--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/pdo.h	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,96 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#ifndef __pdo_h__
+#define __pdo_h__
+
+#include <applicfg.h>
+#include <def.h>
+
+/* The process_var structure
+ Used to store the PDO before the transmission or the reception.
+*/
+typedef struct struct_s_process_var {
+  UNS8 count; // Size of data. Ex : for a PDO of 6 bytes of data, count = 6
+  // WARNING s_process_var.data is subject to ENDIANISATION 
+  // (with respect to CANOPEN_BIG_ENDIAN)
+  UNS8 data[PDO_MAX_LEN];
+}s_process_var;
+
+#include "data.h"
+
+/** The PDO structure */
+typedef struct struct_s_PDO {
+  UNS32 cobId;	  // COB-ID
+  UNS8           len;	  // Number of data transmitted (in data[])
+  UNS8           data[8]; // Contain the data
+}s_PDO;
+
+/** Transmit a PDO data frame on the bus bus_id
+ * pdo is a structure which contains the pdo to transmit
+ * bus_id is hardware dependant
+ * return canSend(bus_id,&m) or 0xFF if error
+ * request can take the value  REQUEST or NOT_A_REQUEST
+ */
+UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
+
+/** Prepare a PDO frame transmission, 
+ * whose different parameters are stored in process_var table,
+ * to the slave.
+ * bus_id is hardware dependant
+ * call the function sendPDO
+ * return the result of the function sendPDO or 0xFF if error
+ */
+UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
+
+/** Prepare the PDO defined at index to be sent by  PDOmGR
+ * Copy all the data to transmit in process_var
+ * *pwCobId : returns the value of the cobid. (subindex 1)
+ * Return 0 or 0xFF if error.
+ */
+UNS8 buildPDO (CO_Data* d, UNS16 index);
+
+/** Transmit a PDO request frame on the bus bus_id
+ * to the slave.
+ * bus_id is hardware dependant
+ * Returns 0xFF if error, other in success.
+ */
+UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
+
+/** Compute a PDO frame reception
+ * bus_id is hardware dependant
+ * return 0xFF if error, else return 0
+ */
+UNS8 proceedPDO (CO_Data* d, Message *m);
+
+/* used by the application to send a variable by PDO.
+ * Check in which PDO the variable is mapped, and send the PDO. 
+ * of course, the others variables mapped in the PDO are also sent !
+ * ( ie when a specific event occured)
+ * bus_id is hardware dependant
+ * variable is a pointer to the variable which has to be sent. Must be
+ * defined in the object dictionary
+ * return 0xFF if error, else return 0
+ */
+UNS8 sendPDOevent (CO_Data* d, void * variable);
+
+#endif