Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
/*
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
*/
#include "pdo.h"
#include "objacces.h"
#include "canfestival.h"
/*!
** @file pdo.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 09:32:32 2007
**
** @brief
**
**
*/
/*!
**
**
** @param d
** @param TPDO_com TPDO communication parameters OD entry
** @param TPDO_map TPDO mapping parameters OD entry
**
** @return
**/
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 & 0x7FF;
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;
}
/*!
**
**
** @param d
** @param cobId
**
** @return
**/
UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex )
{
UNS32 * pwCobId;
UNS16 offset = d->firstIndex->PDO_RCV;
UNS16 lastIndex = d->lastIndex->PDO_RCV;
/* Sending the request only if the cobid have been found on the PDO
receive */
/* part dictionary */
MSG_WAR(0x3930, "sendPDOrequest RPDO Index : ",RPDOIndex);
if (offset && RPDOIndex >= 0x1400){
offset += RPDOIndex - 0x1400;
if (offset <= lastIndex) {
/* get the CobId*/
pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
{
Message pdo;
pdo.cob_id.w = *pwCobId;
pdo.rtr = REQUEST;
pdo.len = 0;
return canSend(d->canHandle,&pdo);
}
}
}
MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
return 0xFF;
}
/*!
**
**
** @param d
** @param m
**
** @return
**/
UNS8 proceedPDO(CO_Data* d, Message *m)
{
UNS8 numPdo;
UNS8 numMap; /* Number of the mapped varable */
UNS8 i;
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 * pTransmissionType = NULL; /* pointer to the transmission
type */
UNS32 * pwCobId = NULL;
UNS8 Size;
UNS8 dataType;
UNS8 offset;
UNS8 status;
UNS32 objDict;
UNS16 offsetObjdict;
UNS16 lastIndex;
status = state2;
MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
offset = 0x00;
numPdo = 0;
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;
/* study of all the PDO stored in the dictionary */
if(offsetObjdict)
while (offsetObjdict <= lastIndex) {
switch( status ) {
case state2:
/* get CobId of the dictionary correspondant to the received
PDO */
pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
/* check the CobId coherance */
/*pwCobId is the cobId read in the dictionary at the state 3
*/
if ( *pwCobId == (*m).cob_id.w ){
/* The cobId is recognized */
status = state4;
MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
break;
}
else {
/* cobId received does not match with those write in the
dictionnary */
numPdo++;
offsetObjdict++;
status = state2;
break;
}
case state4:/* Get Mapped Objects Number */
/* The cobId of the message received has been found in the
dictionnary. */
offsetObjdict = d->firstIndex->PDO_RCV_MAP;
lastIndex = d->lastIndex->PDO_RCV_MAP;
pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
numMap = 0;
while (numMap < *pMappingCount) {
UNS8 tmp[]= {0,0,0,0,0,0,0,0};
UNS8 ByteSize;
pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
if (pMappingParameter == NULL) {
MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
return 0xFF;
}
/* Get the addresse of the mapped variable. */
/* detail of *pMappingParameter : */
/* The 16 hight bits contains the index, the medium 8 bits
contains the subindex, */
/* and the lower 8 bits contains the size of the mapped
variable. */
Size = (UNS8)(*pMappingParameter);
/* copy bit per bit in little endian */
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, ... */
objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
(UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
tmp, &ByteSize, 0 );
if(objDict != OD_SUCCESSFUL) {
MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
return 0xFF;
}
MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16);
MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
/* 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;
numMap = 0;
return 0;
}/* end switch status*/
}/* end while*/
}/* end if Donnees */
else if ((*m).rtr == REQUEST ){
MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
status = state1;
offsetObjdict = d->firstIndex->PDO_TRS;
lastIndex = d->lastIndex->PDO_TRS;
if(offsetObjdict) while( offsetObjdict <= lastIndex ){
/* study of all PDO stored in the objects dictionary */
switch( status ){
case state1:/* check the CobId */
/* get CobId of the dictionary which match to the received PDO
*/
pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
if ( *pwCobId == (*m).cob_id.w ) {
status = state4;
break;
}
else {
numPdo++;
offsetObjdict++;
}
status = state1;
break;
case state4:/* check transmission type */
pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
/* If PDO is to be sampled and send on RTR, do it*/
if ( (*pTransmissionType == TRANS_RTR)) {
status = state5;
break;
/* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
}else if ((*pTransmissionType == TRANS_RTR_SYNC )) {
if(d->PDO_status[numPdo].transmit_type_parameter & PDO_RTR_SYNC_READY){
/*Data ready, just send*/
canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
return 0;
}else{
/* if SYNC did never occur, force emission with current data */
/* DS301 do not tell what to do in such a case...*/
MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id.w);
status = state5;
}
break;
}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:/* build and send requested PDO */
{
Message pdo;
if( buildPDO(d, numPdo, &pdo))
{
MSG_ERR(0x1948, " Couldn't build TPDO n°", numPdo);
return 0xFF;
}
canSend(d->canHandle,&pdo);
return 0;
}
}/* end switch status */
}/* end while */
}/* end if Requete */
return 0;
}
/*!
