--- a/src/pdo.c Fri Jun 29 19:48:22 2007 +0200
+++ b/src/pdo.c Fri Jun 29 19:51:39 2007 +0200
@@ -34,141 +34,64 @@
**
**
*/
-UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
-{
- UNS8 i;
- if( d->nodeState == Operational ) {
- Message m;
-
- /* Message copy for sending */
- m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes
- length */
- if ( req == NOT_A_REQUEST ) {
- UNS8 i;
- m.rtr = NOT_A_REQUEST;
- m.len = pdo.len;
- /* memcpy(&m.data, &pdo.data, m.len); */
- /* This Memcpy depends on packing structure. Avoid */
- for (i = 0 ; i < pdo.len ; i++)
- m.data[i] = pdo.data[i];
- }
- else {
- m.rtr = REQUEST;
- m.len = 0;
- }
-
- MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
- MSG_WAR(0x3902, " Nb octets : ", m.len);
- for (i = 0 ; i < m.len ; i++) {
- MSG_WAR(0x3903," data : ", m.data[i]);
- }
-
- return canSend(d->canHandle,&m);
- } /* end if */
- return 0xFF;
-}
-
-/*!
-** PDO Manager
+
+/*!
+**
**
** @param d
-** @param cobId
+** @param TPDO_com TPDO communication parameters OD entry
+** @param TPDO_map TPDO mapping parameters OD entry
**
** @return
**/
-UNS8 PDOmGR(CO_Data* d, UNS32 cobId)
-{
- UNS8 res;
- UNS8 i;
- s_PDO pdo;
-
- MSG_WAR(0x3905, "PDOmGR",0);
-
- /* if PDO is waiting for transmission,
- preparation of the message to send */
- pdo.cobId = cobId;
- pdo.len = d->process_var.count;
- /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
- /* Ce memcpy devrait tre portable */
- for ( i = 0 ; i < pdo.len ; i++)
- pdo.data[i] = d->process_var.data[i];
-
- res = sendPDO(d, pdo, NOT_A_REQUEST);
-
- return res;
-}
-
-#if 0
-/*********************************************************************/
-/* TODO : implement bit mapping */
-/*********************************************************************/
-
-UNS8 buildPDO(CO_Data* d, UNS16 index)
-{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */
- UNS16 ind;
- UNS8 subInd;
-
- UNS8 * pMappingCount = NULL; /* count of mapped objects... */
- /* pointer to the var which is mapped to a pdo */
-/* void * pMappedAppObject = NULL; */
- /* pointer fo the var which holds the mapping parameter of an mapping entry */
-
- UNS32 * pMappingParameter = NULL;
-
- UNS8 Size;
- UNS8 dataType;
- UNS8 offset;
- UNS16 offsetObjdict;
- UNS16 offsetObjdictPrm;
- UNS32 objDict;
-
- subInd=(UNS8)0x00;
- offset = 0x00;
- ind = index - 0x1800;
-
- MSG_WAR(0x3910,"Prepare PDO to send index :", index);
-
- /* only operational state allows PDO transmission */
- if( d->nodeState != Operational ) {
- MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
- return 0xFF;
- }
- offsetObjdictPrm = d->firstIndex->PDO_TRS;
- offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-
- if (offsetObjdictPrm && offsetObjdict)
- {
- /* get mapped objects number to transmit with this PDO */
- pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
- MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
- MSG_WAR(0x3913, " at index : ", 0x1A00 + ind);
- while (subInd < *pMappingCount) { /* Loop on mapped variables */
- /* get mapping parameters */
- pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
- MSG_WAR(0x3914, "Get the mapping at index : ", (UNS16)0x1A00 + ind);
- MSG_WAR(0x3915, " subIndex : ", subInd + 1);
- MSG_WAR(0x3916, " value : ", *(UNS32 *)pMappingParameter);
- /* Get the mapped variable */
- Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
- objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
- (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
- (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
-
- if (objDict != OD_SUCCESSFUL) {
- MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);
- MSG_WAR(0x2920, " Mapped at index : ", (*pMappingParameter) >> 16);
- MSG_WAR(0x2921, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
- return 0xFF;
- }
-
- offset += Size;
- d->process_var.count = offset;
- subInd++;
- }/* end Loop on mapped variables */
- }
- return 0;
-}
-#endif
+
+UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo)
+{
+ const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
+ const indextable* TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
+
+ UNS8 prp_j = 0x00;
+ UNS8 offset = 0x00;
+ const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;
+
+ pdo->cob_id.w = *(UNS32*)TPDO_com->pSubindex[1].pObject;
+ pdo->rtr = NOT_A_REQUEST;
+
+ MSG_WAR(0x3009, " PDO CobId is : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);
+ MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
+
+ do{
+ UNS8 dataType; /* Unused */
+ UNS8 tmp[]= {0,0,0,0,0,0,0,0}; /* temporary space to hold bits */
+
+ /* pointer fo the var which holds the mapping parameter of an mapping entry */
+ UNS32* pMappingParameter = (UNS32*) TPDO_map->pSubindex[prp_j + 1].pObject;
+ UNS16 index = (UNS16)((*pMappingParameter) >> 16);
