-<a name="l00442"></a>00442 
-<a name="l00443"></a>00443       <span class="comment">/* Compute the nb of bit we will be able to copy*/</span>
-<a name="l00444"></a>00444       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> BoudaryLimit = (Vect&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
-<a name="l00445"></a>00445       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> BitsToCopy = BoudaryLimit &gt; NbBits ? NbBits : BoudaryLimit;
-<a name="l00446"></a>00446 
-<a name="l00447"></a>00447       <span class="comment">/* Create a mask that will serve in:*/</span>
-<a name="l00448"></a>00448       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Mask = ((0xff &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (8 - DestBitIndex)));
-<a name="l00449"></a>00449 
-<a name="l00450"></a>00450       <span class="comment">/* - Filtering src*/</span>
-<a name="l00451"></a>00451       <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Filtered = Aligned &amp; ~Mask;
-<a name="l00452"></a>00452 
-<a name="l00453"></a>00453       <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span>
-<a name="l00454"></a>00454       *DestByteIndex &amp;= Mask;
-<a name="l00455"></a>00455 
-<a name="l00456"></a>00456       <span class="comment">/* Then write.*/</span>
-<a name="l00457"></a>00457       *DestByteIndex |= Filtered ;
-<a name="l00458"></a>00458 
-<a name="l00459"></a>00459       <span class="comment">/*Compute next time cursors for src*/</span>
-<a name="l00460"></a>00460       <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)&gt;7)<span class="comment">/* cross boundary ?*/</span>
-<a name="l00461"></a>00461         {
-<a name="l00462"></a>00462           SrcBitIndex = 0;<span class="comment">/* First bit*/</span>
-<a name="l00463"></a>00463           SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
+<a name="l00351"></a><a class="code" href="pdo_8h.html#ad755ad656fe0f661ca6bd17acb1245a">00351</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBigEndian)
+<a name="l00352"></a>00352 {
+<a name="l00353"></a>00353   <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span>
+<a name="l00354"></a>00354   <span class="comment">/* successively bytes*/</span>
+<a name="l00355"></a>00355   <span class="comment">// boundaries from LSB to MSB.</span>
+<a name="l00356"></a>00356   <span class="keywordflow">while</span>(NbBits &gt; 0)
+<a name="l00357"></a>00357     {
+<a name="l00358"></a>00358       <span class="comment">/* Bit missalignement between src and dest*/</span>
+<a name="l00359"></a>00359       <a class="code" href="hcs12_2applicfg_8h.html#6452da7d208e10c600824e6f8d437ea6">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex;
+<a name="l00360"></a>00360 
+<a name="l00361"></a>00361       <span class="comment">/* We can now get src and align it to dest*/</span>
+<a name="l00362"></a>00362       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Aligned = Vect&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -Vect;
+<a name="l00363"></a>00363 
+<a name="l00364"></a>00364       <span class="comment">/* Compute the nb of bit we will be able to copy*/</span>
+<a name="l00365"></a>00365       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BoudaryLimit = (Vect&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
+<a name="l00366"></a>00366       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BitsToCopy = BoudaryLimit &gt; NbBits ? NbBits : BoudaryLimit;
+<a name="l00367"></a>00367 
+<a name="l00368"></a>00368       <span class="comment">/* Create a mask that will serve in:*/</span>
+<a name="l00369"></a>00369       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Mask = ((0xff &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (8 - DestBitIndex)));
+<a name="l00370"></a>00370 
+<a name="l00371"></a>00371       <span class="comment">/* - Filtering src*/</span>
+<a name="l00372"></a>00372       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Filtered = Aligned &amp; ~Mask;
+<a name="l00373"></a>00373 
+<a name="l00374"></a>00374       <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span>
+<a name="l00375"></a>00375       *DestByteIndex &amp;= Mask;
+<a name="l00376"></a>00376 
+<a name="l00377"></a>00377       <span class="comment">/* Then write.*/</span>
+<a name="l00378"></a>00378       *DestByteIndex |= Filtered ;
+<a name="l00379"></a>00379 
+<a name="l00380"></a>00380       <span class="comment">/*Compute next time cursors for src*/</span>
+<a name="l00381"></a>00381       <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)&gt;7)<span class="comment">/* cross boundary ?*/</span>
+<a name="l00382"></a>00382         {
+<a name="l00383"></a>00383           SrcBitIndex = 0;<span class="comment">/* First bit*/</span>
+<a name="l00384"></a>00384           SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
+<a name="l00385"></a>00385         }
+<a name="l00386"></a>00386 
+<a name="l00387"></a>00387 
+<a name="l00388"></a>00388       <span class="comment">/*Compute next time cursors for dest*/</span>
+<a name="l00389"></a>00389       <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)&gt;7)
+<a name="l00390"></a>00390         {
