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<h1>sync.c</h1><a href="sync_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
<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="data_8h.html">data.h</a>"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="sync_8h.html">sync.h</a>"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment">/* Prototypes for internals functions */</span>
<a name="l00038"></a>00038
<a name="l00045"></a>00045 <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <span class="keywordtype">id</span>);
<a name="l00046"></a>00046 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable,
<a name="l00047"></a>00047 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> unsused_bSubindex);
<a name="l00048"></a>00048
<a name="l00055"></a><a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">00055</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <span class="keywordtype">id</span>)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">COB_ID_Sync</a> & 0x1FFFFFFF) ;
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00069"></a><a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">00069</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> unsused_bSubindex)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>);
<a name="l00072"></a>00072 <span class="keywordflow">return</span> 0;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00080"></a><a class="code" href="sync_8h.html#2e0bf669f5b40dfbdda0f12a5ae3631a">00080</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#2e0bf669f5b40dfbdda0f12a5ae3631a">startSYNC</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>)
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, 0x1005, 0, &<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
<a name="l00083"></a>00083 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, 0x1006, 0, &<a class="code" href="sync_8c.html#82595787f641ab85980d83522f1158b0">OnCOB_ID_SyncUpdate</a>);
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a> != TIMER_NONE){
<a name="l00086"></a>00086 <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>);
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordflow">if</span>(*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">COB_ID_Sync</a> & 0x40000000 && *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">Sync_Cycle_Period</a>)
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a> = <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(
<a name="l00092"></a>00092 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,
<a name="l00093"></a>00093 0 <span class="comment">/*No id needed*/</span>,
<a name="l00094"></a>00094 &<a class="code" href="sync_8c.html#bbcce7b549414c7bc1aa72fa66258b45">SyncAlarm</a>,
<a name="l00095"></a>00095 <a class="code" href="hcs12_2applicfg_8h.html#56849fe35cb6cbe17f7768a2d3af62f8">US_TO_TIMEVAL</a>(*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">Sync_Cycle_Period</a>),
<a name="l00096"></a>00096 <a class="code" href="hcs12_2applicfg_8h.html#56849fe35cb6cbe17f7768a2d3af62f8">US_TO_TIMEVAL</a>(*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">Sync_Cycle_Period</a>));
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00105"></a><a class="code" href="sync_8h.html#41c47dbd59d22bf9bab6cd288cf27164">00105</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#41c47dbd59d22bf9bab6cd288cf27164">stopSYNC</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a> = <a class="code" href="timer_8c.html#991b3cfaac2f201b14d5530f75985c21">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a>);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109
<a name="l00118"></a><a class="code" href="sync_8h.html#0bcc501eb14c12365ffbaa3453905b50">00118</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="sync_8c.html#0bcc501eb14c12365ffbaa3453905b50">sendSYNC</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cob_id)
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00121"></a>00121 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> resultat ;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3001, <span class="stringliteral">"sendSYNC "</span>, 0);
<a name="l00124"></a>00124
<a name="l00125"></a>00125 m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = cob_id ;
<a name="l00126"></a>00126 m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>;
<a name="l00127"></a>00127 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 0;
<a name="l00128"></a>00128 resultat = <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&m) ;
<a name="l00129"></a>00129 <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, &m) ;
<a name="l00130"></a>00130 <span class="keywordflow">return</span> resultat ;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00141"></a><a class="code" href="sync_8h.html#80cadcba23dc859db8a8d3f52789d6d1">00141</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="sync_8c.html#80cadcba23dc859db8a8d3f52789d6d1">proceedSYNC</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> pdoNum, <span class="comment">/* number of the actual processed pdo-nr. */</span>
<a name="l00145"></a>00145 prp_j;
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pMappingCount = NULL; <span class="comment">/* count of mapped objects...*/</span>
<a name="l00148"></a>00148 <span class="comment">/* pointer to the var which is mapped to a pdo */</span>
<a name="l00149"></a>00149 <span class="comment">/* void * pMappedAppObject = NULL; */</span>
<a name="l00150"></a>00150 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry */</span>
<a name="l00151"></a>00151 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pMappingParameter = NULL;
<a name="l00152"></a>00152 <span class="comment">/* pointer to the transmissiontype...*/</span>
<a name="l00153"></a>00153 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> * pTransmissionType = NULL;
