Fix can_socket again.
/*
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