+<a name="l00391"></a>00391           DestBitIndex = 0;<span class="comment">/* First bit*/</span>
+<a name="l00392"></a>00392           DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
+<a name="l00393"></a>00393         }
+<a name="l00394"></a>00394 
+<a name="l00395"></a>00395       <span class="comment">/*And decrement counter.*/</span>
+<a name="l00396"></a>00396       NbBits -= BitsToCopy;
+<a name="l00397"></a>00397     }
+<a name="l00398"></a>00398 
+<a name="l00399"></a>00399 }
+<a name="l00408"></a><a class="code" href="pdo_8h.html#adaae758ac4e9333eec59ff123ba98ad">00408</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#adaae758ac4e9333eec59ff123ba98ad">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
+<a name="l00409"></a>00409 {
+<a name="l00410"></a>00410   <span class="comment">/* Calls _sendPDOevent specifying it is not a sync event */</span>
+<a name="l00411"></a>00411   <span class="keywordflow">return</span> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0);
+<a name="l00412"></a>00412 }
+<a name="l00413"></a>00413         
+<a name="l00414"></a>00414 
+<a name="l00415"></a><a class="code" href="pdo_8h.html#1e6f0540474e95f2928151efec83ccb6">00415</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)
+<a name="l00416"></a>00416 {
+<a name="l00417"></a>00417         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>
+<a name="l00418"></a>00418         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = TIMER_NONE;
+<a name="l00419"></a>00419         <span class="comment">/* force emission of PDO by artificially changing last emitted*/</span>
+<a name="l00420"></a>00420         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0;
+<a name="l00421"></a>00421         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>    
+<a name="l00422"></a>00422 }
+<a name="l00423"></a>00423 
+<a name="l00424"></a><a class="code" href="pdo_8h.html#adf6445208b9af9b11f66f66a5d1f1f9">00424</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)
+<a name="l00425"></a>00425 {
+<a name="l00426"></a>00426         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>
+<a name="l00427"></a>00427         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = TIMER_NONE;
+<a name="l00428"></a>00428         <span class="comment">/* Remove inhibit flag */</span>
+<a name="l00429"></a>00429         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;
+<a name="l00430"></a>00430         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>
+<a name="l00431"></a>00431 }
+<a name="l00432"></a>00432 
+<a name="l00442"></a><a class="code" href="pdo_8h.html#fbf33713253ccf33f9277e31c78a6cb5">00442</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> isSyncEvent )
+<a name="l00443"></a>00443 { 
+<a name="l00444"></a>00444   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  pdoNum = 0x00;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
+<a name="l00445"></a>00445   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pTransmissionType = NULL;  
+<a name="l00446"></a>00446   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>;
+<a name="l00447"></a>00447   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00448"></a>00448   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdictMap = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a>;
+<a name="l00449"></a>00449   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;  
+<a name="l00450"></a>00450 
+<a name="l00451"></a>00451   <span class="comment">/* study all PDO stored in the objects dictionary */</span>  
+<a name="l00452"></a>00452   <span class="keywordflow">if</span>(offsetObjdict){
+<a name="l00453"></a>00453    <a class="code" href="structMessage.html">Message</a> pdo = <a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
+<a name="l00454"></a>00454    <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {  
+<a name="l00455"></a>00455     <span class="keywordflow">switch</span>( status ) {
+<a name="l00456"></a>00456     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>:
+<a name="l00457"></a>00457       <span class="keywordflow">if</span> (<span class="comment">/*d-&gt;objdict[offsetObjdict].bSubCount &lt; 5 || not necessary with objdictedit (always 5)*/</span>
+<a name="l00458"></a>00458           <span class="comment">/* check if TPDO is not valid */</span> 
+<a name="l00459"></a>00459           *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x8000) {
+<a name="l00460"></a>00460           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3960, <span class="stringliteral">"Not a valid PDO "</span>, 0x1800 + pdoNum);
+<a name="l00461"></a>00461           <span class="comment">/*Go next TPDO*/</span>
+<a name="l00462"></a>00462           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00463"></a>00463           <span class="keywordflow">break</span>;
 <a name="l00464"></a>00464         }
-<a name="l00465"></a>00465 
-<a name="l00466"></a>00466 
-<a name="l00467"></a>00467       <span class="comment">/*Compute next time cursors for dest*/</span>
-<a name="l00468"></a>00468       <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)&gt;7)
-<a name="l00469"></a>00469         {
-<a name="l00470"></a>00470           DestBitIndex = 0;<span class="comment">/* First bit*/</span>