+ UNS8 Size = (UNS8)(*pMappingParameter); /* Size in bits */
+ UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
+ UNS8 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
+
+ MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
+ MSG_WAR(0x3050, " at index : ", TPDO_map->index);
+ MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
+
+ if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){
+ MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
+ return 0xFF;
+ }
+ /* copy bit per bit in little endian*/
+ CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);
+
+ offset += Size ;
+ prp_j++;
+ }while( prp_j < *pMappingCount );
+
+ pdo->len = 1 + ((offset - 1) >> 3);
+
+ MSG_WAR(0x3015, " End scan mapped variable", 0);
+
+ return 0;
+}
/*!
**
@@ -197,11 +120,8 @@
pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
if ( *pwCobId == cobId ) {
- s_PDO pdo;
- pdo.cobId = *pwCobId;
- pdo.len = 0;
- err = sendPDO(d, pdo, REQUEST);
- return err;
+ Message pdo = {*pwCobId, REQUEST, 0};
+ return canSend(d->canHandle,&pdo);
}
offset++;
}
@@ -239,7 +159,8 @@
UNS32 objDict;
UNS16 offsetObjdict;
UNS16 lastIndex;
- status = state1;
+
+ status = state2;
MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
offset = 0x00;
@@ -247,6 +168,7 @@
numMap = 0;
if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
request. */
+
offsetObjdict = d->firstIndex->PDO_RCV;
lastIndex = d->lastIndex->PDO_RCV;
@@ -256,16 +178,6 @@
switch( status ) {
- case state1:/* data are stored in process_var array */
- /* memcpy(&(process_var.data), &m->data, (*m).len); */
- /* Ce memcpy devrait etre portable */
- for ( i = 0 ; i < m->len ; i++)
- d->process_var.data[i] = m->data[i];
- d->process_var.count = (*m).len;
-
- status = state2;
- break;
-
case state2:
/* get CobId of the dictionary correspondant to the received
PDO */
@@ -313,7 +225,7 @@
Size = (UNS8)(*pMappingParameter);
/* copy bit per bit in little endian */
- CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
+ CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
2, ... */
@@ -335,6 +247,7 @@
/* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
offset += Size;
numMap++;
+ /*TODO : check that offset is not not greater that message size (in bit) */
} /* end loop while on mapped variables */
offset=0x00;
@@ -372,43 +285,38 @@
case state4:/* check transmission type (after request?) */
pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
- if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
+ if ( (*pTransmissionType == TRANS_RTR) ||
+ (*pTransmissionType == TRANS_RTR_SYNC )) {
status = state5;
break;
- }
- else {
+ }else if(
+ (*pTransmissionType == TRANS_EVENT_PROFILE) ||
+ (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
+ /* Zap all timers and inhibit flag */
+ d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
+ d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
+ d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
+ /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
+ PDOEventTimerAlarm(d, numPdo);
+ return 0;
+ }else {
/* The requested PDO is not to send on request. So, does
nothing. */
MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
return 0xFF;
}
- case state5:/* get mapped objects number */
- offsetObjdict = d->firstIndex->PDO_TRS_MAP;
- lastIndex = d->lastIndex->PDO_TRS_MAP;
- pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
- numMap = 0;
- while (numMap < *pMappingCount) {
- pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
- /* Get the mapped variable */
- Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
- objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
- (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
- (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
- if (objDict != OD_SUCCESSFUL) {
- MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
- MSG_WAR(0x2949, " Mapped at index : ", (*pMappingParameter) >> 16);
- MSG_WAR(0x2950, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
- return 0xFF;
- }
- offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
- d->process_var.count = offset;
- numMap++;
-
- } /* end while */
- PDOmGR( d, *pwCobId ); /* Transmit the PDO */
+ case state5:/* build and send requested PDO */
+ {
+ Message pdo;
+ if( buildPDO(d, numPdo, &pdo))
+ {
+ MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
+ //return 0xFF; /*No real reason to stop...*/
+ }
+ canSend(d->canHandle,&pdo);
return 0;
-
+ }
}/* end switch status */
}/* end while */
}/* end if Requete */
@@ -476,109 +384,191 @@
}
}
-
-#if 0
-
-/*********************************************************************/
-/* TODO : reimplement this using CallBacks
- */
-/*********************************************************************/
-
/*!