<a name="l00154"></a>00154 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> * pwCobId = NULL;
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> dataType;
<a name="l00157"></a>00157 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> index;
<a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> subIndex;
<a name="l00159"></a>00159 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> offset;
<a name="l00160"></a>00160 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> status;
<a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Size;
<a name="l00162"></a>00162 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> objDict;
<a name="l00163"></a>00163 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdict;
<a name="l00164"></a>00164 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> offsetObjdictMap;
<a name="l00165"></a>00165 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> lastIndex;
<a name="l00166"></a>00166
<a name="l00167"></a>00167 status = <a class="code" href="def_8h.html#07ae7798ee670d4db12e71b373c60e0a">state3</a>;
<a name="l00168"></a>00168 pdoNum = 0x00;
<a name="l00169"></a>00169 prp_j = 0x00;
<a name="l00170"></a>00170 offset = 0x00;
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3002, <span class="stringliteral">"SYNC received. Proceed. "</span>, 0);
<a name="l00173"></a>00173
<a name="l00174"></a>00174 (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a>)();
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">/* only operational state allows PDO transmission */</span>
<a name="l00177"></a>00177 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> != <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> )
<a name="l00178"></a>00178 <span class="keywordflow">return</span> 0;
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="comment">/* So, the node is in operational state */</span>
<a name="l00181"></a>00181 <span class="comment">/* study all PDO stored in the objects dictionary */</span>
<a name="l00182"></a>00182
<a name="l00183"></a>00183 offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
<a name="l00184"></a>00184 lastIndex = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>-><a class="code" href="structs__quick__index.html#48e0ba31ff7746f1fa63f240a132a906">PDO_TRS</a>;
<a name="l00185"></a>00185 offsetObjdictMap = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>-><a class="code" href="structs__quick__index.html#c91a86195b3615a98f7b07e0c51ac75f">PDO_TRS_MAP</a>;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict <= lastIndex) {
<a name="l00188"></a>00188 <span class="keywordflow">switch</span>( status ) {
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#07ae7798ee670d4db12e71b373c60e0a">state3</a>: <span class="comment">/* get the PDO transmission type */</span>
<a name="l00191"></a>00191 <span class="keywordflow">if</span> (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#b0eaef21e60f3348e8928af66c2dbfcd">bSubCount</a> <= 2) {
<a name="l00192"></a>00192 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1004, <span class="stringliteral">"Subindex 2 not found at index "</span>, 0x1800 + pdoNum);
<a name="l00193"></a>00193 <span class="keywordflow">return</span> 0xFF;
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195 pTransmissionType = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
<a name="l00196"></a>00196 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3005, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);
<a name="l00197"></a>00197 status = <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>;
<a name="l00198"></a>00198 <span class="keywordflow">break</span>;
<a name="l00199"></a>00199 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b92f9ec8f5b287c274ebe9c91fda5154">state4</a>: <span class="comment">/* check if transmission type is after (this) SYNC */</span>
<a name="l00200"></a>00200 <span class="comment">/* The message may not be transmited every SYNC but every n SYNC */</span>
<a name="l00201"></a>00201 <span class="keywordflow">if</span>( (*pTransmissionType >= <a class="code" href="objdictdef_8h.html#f514b6a153b17e6da21f46971e3e8807">TRANS_SYNC_MIN</a>) && (*pTransmissionType <= <a class="code" href="objdictdef_8h.html#fc747c839a17a8b35e569677bbf7549d">TRANS_SYNC_MAX</a>) &&
<a name="l00202"></a>00202 (++<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">count_sync</a>[pdoNum] == *pTransmissionType) ) {
<a name="l00203"></a>00203 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">count_sync</a>[pdoNum] = 0;
<a name="l00204"></a>00204 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3007, <span class="stringliteral">" PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);
<a name="l00205"></a>00205 status = <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>;
<a name="l00206"></a>00206 <span class="keywordflow">break</span>;
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208 <span class="keywordflow">else</span> {
<a name="l00209"></a>00209 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3008, <span class="stringliteral">" Not on synchro or not at this SYNC. Trans type : "</span>,
<a name="l00210"></a>00210 *pTransmissionType);
<a name="l00211"></a>00211 pdoNum++;
<a name="l00212"></a>00212 offsetObjdict++;
<a name="l00213"></a>00213 offsetObjdictMap++;
<a name="l00214"></a>00214 status = <a class="code" href="def_8h.html#be94c50e18055692ad2e0d220f09aea5">state11</a>;
<a name="l00215"></a>00215 <span class="keywordflow">break</span>;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9c791e43dcf77cb119f7d79db324d1f8">state5</a>: <span class="comment">/* get PDO CobId */</span>
<a name="l00218"></a>00218 pwCobId = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
<a name="l00219"></a>00219 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3009, <span class="stringliteral">" PDO CobId is : "</span>, *pwCobId);
