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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/pdo.c</h1><a href="pdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include "pdo.h"</span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "objacces.h"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="comment">/****************************************************************************/</span>
<a name="l00027"></a><a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">00027</a> UNS8 <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(CO_Data* d, s_PDO pdo, UNS8 req)
<a name="l00028"></a>00028 {
<a name="l00029"></a>00029 UNS8 i;
<a name="l00030"></a>00030 <span class="keywordflow">if</span>( d->nodeState == Operational ) {
<a name="l00031"></a>00031 Message m;
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">/* Message copy for sending */</span>
<a name="l00034"></a>00034 m.cob_id.w = pdo.cobId & 0x7FF; <span class="comment">/* Because the cobId is 11 bytes length */</span>
<a name="l00035"></a>00035 <span class="keywordflow">if</span> ( req == NOT_A_REQUEST ) {
<a name="l00036"></a>00036 UNS8 i;
<a name="l00037"></a>00037 m.rtr = NOT_A_REQUEST;
<a name="l00038"></a>00038 m.len = pdo.len;
<a name="l00039"></a>00039 <span class="comment">/* memcpy(&m.data, &pdo.data, m.len); */</span>
<a name="l00040"></a>00040 <span class="comment">/* This Memcpy depends on packing structure. Avoid */</span>
<a name="l00041"></a>00041 <span class="keywordflow">for</span> (i = 0 ; i < pdo.len ; i++)
<a name="l00042"></a>00042 m.data[i] = pdo.data[i];
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044 <span class="keywordflow">else</span> {
<a name="l00045"></a>00045 m.rtr = REQUEST;
<a name="l00046"></a>00046 m.len = 0;
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048
<a name="l00049"></a>00049 MSG_WAR(0x3901, <span class="stringliteral">"sendPDO cobId :"</span>, m.cob_id.w);
<a name="l00050"></a>00050 MSG_WAR(0x3902, <span class="stringliteral">" Nb octets : "</span>, m.len);
<a name="l00051"></a>00051 <span class="keywordflow">for</span> (i = 0 ; i < m.len ; i++) {
<a name="l00052"></a>00052 MSG_WAR(0x3903,<span class="stringliteral">" data : "</span>, m.data[i]);
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
<a name="l00056"></a>00056 } <span class="comment">/* end if */</span>
<a name="l00057"></a>00057 <span class="keywordflow">return</span> 0xFF;
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">/***************************************************************************/</span>
<a name="l00061"></a><a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">00061</a> UNS8 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>(CO_Data* d, UNS32 cobId) <span class="comment">/* PDO Manager */</span>
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 UNS8 res;
<a name="l00064"></a>00064 UNS8 i;
<a name="l00065"></a>00065 s_PDO pdo;
<a name="l00066"></a>00066
<a name="l00067"></a>00067 MSG_WAR(0x3905, <span class="stringliteral">"PDOmGR"</span>,0);
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">/* if PDO is waiting for transmission,</span>
<a name="l00070"></a>00070 <span class="comment"> preparation of the message to send */</span>
<a name="l00071"></a>00071 pdo.cobId = cobId;
<a name="l00072"></a>00072 pdo.len = d->process_var.count;
<a name="l00073"></a>00073 <span class="comment">/* memcpy(&(pdo.data), &(process_var.data), pdo.len); */</span>
<a name="l00074"></a>00074 <span class="comment">/* Ce memcpy devrait être portable */</span>
<a name="l00075"></a>00075 <span class="keywordflow">for</span> ( i = 0 ; i < pdo.len ; i++)
<a name="l00076"></a>00076 pdo.data[i] = d->process_var.data[i];
<a name="l00077"></a>00077
<a name="l00078"></a>00078 res = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, NOT_A_REQUEST);
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keywordflow">return</span> res;
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="preprocessor">#if 0</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="comment">/*********************************************************************/</span>