-<a name="l00471"></a>00471           DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>
-<a name="l00472"></a>00472         }
-<a name="l00473"></a>00473 
-<a name="l00474"></a>00474       <span class="comment">/*And decrement counter.*/</span>
-<a name="l00475"></a>00475       NbBits -= BitsToCopy;
-<a name="l00476"></a>00476     }
-<a name="l00477"></a>00477 
-<a name="l00478"></a>00478 }
-<a name="l00479"></a>00479 
-<a name="l00480"></a>00480 <span class="preprocessor">#if 0</span>
-<a name="l00481"></a>00481 <span class="preprocessor"></span>
-<a name="l00482"></a>00482 <span class="comment">/*********************************************************************/</span>
-<a name="l00483"></a>00483 <span class="comment">/* TODO : reimplement this using CallBacks</span>
-<a name="l00484"></a>00484 <span class="comment"> */</span>
-<a name="l00485"></a>00485 <span class="comment">/*********************************************************************/</span>
-<a name="l00486"></a>00486 
-<a name="l00495"></a>00495 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#07ff33d0d2e6b1070bf3c27578006e8d">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <span class="keywordtype">void</span> * variable )
-<a name="l00496"></a>00496 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -&gt; infinite</span>
-<a name="l00497"></a>00497 <span class="comment">    loop if it fails.*/</span>
-<a name="l00498"></a>00498   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>           objDict = 0;
-<a name="l00499"></a>00499   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>            ind, sub_ind;
-<a name="l00500"></a>00500   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>            status;
-<a name="l00501"></a>00501   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>            offset;
-<a name="l00502"></a>00502   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *     pMappingCount = NULL;
-<a name="l00503"></a>00503   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *    pMappingParameter = NULL;
-<a name="l00504"></a>00504   <span class="keywordtype">void</span> *     pMappedAppObject = NULL;
-<a name="l00505"></a>00505   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *     pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>
-<a name="l00506"></a>00506 <span class="comment">                                         type */</span>
-<a name="l00507"></a>00507   <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *    pwCobId = NULL;
-<a name="l00508"></a>00508   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *     pSize;
-<a name="l00509"></a>00509   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       size;
-<a name="l00510"></a>00510   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       dataType;
-<a name="l00511"></a>00511   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>      offsetObjdict;
-<a name="l00512"></a>00512   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>      offsetObjdictPrm;
-<a name="l00513"></a>00513   <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>      lastIndex;
-<a name="l00514"></a>00514   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>       numMap;
-<a name="l00515"></a>00515   ind     = 0x00;
-<a name="l00516"></a>00516   sub_ind = 1;
-<a name="l00517"></a>00517   offset  = 0x00;
-<a name="l00518"></a>00518   pSize   = &amp;size;
-<a name="l00519"></a>00519   status  = <a class="code" href="def_8h.html#5191a3bccf57126087e6ec2cca448c32">state1</a>;
-<a name="l00520"></a>00520 
-<a name="l00521"></a>00521 
-<a name="l00522"></a>00522   <span class="comment">/* look for the index and subindex where the variable is mapped */</span>
-<a name="l00523"></a>00523   <span class="comment">/* Then, send the pdo which contains the variable. */</span>
-<a name="l00524"></a>00524 
-<a name="l00525"></a>00525   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0);
-<a name="l00526"></a>00526   offsetObjdictPrm = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
-<a name="l00527"></a>00527 
-<a name="l00528"></a>00528   offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
-<a name="l00529"></a>00529   lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
-<a name="l00530"></a>00530 
-<a name="l00531"></a>00531   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; offsetObjdict)
-<a name="l00532"></a>00532     <span class="comment">/* Loop on PDO Transmit */</span>
-<a name="l00533"></a>00533     <span class="keywordflow">while</span>(offsetObjdict &lt;= lastIndex){
-<a name="l00534"></a>00534       <span class="comment">/* Check the transmission mode */</span>
-<a name="l00535"></a>00535       pTransmissionType = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictPrm].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00536"></a>00536       <span class="keywordflow">if</span> (*pTransmissionType != <a class="code" href="objdictdef_8h.html#85c21667cdfc019327398abd11cf30b4">TRANS_EVENT</a>) {
-<a name="l00537"></a>00537         ind++;
-<a name="l00538"></a>00538         offsetObjdict++;
-<a name="l00539"></a>00539         offsetObjdictPrm++;
-<a name="l00540"></a>00540         <span class="keywordflow">continue</span>;