**
**
** @param d
-** @param variable
**
** @return
**/
-UNS8 sendPDOevent( CO_Data* d, void * variable )
-{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
- loop if it fails.*/
- UNS32 objDict = 0;
- UNS8 ind, sub_ind;
- UNS8 status;
- UNS8 offset;
- UNS8 * pMappingCount = NULL;
- UNS32 * pMappingParameter = NULL;
- void * pMappedAppObject = NULL;
- UNS8 * pTransmissionType = NULL; /* pointer to the transmission
- type */
- UNS32 * pwCobId = NULL;
- UNS8 * pSize;
- UNS8 size;
- UNS8 dataType;
- UNS16 offsetObjdict;
- UNS16 offsetObjdictPrm;
- UNS16 lastIndex;
- UNS8 numMap;
- ind = 0x00;
- sub_ind = 1;
- offset = 0x00;
- pSize = &size;
- status = state1;
-
-
- /* look for the index and subindex where the variable is mapped */
- /* Then, send the pdo which contains the variable. */
-
- MSG_WAR (0x3960, "sendPDOevent", 0);
- offsetObjdictPrm = d->firstIndex->PDO_TRS;
-
- offsetObjdict = d->firstIndex->PDO_TRS_MAP;
- lastIndex = d->lastIndex->PDO_TRS_MAP;
-
- if (offsetObjdictPrm && offsetObjdict)
- /* Loop on PDO Transmit */
- while(offsetObjdict <= lastIndex){
- /* Check the transmission mode */
- pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
- if (*pTransmissionType != TRANS_EVENT) {
- ind++;
- offsetObjdict++;
- offsetObjdictPrm++;
- continue;
+
+UNS8 sendPDOevent( CO_Data* d)
+{
+ /* Calls _sendPDOevent specifying it is not a sync event */
+ return _sendPDOevent(d, 0);
+}
+
+
+void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
+{
+ printf("EV PDOEventTimerAlarm : %d\n", pdoNum);
+
+ /* This is needed to avoid deletion of re-attribuated timer */
+ d->PDO_status[pdoNum].event_timer = TIMER_NONE;
+ /* force emission of PDO by artificially changing last emitted*/
+ d->PDO_status[pdoNum].last_message.cob_id.w = 0;
+ _sendPDOevent( d, 0 ); /* not a Sync Event*/
+}
+
+void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
+{
+ printf("EV PDOInhibitTimerAlarm : %d\n", pdoNum);
+
+ /* This is needed to avoid deletion of re-attribuated timer */
+ d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
+ /* Remove inhibit flag */
+ d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
+ _sendPDOevent( d, 0 ); /* not a Sync Event*/
+}
+
+/*!
+**
+**
+** @param d
+** @param isSyncEvent
+**
+** @return
+**/
+
+UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
+{
+ UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
+ UNS8* pTransmissionType = NULL;
+ UNS8 status = state3;
+ UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
+ UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
+ UNS16 lastIndex = d->lastIndex->PDO_TRS;
+
+ /* study all PDO stored in the objects dictionary */
+ if(offsetObjdict){
+ Message clean = Message_Initializer;
+ Message pdo = Message_Initializer;
+ while( offsetObjdict <= lastIndex) {
+ switch( status ) {
+ case state3: /* get the PDO transmission type */
+ if (d->objdict[offsetObjdict].bSubCount <= 2) {
+ MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum);
+ return 0xFF;
+ }
+ pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
+ MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
+
+ /* check if transmission type is after (this) SYNC */
+ /* The message may not be transmited every SYNC but every n SYNC */
+ if( isSyncEvent &&
+ (*pTransmissionType >= TRANS_SYNC_MIN) &&
+ (*pTransmissionType <= TRANS_SYNC_MAX) &&
+ (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
+ d->PDO_status[pdoNum].transmit_type_parameter = 0;
+ MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
+ pdo = clean;
+ if(buildPDO(d, pdoNum, &pdo))
+ {
+ MSG_ERR(0x3006, " Couldn't build TPDO number : ", pdoNum);
+ status = state11;
+ break;
+ }
+ status = state5;
}
- pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
- numMap = 1; /* mapped variable */
- while (numMap <= *pMappingCount) {
- pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
- /* Get the variable */
- objDict = getODentry( d,
- (UNS16)((*pMappingParameter) >> 16),
- (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
- (void * *)&pMappedAppObject, pSize, &dataType, 0 );
- if( objDict != OD_SUCCESSFUL ) {
- MSG_WAR(0x2961, "Error in dict. at index : ",
- (*pMappingParameter) >> (UNS8)16);
-
- MSG_WAR(0x2962, " subindex : ",
- ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
- return 0xFF;
- }
- if (pMappedAppObject == variable) { // Variable found !