<a name="l00085"></a>00085 <span class="comment">/* TODO : implement bit mapping */</span>
<a name="l00086"></a>00086 <span class="comment">/*********************************************************************/</span>
<a name="l00087"></a>00087
<a name="l00088"></a>00088 UNS8 buildPDO(CO_Data* d, UNS16 index)
<a name="l00089"></a>00089 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span>
<a name="l00090"></a>00090 UNS16 ind;
<a name="l00091"></a>00091 UNS8 subInd;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span>
<a name="l00094"></a>00094 <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
<a name="l00095"></a>00095 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
<a name="l00096"></a>00096 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
<a name="l00097"></a>00097 UNS32 * pMappingParameter = NULL;
<a name="l00098"></a>00098
<a name="l00099"></a>00099 UNS8 Size;
<a name="l00100"></a>00100 UNS8 dataType;
<a name="l00101"></a>00101 UNS8 offset;
<a name="l00102"></a>00102 UNS16 offsetObjdict;
<a name="l00103"></a>00103 UNS16 offsetObjdictPrm;
<a name="l00104"></a>00104 UNS32 objDict;
<a name="l00105"></a>00105
<a name="l00106"></a>00106 subInd=(UNS8)0x00;
<a name="l00107"></a>00107 offset = 0x00;
<a name="l00108"></a>00108 ind = index - 0x1800;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 MSG_WAR(0x3910,<span class="stringliteral">"Prepare PDO to send index :"</span>, index);
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">/* only operational state allows PDO transmission */</span>
<a name="l00113"></a>00113 <span class="keywordflow">if</span>( d->nodeState != Operational ) {
<a name="l00114"></a>00114 MSG_WAR(0x2911, <span class="stringliteral">"Unable to send the PDO (node not in OPERATIONAL mode). Node : "</span>, index);
<a name="l00115"></a>00115 <span class="keywordflow">return</span> 0xFF;
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 offsetObjdictPrm = d->firstIndex->PDO_TRS;
<a name="l00118"></a>00118 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
<a name="l00123"></a>00123 pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
<a name="l00124"></a>00124 MSG_WAR(0x3912, <span class="stringliteral">"Nb maped objects : "</span>,* pMappingCount);
<a name="l00125"></a>00125 MSG_WAR(0x3913, <span class="stringliteral">" at index : "</span>, 0x1A00 + ind);
<a name="l00126"></a>00126 <span class="keywordflow">while</span> (subInd < *pMappingCount) { <span class="comment">/* Loop on mapped variables */</span>
<a name="l00127"></a>00127 <span class="comment">/* get mapping parameters */</span>
<a name="l00128"></a>00128 pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
<a name="l00129"></a>00129 MSG_WAR(0x3914, <span class="stringliteral">"Get the mapping at index : "</span>, (UNS16)0x1A00 + ind);
<a name="l00130"></a>00130 MSG_WAR(0x3915, <span class="stringliteral">" subIndex : "</span>, subInd + 1);
<a name="l00131"></a>00131 MSG_WAR(0x3916, <span class="stringliteral">" value : "</span>, *(UNS32 *)pMappingParameter);
<a name="l00132"></a>00132 <span class="comment">/* Get the mapped variable */</span>
<a name="l00133"></a>00133 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
<a name="l00134"></a>00134 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) >> 16),
<a name="l00135"></a>00135 (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
<a name="l00136"></a>00136 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 );
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {
<a name="l00139"></a>00139 MSG_WAR(0x2919, <span class="stringliteral">"error accessing to the mapped var : "</span>, subInd + 1);
<a name="l00140"></a>00140 MSG_WAR(0x2920, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
<a name="l00141"></a>00141 MSG_WAR(0x2921, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
<a name="l00142"></a>00142 <span class="keywordflow">return</span> 0xFF;
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144
<a name="l00145"></a>00145 offset += Size;
<a name="l00146"></a>00146 d->process_var.count = offset;
<a name="l00147"></a>00147 subInd++;
<a name="l00148"></a>00148 }<span class="comment">/* end Loop on mapped variables */</span>