-<a name="l00541"></a>00541       }
-<a name="l00542"></a>00542       pMappingCount = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00543"></a>00543       numMap = 1; <span class="comment">/* mapped variable */</span>
-<a name="l00544"></a>00544       <span class="keywordflow">while</span> (numMap &lt;= *pMappingCount) {
-<a name="l00545"></a>00545         pMappingParameter = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[numMap].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00546"></a>00546         <span class="comment">/* Get the variable */</span>
-<a name="l00547"></a>00547         objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,
-<a name="l00548"></a>00548                               (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),
-<a name="l00549"></a>00549                               (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(( (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) &amp; (<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>)0x000000FF),
-<a name="l00550"></a>00550                               (<span class="keywordtype">void</span> * *)&amp;pMappedAppObject, pSize, &amp;dataType, 0 );
-<a name="l00551"></a>00551         <span class="keywordflow">if</span>( objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> ) {
-<a name="l00552"></a>00552           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>,
-<a name="l00553"></a>00553                   (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)16);
-<a name="l00554"></a>00554 
-<a name="l00555"></a>00555           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2962, <span class="stringliteral">"               subindex : "</span>,
-<a name="l00556"></a>00556                   ((*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) &amp; (UNS32)0x000000FF);
-<a name="l00557"></a>00557           <span class="keywordflow">return</span> 0xFF;
-<a name="l00558"></a>00558         }
-<a name="l00559"></a>00559         <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span>
-<a name="l00560"></a>00560           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>,
-<a name="l00561"></a>00561                   (*pMappingParameter) &gt;&gt; 16);
-<a name="l00562"></a>00562           <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3964, <span class="stringliteral">"                       subIndex : "</span>,
-<a name="l00563"></a>00563                   ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0x000000FF);
-<a name="l00564"></a>00564           <a class="code" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, 0x1800 + ind);
-<a name="l00565"></a>00565           <span class="comment">/* Get the cobId */</span>
-<a name="l00566"></a>00566           pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictPrm].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
-<a name="l00567"></a>00567           <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *pwCobId ); <span class="comment">/* Send the PDO */</span>
-<a name="l00568"></a>00568           <span class="keywordflow">return</span> 0;
-<a name="l00569"></a>00569         }
-<a name="l00570"></a>00570         numMap++;
-<a name="l00571"></a>00571       } <span class="comment">/* End loop on mapped variable */</span>
-<a name="l00572"></a>00572       ind++;
-<a name="l00573"></a>00573       offsetObjdict++;
-<a name="l00574"></a>00574       offsetObjdictPrm++;
-<a name="l00575"></a>00575     } <span class="comment">/* End loop while on PDO */</span>
-<a name="l00576"></a>00576 
-<a name="l00577"></a>00577   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0);
-<a name="l00578"></a>00578   <span class="keywordflow">return</span> 0xFF;
-<a name="l00579"></a>00579 
-<a name="l00580"></a>00580 }
-<a name="l00581"></a>00581 <span class="preprocessor">#endif</span>
-<a name="l00582"></a>00582 <span class="preprocessor"></span>
-<a name="l00583"></a>00583 
-<a name="l00584"></a>00584 
-</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by&nbsp;
+<a name="l00465"></a>00465       <span class="comment">/* get the PDO transmission type */</span>
+<a name="l00466"></a>00466       pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;    
+<a name="l00467"></a>00467       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3962, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
+<a name="l00468"></a>00468 
+<a name="l00469"></a>00469       <span class="comment">/* check if transmission type is SYNCRONOUS */</span>
+<a name="l00470"></a>00470       <span class="comment">/* The message is transmited every n SYNC with n=TransmissionType */</span>      
+<a name="l00471"></a>00471       <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 
+<a name="l00472"></a>00472           (*pTransmissionType &gt;= TRANS_SYNC_MIN) &amp;&amp;
+<a name="l00473"></a>00473           (*pTransmissionType &lt;= TRANS_SYNC_MAX) &amp;&amp;
+<a name="l00474"></a>00474           (++<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> == *pTransmissionType) ) {
+<a name="l00475"></a>00475         <span class="comment">/*Reset count of SYNC*/</span> 
+<a name="l00476"></a>00476         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
