include/pdo.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 670 e37511baf56b
permissions -rwxr-xr-x
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS.
/*
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
*/

/** @defgroup pdo Process Data Object (PDO)
 *  PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
 *  It is an uncomfirmed communication service without protocol overhead.
 *  @ingroup comobj
 */
 
#ifndef __pdo_h__
#define __pdo_h__

#include <applicfg.h>
#include <def.h>

#include "can.h"

typedef struct struct_s_PDO_status s_PDO_status;

#include "data.h"

/* Handler for RxPDO event timers : empty function that user can overload */
void _RxPDO_EventTimers_Handler(CO_Data *d, UNS32 pdoNum);

/* Status of the TPDO : */
#define PDO_INHIBITED 0x01
#define PDO_RTR_SYNC_READY 0x01

/** The PDO structure */
struct struct_s_PDO_status {
  UNS8 transmit_type_parameter;
  TIMER_HANDLE event_timer;
  TIMER_HANDLE inhibit_timer;
  Message last_message;
};

#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}

/** definitions of the different types of PDOs' transmission
 * 
 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
 */
#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
#define TRANS_SYNC_ACYCLIC    0    /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_RTR_SYNC        252  /* Transmission on request */
#define TRANS_RTR             253  /* Transmission on request */
#define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */
#define TRANS_EVENT_PROFILE   255  /* Transmission on event */

/** 
 * @brief Copy all the data to transmit in process_var
 * Prepare the PDO defined at index to be sent
 * *pwCobId : returns the value of the cobid. (subindex 1)
 * @param *d Pointer on a CAN object data structure
 * @param numPdo The PDO number
 * @param *pdo Pointer on a CAN message structure
 * @return 0 or 0xFF if error.
 */
UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);

/** 
 * @ingroup pdo
 * @brief Transmit a PDO request frame on the network to the slave.
 * @param *d Pointer on a CAN object data structure
 * @param RPDOIndex Index of the receive PDO
 * @return
 *       - CanFestival file descriptor is returned upon success.
 *       - 0xFF is returned if RPDO Index is not found.
 
 * @return 0xFF if error, other in success.
 */
UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );

/**
 * @brief Compute a PDO frame reception
 * bus_id is hardware dependant
 * @param *d Pointer on a CAN object data structure
 * @param *m Pointer on a CAN message structure
 * @return 0xFF if error, else return 0
 */
UNS8 proceedPDO (CO_Data* d, Message *m);

/** 
 * @brief Used by the application to signal changes in process data
 * that could be mapped to some TPDO.
 * This do not necessarily imply PDO emission.
 * Function iterates on all TPDO and look TPDO transmit 
 * type and content change before sending it.    
 * @param *d Pointer on a CAN object data structure
 */
UNS8 sendPDOevent (CO_Data* d);
UNS8 sendOnePDOevent (CO_Data* d, UNS8 pdoNum);

/** 
 * @ingroup pdo
 * @brief Function iterates on all TPDO and look TPDO transmit 
 * type and content change before sending it.
 * @param *d Pointer on a CAN object data structure
 * @param isSyncEvent
 */
UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);

/** 
 * @brief Initialize PDO feature 
 * @param *d Pointer on a CAN object data structure
 */
void PDOInit(CO_Data* d);

/** 
 * @brief Stop PDO feature 
 * @param *d Pointer on a CAN object data structure
 */
void PDOStop(CO_Data* d);

/** 
 * @ingroup pdo
 * @brief Set timer for PDO event
 * @param *d Pointer on a CAN object data structure
 * @param pdoNum The PDO number
 */
void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);

/** 
 * @ingroup pdo
 * @brief Inhibit timer for PDO event
 * @param *d Pointer on a CAN object data structure
 * @param pdoNum The PDO number
 */
void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);

/* copy bit per bit in little endian */
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
#endif