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 <span class="keywordflow">return</span> 0;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 <span class="preprocessor">#endif</span>
<a name="l00153"></a>00153 <span class="preprocessor"></span><span class="comment">/**************************************************************************/</span>
<a name="l00154"></a><a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">00154</a> UNS8 <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a>( CO_Data* d, UNS32 cobId )
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 UNS32 * pwCobId;
<a name="l00157"></a>00157 UNS16 offset;
<a name="l00158"></a>00158 UNS16 lastIndex;
<a name="l00159"></a>00159 UNS8 err;
<a name="l00160"></a>00160
<a name="l00161"></a>00161 MSG_WAR(0x3930, <span class="stringliteral">"sendPDOrequest "</span>,0);
<a name="l00162"></a>00162 <span class="comment">/* Sending the request only if the cobid have been found on the PDO receive */</span>
<a name="l00163"></a>00163 <span class="comment">/* part dictionary */</span>
<a name="l00164"></a>00164 offset = d->firstIndex->PDO_RCV;
<a name="l00165"></a>00165 lastIndex = d->lastIndex->PDO_RCV;
<a name="l00166"></a>00166 <span class="keywordflow">if</span> (offset)
<a name="l00167"></a>00167 <span class="keywordflow">while</span> (offset <= lastIndex) {
<a name="l00168"></a>00168 <span class="comment">/*get the CobId*/</span>
<a name="l00169"></a>00169 pwCobId = d->objdict[offset].pSubindex[1].pObject;
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="keywordflow">if</span> ( *pwCobId == cobId ) {
<a name="l00172"></a>00172 s_PDO pdo;
<a name="l00173"></a>00173 pdo.cobId = *pwCobId;
<a name="l00174"></a>00174 pdo.len = 0;
<a name="l00175"></a>00175 err = <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a>(d, pdo, REQUEST);
<a name="l00176"></a>00176 <span class="keywordflow">return</span> err;
<a name="l00177"></a>00177 }
<a name="l00178"></a>00178 offset++;
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180 MSG_WAR(0x1931, <span class="stringliteral">"sendPDOrequest : COBID not found : "</span>, cobId);
<a name="l00181"></a>00181 <span class="keywordflow">return</span> 0xFF;
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183
<a name="l00184"></a>00184
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="comment">/***********************************************************************/</span>
<a name="l00187"></a><a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">00187</a> UNS8 <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a>(CO_Data* d, Message *m)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 UNS8 numPdo;
<a name="l00190"></a>00190 UNS8 numMap; <span class="comment">/* Number of the mapped varable */</span>
<a name="l00191"></a>00191 UNS8 i;
<a name="l00192"></a>00192 UNS8 * pMappingCount = NULL; <span class="comment">/* count of mapped objects... */</span>
<a name="l00193"></a>00193 <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>
<a name="l00194"></a>00194 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
<a name="l00195"></a>00195 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
<a name="l00196"></a>00196 UNS32 * pMappingParameter = NULL;
<a name="l00197"></a>00197 UNS8 * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission type */</span>
<a name="l00198"></a>00198 UNS32 * pwCobId = NULL;
<a name="l00199"></a>00199 UNS8 Size;
<a name="l00200"></a>00200 UNS8 dataType;
<a name="l00201"></a>00201 UNS8 offset;
<a name="l00202"></a>00202 UNS8 status;
<a name="l00203"></a>00203 UNS32 objDict;
<a name="l00204"></a>00204 UNS16 offsetObjdict;
<a name="l00205"></a>00205 UNS16 lastIndex;
<a name="l00206"></a>00206 status = state1;
<a name="l00207"></a>00207
<a name="l00208"></a>00208 MSG_WAR(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w & 0x7ff));
<a name="l00209"></a>00209 offset = 0x00;
<a name="l00210"></a>00210 numPdo = 0;
<a name="l00211"></a>00211 numMap = 0;
<a name="l00212"></a>00212 <span class="keywordflow">if</span>((*m).rtr == NOT_A_REQUEST ) { <span class="comment">/* The PDO received is not a request. */</span>