+<a name="l00477"></a>00477         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3964, <span class="stringliteral">"  PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
+<a name="l00478"></a>00478         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
+<a name="l00479"></a>00479         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))
+<a name="l00480"></a>00480         {
+<a name="l00481"></a>00481             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1906, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
+<a name="l00482"></a>00482             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00483"></a>00483             <span class="keywordflow">break</span>;
+<a name="l00484"></a>00484         }
+<a name="l00485"></a>00485         status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
+<a name="l00486"></a>00486       <span class="comment">/* If transmission RTR, with data sampled on SYNC */</span>
+<a name="l00487"></a>00487       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 
+<a name="l00488"></a>00488           (*pTransmissionType == TRANS_RTR_SYNC)) {
+<a name="l00489"></a>00489           <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;d-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>))
+<a name="l00490"></a>00490           {
+<a name="l00491"></a>00491              <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1966, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
+<a name="l00492"></a>00492              d-&gt;PDO_status[pdoNum].transmit_type_parameter &amp;= ~PDO_RTR_SYNC_READY; 
+<a name="l00493"></a>00493           }<span class="keywordflow">else</span>{
+<a name="l00494"></a>00494              d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY; 
+<a name="l00495"></a>00495           }
+<a name="l00496"></a>00496           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00497"></a>00497           <span class="keywordflow">break</span>;
+<a name="l00498"></a>00498       <span class="comment">/* If transmission on Event and not inhibited, check for changes */</span>
+<a name="l00499"></a>00499       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>((*pTransmissionType == TRANS_EVENT_PROFILE ||
+<a name="l00500"></a>00500                *pTransmissionType == TRANS_EVENT_SPECIFIC )&amp;&amp;
+<a name="l00501"></a>00501               !(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_INHIBITED)) {
+<a name="l00502"></a>00502         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3968, <span class="stringliteral">"  PDO is on EVENT. Trans type : "</span>, *pTransmissionType);
+<a name="l00503"></a>00503         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;
+<a name="l00504"></a>00504         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))
+<a name="l00505"></a>00505         {
+<a name="l00506"></a>00506             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x3907, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);
+<a name="l00507"></a>00507             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00508"></a>00508             <span class="keywordflow">break</span>;
+<a name="l00509"></a>00509         }
+<a name="l00510"></a>00510         
+<a name="l00511"></a>00511         <span class="comment">/*Compare new and old PDO*/</span>
+<a name="l00512"></a>00512         <span class="keywordflow">if</span>(d-&gt;PDO_status[pdoNum].last_message.cob_id.w == pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> &amp;&amp;
+<a name="l00513"></a>00513            d-&gt;PDO_status[pdoNum].last_message.len == pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> &amp;&amp;
+<a name="l00514"></a>00514            *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;d-&gt;PDO_status[pdoNum].last_message.data[0]) == *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;pdo.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0])){
+<a name="l00515"></a>00515                 <span class="comment">/* No changes -&gt; go to next pdo*/</span>
+<a name="l00516"></a>00516                 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00517"></a>00517         }<span class="keywordflow">else</span>{
+<a name="l00518"></a>00518                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306A, <span class="stringliteral">"Changes TPDO number : "</span>, pdoNum);
+<a name="l00519"></a>00519                 <span class="comment">/* Changes detected -&gt; transmit message */</span>
+<a name="l00520"></a>00520                 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;
+<a name="l00521"></a>00521                 
+<a name="l00522"></a>00522                 <span class="comment">/* Start both event_timer and inhibit_timer*/</span>
+<a name="l00523"></a>00523                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].event_timer);
+<a name="l00524"></a>00524                 d-&gt;PDO_status[pdoNum].event_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[5].pObject), 0);
+<a name="l00525"></a>00525                 
+<a name="l00526"></a>00526                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].inhibit_timer);