- MSG_WAR(0x3963, "Variable to send found at index : ",
- (*pMappingParameter) >> 16);
- MSG_WAR(0x3964, " subIndex : ",
- ((*pMappingParameter) >> 8 ) & 0x000000FF);
- buildPDO(d, 0x1800 + ind);
- /* Get the cobId */
- pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
- PDOmGR( d, *pwCobId ); /* Send the PDO */
- return 0;
- }
- numMap++;
- } /* End loop on mapped variable */
- ind++;
- offsetObjdict++;
- offsetObjdictPrm++;
- } /* End loop while on PDO */
-
- MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
- return 0xFF;
-
-}
-#endif
-
-
-
+ /* If transmission on Event and not inhibited, check for changes */
+ else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
+ *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
+ !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
+ MSG_WAR(0x3008, " PDO is on EVENT. Trans type : ", *pTransmissionType);
+ pdo = pdo = clean;
+ if(buildPDO(d, pdoNum, &pdo))
+ {
+ MSG_ERR(0x3007, " Couldn't build TPDO number : ", pdoNum);
+ status = state11;
+ break;
+ }
+
+ /*Compare new and old PDO*/
+ if(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.cob_id.w &&
+ d->PDO_status[pdoNum].last_message.len == pdo.len &&
+ *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
+ /* No changes -> go to next pdo*/
+ status = state11;
+ }else{
+ MSG_WAR(0x3008, "Changes TPDO number : ", pdoNum);
+ printf("EV Changes TPDO number : %d\n", pdoNum);
+ /* Changes detected -> transmit message */
+ status = state5;
+
+ /* Start both event_timer and inhibit_timer*/
+ DelAlarm(d->PDO_status[pdoNum].event_timer);
+ d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject), 0);
+
+ DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
+ d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);
+
+ /* and inhibit TPDO */
+ d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
+ }
+ }else{
+ MSG_WAR(0x3009, " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
+ status = state11;
+ }
+ break;
+ case state5: /*Send the pdo*/
+ /*store_as_last_message*/
+ d->PDO_status[pdoNum].last_message = pdo;
+ MSG_WAR(0x3901, "sendPDO cobId :", pdo.cob_id.w);
+ MSG_WAR(0x3902, " Nb octets : ", pdo.len);
+ {int i;
+ for (i = 0 ; i < pdo.len ; i++) {
+ MSG_WAR(0x3903," data : ", pdo.data[i]);
+ }}
+
+ canSend(d->canHandle,&pdo);
+ status = state11;
+ break;
+ case state11: /*Go to next TPDO*/
+ pdoNum++;
+ offsetObjdict++;
+ offsetObjdictMap++;
+ MSG_WAR(0x3017, "next pdo index : ", pdoNum);
+ status = state3;
+ break;
+
+ default:
+ MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
+ return 0xFF;
+ }/* end switch case */
+
+ }/* end while */
+ }
+ return 0;
+}
+
+void PDOInit(CO_Data* d)
+{
+
+ /* TODO: implement callbacks on 140xh
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
+ */
+
+ _sendPDOevent(d, 0 );
+}
+
+void PDOStop(CO_Data* d)
+{
+ UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
+ UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
+ UNS16 lastIndex = d->lastIndex->PDO_TRS;
+ if(offsetObjdict) while( offsetObjdict <= lastIndex) {
+ d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
+ d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
+ d->PDO_status[pdoNum].transmit_type_parameter = 0;
+ d->PDO_status[pdoNum].last_message.cob_id.w = 0;
+ pdoNum++;
+ offsetObjdict++;
+ }
+}