<a name="l00213"></a>00213 offsetObjdict = d->firstIndex->PDO_RCV;
<a name="l00214"></a>00214 lastIndex = d->lastIndex->PDO_RCV;
<a name="l00215"></a>00215
<a name="l00216"></a>00216 <span class="comment">/* study of all the PDO stored in the dictionary */</span>
<a name="l00217"></a>00217 <span class="keywordflow">if</span>(offsetObjdict)
<a name="l00218"></a>00218 <span class="keywordflow">while</span> (offsetObjdict <= lastIndex) {
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="keywordflow">switch</span>( status ) {
<a name="l00221"></a>00221
<a name="l00222"></a>00222 <span class="keywordflow">case</span> state1: <span class="comment">/* data are stored in process_var array */</span>
<a name="l00223"></a>00223 <span class="comment">/* memcpy(&(process_var.data), &m->data, (*m).len); */</span>
<a name="l00224"></a>00224 <span class="comment">/* Ce memcpy devrait être portable. */</span>
<a name="l00225"></a>00225 <span class="keywordflow">for</span> ( i = 0 ; i < m->len ; i++)
<a name="l00226"></a>00226 d->process_var.data[i] = m->data[i];
<a name="l00227"></a>00227 d->process_var.count = (*m).len;
<a name="l00228"></a>00228
<a name="l00229"></a>00229 status = state2;
<a name="l00230"></a>00230 <span class="keywordflow">break</span>;
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <span class="keywordflow">case</span> state2:
<a name="l00233"></a>00233 <span class="comment">/* get CobId of the dictionary correspondant to the received PDO */</span>
<a name="l00234"></a>00234 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
<a name="l00235"></a>00235 <span class="comment">/* check the CobId coherance */</span>
<a name="l00236"></a>00236 <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3 */</span>
<a name="l00237"></a>00237 if ( *pwCobId == (*m).cob_id.w ){
<a name="l00238"></a>00238 <span class="comment">/* The cobId is recognized */</span>
<a name="l00239"></a>00239 status = state4;
<a name="l00240"></a>00240 MSG_WAR(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);
<a name="l00241"></a>00241 <span class="keywordflow">break</span>;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243 <span class="keywordflow">else</span> {
<a name="l00244"></a>00244 <span class="comment">/* cobId received does not match with those write in the dictionnary */</span>
<a name="l00245"></a>00245 numPdo++;
<a name="l00246"></a>00246 offsetObjdict++;
<a name="l00247"></a>00247 status = state2;
<a name="l00248"></a>00248 <span class="keywordflow">break</span>;
<a name="l00249"></a>00249 }
<a name="l00250"></a>00250
<a name="l00251"></a>00251 <span class="keywordflow">case</span> state4: <span class="comment">/* get mapped objects number */</span>
<a name="l00252"></a>00252 <span class="comment">/* The cobId of the message received has been found in the dictionnary. */</span>
<a name="l00253"></a>00253 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
<a name="l00254"></a>00254 lastIndex = d->lastIndex->PDO_RCV_MAP;
<a name="l00255"></a>00255 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
<a name="l00256"></a>00256 numMap = 0;
<a name="l00257"></a>00257 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
<a name="l00258"></a>00258 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
<a name="l00259"></a>00259 UNS8 ByteSize;
<a name="l00260"></a>00260 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
<a name="l00261"></a>00261 <span class="keywordflow">if</span> (pMappingParameter == NULL) {
<a name="l00262"></a>00262 MSG_ERR(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);
<a name="l00263"></a>00263 <span class="keywordflow">return</span> 0xFF;
<a name="l00264"></a>00264 }
<a name="l00265"></a>00265 <span class="comment">/* Get the addresse of the mapped variable. */</span>
<a name="l00266"></a>00266 <span class="comment">/* detail of *pMappingParameter : */</span>
<a name="l00267"></a>00267 <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */</span>
<a name="l00268"></a>00268 <span class="comment">/* and the lower 8 bits contains the size of the mapped variable. */</span>
<a name="l00269"></a>00269
<a name="l00270"></a>00270 Size = (UNS8)(*pMappingParameter);