+<a name="l00527"></a>00527                 d-&gt;PDO_status[pdoNum].inhibit_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#5f44d2f770d3bd711510372589f5ae9c">US_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);
+<a name="l00528"></a>00528                 
+<a name="l00529"></a>00529                 <span class="comment">/* and inhibit TPDO */</span>
+<a name="l00530"></a>00530                 d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
+<a name="l00531"></a>00531         }
+<a name="l00532"></a>00532       }<span class="keywordflow">else</span>{
+<a name="l00533"></a>00533         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306C, <span class="stringliteral">"  PDO is not on EVENT or synchro or not at this SYNC. Trans type : "</span>, *pTransmissionType);
+<a name="l00534"></a>00534         status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00535"></a>00535       }      
+<a name="l00536"></a>00536         <span class="keywordflow">break</span>;
+<a name="l00537"></a>00537     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>: <span class="comment">/*Send the pdo*/</span>
+<a name="l00538"></a>00538         <span class="comment">/*store_as_last_message*/</span>
+<a name="l00539"></a>00539         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a> = pdo;       
+<a name="l00540"></a>00540         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396D, <span class="stringliteral">"sendPDO cobId :"</span>, pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);
+<a name="l00541"></a>00541         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x396E,  <span class="stringliteral">"     Nb octets  : "</span>,  pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>);
+<a name="l00542"></a>00542         
+<a name="l00543"></a>00543         <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);
+<a name="l00544"></a>00544         status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;
+<a name="l00545"></a>00545         <span class="keywordflow">break</span>;     
+<a name="l00546"></a>00546     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>: <span class="comment">/*Go to next TPDO*/</span>     
+<a name="l00547"></a>00547         pdoNum++;
+<a name="l00548"></a>00548         offsetObjdict++;
+<a name="l00549"></a>00549         offsetObjdictMap++;
+<a name="l00550"></a>00550         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3970, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
+<a name="l00551"></a>00551         status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>;
+<a name="l00552"></a>00552         <span class="keywordflow">break</span>;
+<a name="l00553"></a>00553       
+<a name="l00554"></a>00554     <span class="keywordflow">default</span>:
+<a name="l00555"></a>00555       <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1972,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
+<a name="l00556"></a>00556       <span class="keywordflow">return</span> 0xFF;
+<a name="l00557"></a>00557     }<span class="comment">/* end switch case */</span>
+<a name="l00558"></a>00558     
+<a name="l00559"></a>00559   }<span class="comment">/* end while */</span>
+<a name="l00560"></a>00560   }
+<a name="l00561"></a>00561   <span class="keywordflow">return</span> 0;
+<a name="l00562"></a>00562 }
+<a name="l00563"></a>00563 
+<a name="l00573"></a><a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">00573</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * OD_entry, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex)
+<a name="l00574"></a>00574 {
+<a name="l00575"></a>00575   <span class="comment">/* If PDO are actives */</span>
+<a name="l00576"></a>00576   <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>.<a class="code" href="structs__state__communication.html#9e525c64ecaa9ffd9f2f9e6dea031fed">csPDO</a>) <span class="keywordflow">switch</span>(bSubindex)
+<a name="l00577"></a>00577   {
+<a name="l00578"></a>00578         <span class="keywordflow">case</span> 2: <span class="comment">/* Changed transmition type */</span>
+<a name="l00579"></a>00579         <span class="keywordflow">case</span> 3: <span class="comment">/* Changed inhibit time */</span>
+<a name="l00580"></a>00580         <span class="keywordflow">case</span> 5: <span class="comment">/* Changed event time */</span>
+<a name="l00581"></a>00581         {
+<a name="l00582"></a>00582           <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> pTransmissionType = *(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) OD_entry-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;
+<a name="l00583"></a>00583           <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>; 
+<a name="l00584"></a>00584           <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo = OD_entry - TPDO_com;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
+<a name="l00585"></a>00585         
+<a name="l00586"></a>00586           <span class="comment">/* Zap all timers and inhibit flag */</span>
+<a name="l00587"></a>00587           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
+<a name="l00588"></a>00588           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
+<a name="l00589"></a>00589           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
