Adding index in PDO mapping names for differenciate mapped variables when they have the same name
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Andreas GLAUSER
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
*/
// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
// Includes for the Canfestival
#include "ds401.h"
unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
{
unsigned char loops, i, input, transmission = 0;
loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
for (i=0; i < loops; i++)
{
input = *newInput ^ Polarity_Input_8_Bit[i];
if (Read_Inputs_8_Bit[i] != input)
{
if (Global_Interrupt_Enable_Digital)
{
if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input))
|| (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
|| (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
transmission = 1;
}
// update object dict
Read_Inputs_8_Bit[i] = input;
}
newInput++;
}
if (transmission)
{
/* force emission of PDO by artificially changing last emitted*/
d->PDO_status[0].last_message.cob_id = 0;
sendPDOevent(d);
}
return 1;
}
unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
{
unsigned char loops, i, error, type;
unsigned char varsize = 1;
loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
for (i=0; i < loops; i++)
{
getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
if ((getState(d) == Stopped) || (error != 0)) // node stopped or error
{
Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
}
*newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
newOutput++;
}
return 1;
}
unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
{
return 0;
}
unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
{
return 0;
}