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="comment">/* copy bit per bit in little endian */</span>
<a name="l00273"></a>00273 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
<a name="l00274"></a>00274
<a name="l00275"></a>00275 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span>
<a name="l00276"></a>00276
<a name="l00277"></a>00277 objDict = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, (UNS16)((*pMappingParameter) >> 16),
<a name="l00278"></a>00278 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
<a name="l00279"></a>00279 tmp, &ByteSize, 0 );
<a name="l00280"></a>00280
<a name="l00281"></a>00281 <span class="keywordflow">if</span>(objDict != OD_SUCCESSFUL) {
<a name="l00282"></a>00282 MSG_ERR(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
<a name="l00283"></a>00283 MSG_WAR(0x2939, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
<a name="l00284"></a>00284 MSG_WAR(0x2940, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
<a name="l00285"></a>00285 <span class="keywordflow">return</span> 0xFF;
<a name="l00286"></a>00286 }
<a name="l00287"></a>00287
<a name="l00288"></a>00288 MSG_WAR(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m->cob_id.w);
<a name="l00289"></a>00289 MSG_WAR(0x3943, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
<a name="l00290"></a>00290 MSG_WAR(0x3944, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
<a name="l00291"></a>00291 <span class="comment">/* MSG_WAR(0x3945, " data : ",*((UNS32 *)pMappedAppObject)); */</span>
<a name="l00292"></a>00292 offset += Size;
<a name="l00293"></a>00293 numMap++;
<a name="l00294"></a>00294 } <span class="comment">/* end loop while on mapped variables */</span>
<a name="l00295"></a>00295
<a name="l00296"></a>00296 offset=0x00;
<a name="l00297"></a>00297 numMap = 0;
<a name="l00298"></a>00298 <span class="keywordflow">return</span> 0;
<a name="l00299"></a>00299
<a name="l00300"></a>00300 }<span class="comment">/* end switch status */</span>
<a name="l00301"></a>00301 }<span class="comment">/* end while */</span>
<a name="l00302"></a>00302 }<span class="comment">/* end if Donnees */</span>
<a name="l00303"></a>00303
<a name="l00304"></a>00304
<a name="l00305"></a>00305 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == REQUEST ){
<a name="l00306"></a>00306 MSG_WAR(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m->cob_id.w);
<a name="l00307"></a>00307 status = state1;
<a name="l00308"></a>00308 offsetObjdict = d->firstIndex->PDO_TRS;
<a name="l00309"></a>00309 lastIndex = d->lastIndex->PDO_TRS;
<a name="l00310"></a>00310 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex ){
<a name="l00311"></a>00311 <span class="comment">/* study of all PDO stored in the objects dictionary */</span>
<a name="l00312"></a>00312
<a name="l00313"></a>00313 <span class="keywordflow">switch</span>( status ){
<a name="l00314"></a>00314
<a name="l00315"></a>00315 <span class="keywordflow">case</span> state1: <span class="comment">/* check the CobId */</span>
<a name="l00316"></a>00316 <span class="comment">/* get CobId of the dictionary which match to the received PDO */</span>
<a name="l00317"></a>00317 pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
<a name="l00318"></a>00318 <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {
<a name="l00319"></a>00319 status = state4;
<a name="l00320"></a>00320 <span class="keywordflow">break</span>;
<a name="l00321"></a>00321 }
<a name="l00322"></a>00322 <span class="keywordflow">else</span> {
<a name="l00323"></a>00323 numPdo++;
<a name="l00324"></a>00324 offsetObjdict++;
<a name="l00325"></a>00325 }
<a name="l00326"></a>00326 status = state1;
<a name="l00327"></a>00327 <span class="keywordflow">break</span>;
<a name="l00328"></a>00328
<a name="l00329"></a>00329
<a name="l00330"></a>00330 <span class="keywordflow">case</span> state4: <span class="comment">/* check transmission type (after request?) */</span>
<a name="l00331"></a>00331 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
<a name="l00332"></a>00332 <span class="keywordflow">if</span> ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
<a name="l00333"></a>00333 status = state5;