+<a name="l00590"></a>00590           <span class="comment">/* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span>
+<a name="l00591"></a>00591           <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo);
+<a name="l00592"></a>00592           <span class="keywordflow">return</span> 0;
+<a name="l00593"></a>00593         }
+<a name="l00594"></a>00594 
+<a name="l00595"></a>00595         <span class="keywordflow">default</span>: <span class="comment">/* other subindex are ignored*/</span>
+<a name="l00596"></a>00596         <span class="keywordflow">break</span>;
+<a name="l00597"></a>00597   }
+<a name="l00598"></a>00598   <span class="keywordflow">return</span> 0;
+<a name="l00599"></a>00599 }
+<a name="l00600"></a>00600 
+<a name="l00601"></a><a class="code" href="pdo_8h.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">00601</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">PDOInit</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
+<a name="l00602"></a>00602 {
+<a name="l00603"></a>00603   <span class="comment">/* For each TPDO mapping parameters */</span>
+<a name="l00604"></a>00604   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> pdoIndex = 0x1800; <span class="comment">/* OD index of TDPO */</span>
+<a name="l00605"></a>00605 
+<a name="l00606"></a>00606   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00607"></a>00607   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00608"></a>00608   <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {
+<a name="l00609"></a>00609     <span class="comment">/* Assign callbacks to sensible TPDO mapping subindexes */</span>
+<a name="l00610"></a>00610     <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> errorCode;
+<a name="l00611"></a>00611     <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> *CallbackList;
+<a name="l00612"></a>00612     <span class="comment">/* Find callback list */</span>
+<a name="l00613"></a>00613     <a class="code" href="objacces_8c.html#b2839d53051e322c12605c1d7f3dc4e5">scanIndexOD</a> (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoIndex, &amp;errorCode, &amp;CallbackList);
+<a name="l00614"></a>00614     <span class="keywordflow">if</span>(errorCode == <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> &amp;&amp; CallbackList)
+<a name="l00615"></a>00615     {
+<a name="l00616"></a>00616       <span class="comment">/*Assign callbacks to corresponding subindex*/</span>
+<a name="l00617"></a>00617       <span class="comment">/* Transmission type */</span>
+<a name="l00618"></a>00618       CallbackList[2] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
+<a name="l00619"></a>00619       <span class="comment">/* Inhibit time */</span>
+<a name="l00620"></a>00620       CallbackList[3] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
+<a name="l00621"></a>00621       <span class="comment">/* Event timer */</span>
+<a name="l00622"></a>00622       CallbackList[5] = &amp;<a class="code" href="pdo_8c.html#b0f2ba361e723602410676cd1c3402dd">TPDO_Communication_Parameter_Callback</a>;
+<a name="l00623"></a>00623     }
+<a name="l00624"></a>00624     pdoIndex++;
+<a name="l00625"></a>00625     offsetObjdict++;
+<a name="l00626"></a>00626   }  
+<a name="l00627"></a>00627 
+<a name="l00628"></a>00628   <span class="comment">/* Trigger a non-sync event */</span>
+<a name="l00629"></a>00629   <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 );
+<a name="l00630"></a>00630 }
+<a name="l00631"></a>00631 
+<a name="l00632"></a><a class="code" href="pdo_8h.html#e31b98506e436ee213de906c19cc59f1">00632</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e31b98506e436ee213de906c19cc59f1">PDOStop</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
+<a name="l00633"></a>00633 {
+<a name="l00634"></a>00634   <span class="comment">/* For each TPDO mapping parameters */</span>
+<a name="l00635"></a>00635   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  pdoNum = 0x00;       <span class="comment">/* number of the actual processed pdo-nr. */</span>
+<a name="l00636"></a>00636   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00637"></a>00637   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;
+<a name="l00638"></a>00638   <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {
+<a name="l00639"></a>00639         <span class="comment">/* Delete TPDO timers */</span>
+<a name="l00640"></a>00640         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);
+<a name="l00641"></a>00641         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);
+<a name="l00642"></a>00642         <span class="comment">/* Reset transmit type parameter */</span>
+<a name="l00643"></a>00643         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;
+<a name="l00644"></a>00644         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0;
+<a name="l00645"></a>00645         pdoNum++;
+<a name="l00646"></a>00646         offsetObjdict++;
+<a name="l00647"></a>00647   }  
+<a name="l00648"></a>00648 }
+</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by&nbsp;
 <a href="http://www.doxygen.org/index.html">
 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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