**
**
** @param NbBits
** @param SrcByteIndex
** @param SrcBitIndex
** @param SrcBigEndian
** @param DestByteIndex
** @param DestBitIndex
** @param DestBigEndian
**/
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
{
/* This loop copy as many bits that it can each time, crossing*/
/* successively bytes*/
// boundaries from LSB to MSB.
while(NbBits > 0)
{
/* Bit missalignement between src and dest*/
INTEGER8 Vect = DestBitIndex - SrcBitIndex;
/* We can now get src and align it to dest*/
UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
/* Compute the nb of bit we will be able to copy*/
UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
/* Create a mask that will serve in:*/
UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
/* - Filtering src*/
UNS8 Filtered = Aligned & ~Mask;
/* - and erase bits where we write, preserve where we don't*/
*DestByteIndex &= Mask;
/* Then write.*/
*DestByteIndex |= Filtered ;
/*Compute next time cursors for src*/
if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
{
SrcBitIndex = 0;/* First bit*/
SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
}
/*Compute next time cursors for dest*/
if((DestBitIndex += BitsToCopy)>7)
{
DestBitIndex = 0;/* First bit*/
DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
}
/*And decrement counter.*/
NbBits -= BitsToCopy;
}
}
/*!
**
**
** @param d
**
** @return
**/
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)
{
/* 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)
{
/* 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 pdo = Message_Initializer;
while( offsetObjdict <= lastIndex) {
switch( status ) {
case state3:
if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/
/* check if TPDO is not valid */
*(UNS32*)d->objdict[offsetObjdict].pSubindex[1].pObject & 0x80000000) {
MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
/*Go next TPDO*/
status = state11;
break;
}
/* get the PDO transmission type */
pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
MSG_WAR(0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
/* check if transmission type is SYNCRONOUS */
/* The message is transmited every n SYNC with n=TransmissionType */
if( isSyncEvent &&
(*pTransmissionType >= TRANS_SYNC_MIN) &&
(*pTransmissionType <= TRANS_SYNC_MAX) &&
(++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
/*Reset count of SYNC*/
d->PDO_status[pdoNum].transmit_type_parameter = 0;
MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
{
Message msg_init = Message_Initializer;
pdo = msg_init;
}
if(buildPDO(d, pdoNum, &pdo))
{
MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum);
status = state11;
break;
}
status = state5;
/* If transmission RTR, with data sampled on SYNC */
}else if( isSyncEvent &&
(*pTransmissionType == TRANS_RTR_SYNC)) {
if(buildPDO(d, pdoNum, &d->PDO_status[pdoNum].last_message))
{
MSG_ERR(0x1966, " Couldn't build TPDO number : ", pdoNum);
d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY;
}else{
d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY;
}
status = state11;
break;
/* 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(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType);
{
Message msg_init = Message_Initializer;
pdo = msg_init;
}
if(buildPDO(d, pdoNum, &pdo))
{
MSG_ERR(0x3907, " 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{
UNS16 EventTimerDuration;
UNS16 InhibitTimerDuration;
MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum);
/* Changes detected -> transmit message */
EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject;
InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject;
status = state5;
/* Start both event_timer and inhibit_timer*/
if(EventTimerDuration){
DelAlarm(d->PDO_status[pdoNum].event_timer);
d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(EventTimerDuration), 0);
}
if(InhibitTimerDuration){
DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(InhibitTimerDuration * 100), 0);
/* and inhibit TPDO */
d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
}
}
}else{
MSG_WAR(0x306C, " 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(0x396D, "sendPDO cobId :", pdo.cob_id.w);
MSG_WAR(0x396E, " Nb octets : ", pdo.len);
canSend(d->canHandle,&pdo);
status = state11;
break;
case state11: /*Go to next TPDO*/
pdoNum++;
offsetObjdict++;
offsetObjdictMap++;
MSG_WAR(0x3970, "next pdo index : ", pdoNum);
status = state3;
break;
default:
MSG_ERR(0x1972,"Unknown state has been reached : %d",status);
return 0xFF;
}/* end switch case */
}/* end while */
}
return 0;
}
/*!
**
**
** @param d
** @param OD_entry
** @param bSubindex
** @return always 0
**/
UNS32 TPDO_Communication_Parameter_Callback(CO_Data* d, const indextable * OD_entry, UNS8 bSubindex)
{
/* If PDO are actives */
if(d->CurrentCommunicationState.csPDO) switch(bSubindex)
{
case 2: /* Changed transmition type */
case 3: /* Changed inhibit time */
case 5: /* Changed event time */
{
UNS8 pTransmissionType = *(UNS8*) OD_entry->pSubindex[2].pObject;
const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
/* 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 = 0;
/* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
PDOEventTimerAlarm(d, numPdo);
return 0;
}
default: /* other subindex are ignored*/
break;
}
return 0;
}
void PDOInit(CO_Data* d)
{
/* For each TPDO mapping parameters */
UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
UNS16 lastIndex = d->lastIndex->PDO_TRS;
if(offsetObjdict) while( offsetObjdict <= lastIndex) {
/* Assign callbacks to sensible TPDO mapping subindexes */
UNS32 errorCode;
ODCallback_t *CallbackList;
/* Find callback list */
scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
if(errorCode == OD_SUCCESSFUL && CallbackList)
{
/*Assign callbacks to corresponding subindex*/
/* Transmission type */
CallbackList[2] = &TPDO_Communication_Parameter_Callback;
/* Inhibit time */
CallbackList[3] = &TPDO_Communication_Parameter_Callback;
/* Event timer */
CallbackList[5] = &TPDO_Communication_Parameter_Callback;
}
pdoIndex++;
offsetObjdict++;
}
/* Trigger a non-sync event */
_sendPDOevent( d, 0 );
}
void PDOStop(CO_Data* d)
{
/* For each TPDO mapping parameters */
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) {
/* Delete TPDO timers */
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);
/* Reset transmit type parameter */
d->PDO_status[pdoNum].transmit_type_parameter = 0;
d->PDO_status[pdoNum].last_message.cob_id.w = 0;
pdoNum++;
offsetObjdict++;
}
}