<a name="l00334"></a>00334 <span class="keywordflow">break</span>;
<a name="l00335"></a>00335 }
<a name="l00336"></a>00336 <span class="keywordflow">else</span> {
<a name="l00337"></a>00337 <span class="comment">/* The requested PDO is not to send on request. So, does nothing. */</span>
<a name="l00338"></a>00338 MSG_WAR(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m->cob_id.w);
<a name="l00339"></a>00339 <span class="keywordflow">return</span> 0xFF;
<a name="l00340"></a>00340 }
<a name="l00341"></a>00341
<a name="l00342"></a>00342 <span class="keywordflow">case</span> state5: <span class="comment">/* get mapped objects number */</span>
<a name="l00343"></a>00343 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
<a name="l00344"></a>00344 lastIndex = d->lastIndex->PDO_TRS_MAP;
<a name="l00345"></a>00345 pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
<a name="l00346"></a>00346 numMap = 0;
<a name="l00347"></a>00347 <span class="keywordflow">while</span> (numMap < *pMappingCount) {
<a name="l00348"></a>00348 pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
<a name="l00349"></a>00349 <span class="comment">/* Get the mapped variable */</span>
<a name="l00350"></a>00350 Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
<a name="l00351"></a>00351 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
<a name="l00352"></a>00352 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
<a name="l00353"></a>00353 (<span class="keywordtype">void</span> *)&d->process_var.data[offset], &Size, &dataType, 0 );
<a name="l00354"></a>00354 <span class="keywordflow">if</span> (objDict != OD_SUCCESSFUL) {
<a name="l00355"></a>00355 MSG_ERR(0x1948, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);
<a name="l00356"></a>00356 MSG_WAR(0x2949, <span class="stringliteral">" Mapped at index : "</span>, (*pMappingParameter) >> 16);
<a name="l00357"></a>00357 MSG_WAR(0x2950, <span class="stringliteral">" subindex : "</span>, ((*pMappingParameter) >> 8 ) & 0xFF);
<a name="l00358"></a>00358 <span class="keywordflow">return</span> 0xFF;
<a name="l00359"></a>00359 }
<a name="l00360"></a>00360 offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
<a name="l00361"></a>00361 d->process_var.count = offset;
<a name="l00362"></a>00362 numMap++;
<a name="l00363"></a>00363
<a name="l00364"></a>00364 } <span class="comment">/* end while */</span>
<a name="l00365"></a>00365 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); <span class="comment">/* Transmit the PDO */</span>
<a name="l00366"></a>00366 <span class="keywordflow">return</span> 0;
<a name="l00367"></a>00367
<a name="l00368"></a>00368 }<span class="comment">/* end switch status */</span>
<a name="l00369"></a>00369 }<span class="comment">/* end while */</span>
<a name="l00370"></a>00370 }<span class="comment">/* end if Requete */</span>
<a name="l00371"></a>00371
<a name="l00372"></a>00372 <span class="keywordflow">return</span> 0;
<a name="l00373"></a>00373 }
<a name="l00374"></a>00374
<a name="l00375"></a>00375
<a name="l00376"></a><a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">00376</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
<a name="l00377"></a>00377 {
<a name="l00378"></a>00378 <span class="comment">//This loop copy as many bits that it can each time, crossing successively bytes</span>
<a name="l00379"></a>00379 <span class="comment">// boundaries from LSB to MSB.</span>
<a name="l00380"></a>00380 <span class="keywordflow">while</span>(NbBits > 0)
<a name="l00381"></a>00381 {
<a name="l00382"></a>00382 <span class="comment">// Bit missalignement between src and dest</span>
<a name="l00383"></a>00383 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
<a name="l00384"></a>00384
<a name="l00385"></a>00385 <span class="comment">// We can now get src and align it to dest</span>
<a name="l00386"></a>00386 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
<a name="l00387"></a>00387
<a name="l00388"></a>00388 <span class="comment">// Compute the nb of bit we will be able to copy</span>
<a name="l00389"></a>00389 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
