--- a/src/sync.c Fri Jun 29 19:48:22 2007 +0200
+++ b/src/sync.c Fri Jun 29 19:51:39 2007 +0200
@@ -141,33 +141,7 @@
UNS8 proceedSYNC(CO_Data* d, Message *m)
{
- UNS8 pdoNum, /* number of the actual processed pdo-nr. */
- prp_j;
-
- const 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;
- /* pointer to the transmissiontype...*/
- UNS8 * pTransmissionType = NULL;
- UNS32 * pwCobId = NULL;
-
- UNS8 dataType;
- UNS16 index;
- UNS8 subIndex;
- UNS8 offset;
- UNS8 status;
- UNS8 Size;
- UNS32 objDict;
- UNS16 offsetObjdict;
- UNS16 offsetObjdictMap;
- UNS16 lastIndex;
-
- status = state3;
- pdoNum = 0x00;
- prp_j = 0x00;
- offset = 0x00;
+ UNS8 res;
MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
@@ -176,117 +150,14 @@
/* only operational state allows PDO transmission */
if( d->nodeState != Operational )
return 0;
+
+ res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
- /* So, the node is in operational state */
- /* study all PDO stored in the objects dictionary */
-
- offsetObjdict = d->firstIndex->PDO_TRS;
- lastIndex = d->lastIndex->PDO_TRS;
- offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
+ /*Call user app callback*/
+ (*d->post_TPDO)();
- if(offsetObjdict) 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);
- status = state4;
- break;
- case state4: /* check if transmission type is after (this) SYNC */
- /* The message may not be transmited every SYNC but every n SYNC */
- if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
- (++d->count_sync[pdoNum] == *pTransmissionType) ) {
- d->count_sync[pdoNum] = 0;
- MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
- status = state5;
- break;
- }
- else {
- MSG_WAR(0x3008, " Not on synchro or not at this SYNC. Trans type : ",
- *pTransmissionType);
- pdoNum++;
- offsetObjdict++;
- offsetObjdictMap++;
- status = state11;
- break;
- }
- case state5: /* get PDO CobId */
- pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
- MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId);
- status = state7;
- break;
- case state7: /* get mapped objects number to transmit with this PDO */
- pMappingCount = (UNS8*) d->objdict[offsetObjdictMap].pSubindex[0].pObject;
- MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
- status = state8;
- case state8: /* get mapping parameters */
- pMappingParameter = (UNS32*) d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
- MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
- MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum);
- MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
- status = state9;
-
- case state9: /* get data to transmit */
- {
- UNS8 ByteSize;
- UNS8 tmp[]= {0,0,0,0,0,0,0,0};
- index = (UNS16)((*pMappingParameter) >> 16);
- subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
- Size = (UNS8)(*pMappingParameter); /* Size in bits */
- ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
- objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
- /* copy bit per bit in little endian*/
- CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
- }
- if( objDict != OD_SUCCESSFUL ){
- MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
- return 0xFF;
- }
-
- offset += Size ;
- d->process_var.count = 1 + ((offset - 1) >> 3);
- prp_j++;
- status = state10;
- break;
-
- case state10: /* loop to get all the data to transmit */
- if( prp_j < *pMappingCount ){
- MSG_WAR(0x3014, " next variable mapped : ", prp_j);
- status = state8;
- break;
- }
- else {
- MSG_WAR(0x3015, " End scan mapped variable", 0);
- PDOmGR( d, *pwCobId );
- MSG_WAR(0x3016, " End of this pdo. Should have been sent", 0);
- pdoNum++;
- offsetObjdict++;
- offsetObjdictMap++;
- offset = 0x00;
- prp_j = 0x00;
- status = state11;
- break;
- }
-
- case state11:
- 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( prp_i<dict_cstes.max_count_of_PDO_transmit ) */
-
- (*d->post_TPDO)();
-
- return 0;
+ return res;
+
}