<a name="l00390"></a>00390 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
<a name="l00391"></a>00391
<a name="l00392"></a>00392 <span class="comment">// Create a mask that will serve in:</span>
<a name="l00393"></a>00393 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
<a name="l00394"></a>00394
<a name="l00395"></a>00395 <span class="comment">// - Filtering src</span>
<a name="l00396"></a>00396 UNS8 Filtered = Aligned & ~Mask;
<a name="l00397"></a>00397
<a name="l00398"></a>00398 <span class="comment">// - and erase bits where we write, preserve where we don't</span>
<a name="l00399"></a>00399 *DestByteIndex &= Mask;
<a name="l00400"></a>00400
<a name="l00401"></a>00401 <span class="comment">// Then write.</span>
<a name="l00402"></a>00402 *DestByteIndex |= Filtered ;
<a name="l00403"></a>00403
<a name="l00404"></a>00404 <span class="comment">//Compute next time cursors for src</span>
<a name="l00405"></a>00405 <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)>7) <span class="comment">// cross boundary ?</span>
<a name="l00406"></a>00406 {
<a name="l00407"></a>00407 SrcBitIndex = 0; <span class="comment">// First bit</span>
<a name="l00408"></a>00408 SrcByteIndex += (SrcBigEndian ? -1 : 1); <span class="comment">// Next byte</span>
<a name="l00409"></a>00409 }
<a name="l00410"></a>00410
<a name="l00411"></a>00411 <span class="comment">//Compute next time cursors for dest</span>
<a name="l00412"></a>00412 <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)>7)
<a name="l00413"></a>00413 {
<a name="l00414"></a>00414 DestBitIndex = 0; <span class="comment">// First bit</span>
<a name="l00415"></a>00415 DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">// Next byte</span>
<a name="l00416"></a>00416 }
<a name="l00417"></a>00417
<a name="l00418"></a>00418 <span class="comment">//And decrement counter.</span>
<a name="l00419"></a>00419 NbBits -= BitsToCopy;
<a name="l00420"></a>00420 }
<a name="l00421"></a>00421
<a name="l00422"></a>00422 }
<a name="l00423"></a>00423
<a name="l00424"></a>00424 <span class="preprocessor">#if 0</span>
<a name="l00425"></a>00425 <span class="preprocessor"></span>
<a name="l00426"></a>00426 <span class="comment">/*********************************************************************/</span>
<a name="l00427"></a>00427 <span class="comment">/* TODO : reimplement this using CallBacks */</span>
<a name="l00428"></a>00428 <span class="comment">/*********************************************************************/</span>
<a name="l00429"></a>00429
<a name="l00430"></a>00430 UNS8 sendPDOevent( CO_Data* d, <span class="keywordtype">void</span> * variable )
<a name="l00431"></a>00431 { <span class="comment">/* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */</span>
<a name="l00432"></a>00432 UNS32 objDict = 0;
<a name="l00433"></a>00433 UNS8 ind, sub_ind;
<a name="l00434"></a>00434 UNS8 status;
<a name="l00435"></a>00435 UNS8 offset;
<a name="l00436"></a>00436 UNS8 * pMappingCount = NULL;
<a name="l00437"></a>00437 UNS32 * pMappingParameter = NULL;
<a name="l00438"></a>00438 <span class="keywordtype">void</span> * pMappedAppObject = NULL;
<a name="l00439"></a>00439 UNS8 * pTransmissionType = NULL; <span class="comment">/* pointer to the transmission type */</span>
<a name="l00440"></a>00440 UNS32 * pwCobId = NULL;
<a name="l00441"></a>00441 UNS8 * pSize;
<a name="l00442"></a>00442 UNS8 size;
<a name="l00443"></a>00443 UNS8 dataType;
<a name="l00444"></a>00444 UNS16 offsetObjdict;
<a name="l00445"></a>00445 UNS16 offsetObjdictPrm;
<a name="l00446"></a>00446 UNS16 lastIndex;
<a name="l00447"></a>00447 UNS8 numMap;
<a name="l00448"></a>00448 ind = 0x00;
<a name="l00449"></a>00449 sub_ind = 1;
<a name="l00450"></a>00450 offset = 0x00;
<a name="l00451"></a>00451 pSize = &size;
<a name="l00452"></a>00452 status = state1;
<a name="l00453"></a>00453
<a name="l00454"></a>00454 <span class="comment">/* look for the index and subindex where the variable is mapped */</span>
<a name="l00455"></a>00455 <span class="comment">/* Then, send the pdo which contains the variable. */</span>
<a name="l00456"></a>00456
<a name="l00457"></a>00457 MSG_WAR (0x3960, <span class="stringliteral">"sendPDOevent"</span>, 0);
<a name="l00458"></a>00458 offsetObjdictPrm = d->firstIndex->PDO_TRS;
<a name="l00459"></a>00459
<a name="l00460"></a>00460 offsetObjdict = d->firstIndex->PDO_TRS_MAP;
<a name="l00461"></a>00461 lastIndex = d->lastIndex->PDO_TRS_MAP;
<a name="l00462"></a>00462
<a name="l00463"></a>00463 <span class="keywordflow">if</span> (offsetObjdictPrm && offsetObjdict)
<a name="l00464"></a>00464 <span class="comment">/* Loop on PDO Transmit */</span>
<a name="l00465"></a>00465 <span class="keywordflow">while</span>(offsetObjdict <= lastIndex){
<a name="l00466"></a>00466 <span class="comment">/* Check the transmission mode */</span>
<a name="l00467"></a>00467 pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
<a name="l00468"></a>00468 <span class="keywordflow">if</span> (*pTransmissionType != TRANS_EVENT) {
<a name="l00469"></a>00469 ind++;
<a name="l00470"></a>00470 offsetObjdict++;
<a name="l00471"></a>00471 offsetObjdictPrm++;
<a name="l00472"></a>00472 <span class="keywordflow">continue</span>;
<a name="l00473"></a>00473 }
<a name="l00474"></a>00474 pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
<a name="l00475"></a>00475 numMap = 1; <span class="comment">/* mapped variable */</span>
<a name="l00476"></a>00476 <span class="keywordflow">while</span> (numMap <= *pMappingCount) {
<a name="l00477"></a>00477 pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
<a name="l00478"></a>00478 <span class="comment">/* Get the variable */</span>
<a name="l00479"></a>00479 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d,
<a name="l00480"></a>00480 (UNS16)((*pMappingParameter) >> 16),
<a name="l00481"></a>00481 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
<a name="l00482"></a>00482 (<span class="keywordtype">void</span> * *)&pMappedAppObject, pSize, &dataType, 0 );
<a name="l00483"></a>00483 <span class="keywordflow">if</span>( objDict != OD_SUCCESSFUL ) {
<a name="l00484"></a>00484 MSG_WAR(0x2961, <span class="stringliteral">"Error in dict. at index : "</span>,
<a name="l00485"></a>00485 (*pMappingParameter) >> (UNS8)16);
<a name="l00486"></a>00486
<a name="l00487"></a>00487 MSG_WAR(0x2962, <span class="stringliteral">" subindex : "</span>,
<a name="l00488"></a>00488 ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
<a name="l00489"></a>00489 <span class="keywordflow">return</span> 0xFF;
<a name="l00490"></a>00490 }
<a name="l00491"></a>00491 <span class="keywordflow">if</span> (pMappedAppObject == variable) { <span class="comment">// Variable found !</span>
<a name="l00492"></a>00492 MSG_WAR(0x3963, <span class="stringliteral">"Variable to send found at index : "</span>,
<a name="l00493"></a>00493 (*pMappingParameter) >> 16);
<a name="l00494"></a>00494 MSG_WAR(0x3964, <span class="stringliteral">" subIndex : "</span>,
<a name="l00495"></a>00495 ((*pMappingParameter) >> 8 ) & 0x000000FF);
<a name="l00496"></a>00496 buildPDO(d, 0x1800 + ind);
<a name="l00497"></a>00497 <span class="comment">/* Get the cobId */</span>
<a name="l00498"></a>00498 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
<a name="l00499"></a>00499 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( d, *pwCobId ); <span class="comment">/* Send the PDO */</span>
<a name="l00500"></a>00500 <span class="keywordflow">return</span> 0;
<a name="l00501"></a>00501 }
<a name="l00502"></a>00502 numMap++;
<a name="l00503"></a>00503 } <span class="comment">/* End loop on mapped variable */</span>
<a name="l00504"></a>00504 ind++;
<a name="l00505"></a>00505 offsetObjdict++;
<a name="l00506"></a>00506 offsetObjdictPrm++;
<a name="l00507"></a>00507 } <span class="comment">/* End loop while on PDO */</span>
<a name="l00508"></a>00508
<a name="l00509"></a>00509 MSG_WAR(0x2965, <span class="stringliteral">"Variable not found in a PDO to send on event"</span>, 0);
<a name="l00510"></a>00510 <span class="keywordflow">return</span> 0xFF;
<a name="l00511"></a>00511
<a name="l00512"></a>00512 }
<a name="l00513"></a>00513 <span class="preprocessor">#endif</span>
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by
<a href="http://www.doxygen.org/index.html">
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