<a name="l00220"></a>00220 status = <a class="code" href="def_8h.html#b05e63de91a6e1268f15c0939cfdea8b">state7</a>;
<a name="l00221"></a>00221 <span class="keywordflow">break</span>;
<a name="l00222"></a>00222 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b05e63de91a6e1268f15c0939cfdea8b">state7</a>: <span class="comment">/* get mapped objects number to transmit with this PDO */</span>
<a name="l00223"></a>00223 pMappingCount = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictMap].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
<a name="l00224"></a>00224 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x300D, <span class="stringliteral">" Number of objects mapped : "</span>,*pMappingCount );
<a name="l00225"></a>00225 status = <a class="code" href="def_8h.html#8894c53332e89c6588e84f5dc15c7584">state8</a>;
<a name="l00226"></a>00226 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#8894c53332e89c6588e84f5dc15c7584">state8</a>: <span class="comment">/* get mapping parameters */</span>
<a name="l00227"></a>00227 pMappingParameter = <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>[offsetObjdictMap].<a class="code" href="structtd__indextable.html#fdd93efce94f77d57c5778e04a6a225c">pSubindex</a>[prp_j + 1].<a class="code" href="structtd__subindex.html#6c83d4e45acd437dcd6746fcf9b7495a">pObject</a>;
<a name="l00228"></a>00228 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x300F, <span class="stringliteral">" got mapping parameter : "</span>, *pMappingParameter);
<a name="l00229"></a>00229 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3050, <span class="stringliteral">" at index : "</span>, 0x1A00 + pdoNum);
<a name="l00230"></a>00230 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3051, <span class="stringliteral">" sub-index : "</span>, prp_j + 1);
<a name="l00231"></a>00231 status = <a class="code" href="def_8h.html#df53b1fe0dcea7b0f27d351da8cb2c96">state9</a>;
<a name="l00232"></a>00232
<a name="l00233"></a>00233 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#df53b1fe0dcea7b0f27d351da8cb2c96">state9</a>: <span class="comment">/* get data to transmit */</span>
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> ByteSize;
<a name="l00236"></a>00236 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};
<a name="l00237"></a>00237 index = (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)((*pMappingParameter) >> 16);
<a name="l00238"></a>00238 subIndex = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(( (*pMappingParameter) >> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)8 ) & (<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>)0x000000FF);
<a name="l00239"></a>00239 Size = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(*pMappingParameter); <span class="comment">/* Size in bits */</span>
<a name="l00240"></a>00240 ByteSize = 1 + ((Size - 1) >> 3); <span class="comment">/*1->8 => 1 ; 9->16 => 2, ... */</span>
<a name="l00241"></a>00241 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, index, subIndex, tmp, &ByteSize, &dataType, 0 );
<a name="l00242"></a>00242 <span class="comment">/* copy bit per bit in little endian*/</span>
<a name="l00243"></a>00243 <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(Size, ((<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)tmp), 0 , 0, (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>*)&<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[offset>>3], offset%8, 0);
<a name="l00244"></a>00244 }
<a name="l00245"></a>00245 <span class="keywordflow">if</span>( objDict != <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> ){
<a name="l00246"></a>00246 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a>)(*pMappingParameter));
<a name="l00247"></a>00247 <span class="keywordflow">return</span> 0xFF;
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249
<a name="l00250"></a>00250 offset += Size ;
<a name="l00251"></a>00251 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>.<a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a> = 1 + ((offset - 1) >> 3);
<a name="l00252"></a>00252 prp_j++;
<a name="l00253"></a>00253 status = <a class="code" href="def_8h.html#865105d41739f49a0419502cb2683be1">state10</a>;
<a name="l00254"></a>00254 <span class="keywordflow">break</span>;
<a name="l00255"></a>00255
<a name="l00256"></a>00256 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#865105d41739f49a0419502cb2683be1">state10</a>: <span class="comment">/* loop to get all the data to transmit */</span>
<a name="l00257"></a>00257 <span class="keywordflow">if</span>( prp_j < *pMappingCount ){
<a name="l00258"></a>00258 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3014, <span class="stringliteral">" next variable mapped : "</span>, prp_j);
<a name="l00259"></a>00259 status = <a class="code" href="def_8h.html#8894c53332e89c6588e84f5dc15c7584">state8</a>;
<a name="l00260"></a>00260 <span class="keywordflow">break</span>;
<a name="l00261"></a>00261 }
<a name="l00262"></a>00262 <span class="keywordflow">else</span> {
<a name="l00263"></a>00263 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3015, <span class="stringliteral">" End scan mapped variable"</span>, 0);
<a name="l00264"></a>00264 <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, *pwCobId );
<a name="l00265"></a>00265 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3016, <span class="stringliteral">" End of this pdo. Should have been sent"</span>, 0);
<a name="l00266"></a>00266 pdoNum++;
<a name="l00267"></a>00267 offsetObjdict++;
<a name="l00268"></a>00268 offsetObjdictMap++;
<a name="l00269"></a>00269 offset = 0x00;
<a name="l00270"></a>00270 prp_j = 0x00;
<a name="l00271"></a>00271 status = <a class="code" href="def_8h.html#be94c50e18055692ad2e0d220f09aea5">state11</a>;
<a name="l00272"></a>00272 <span class="keywordflow">break</span>;
<a name="l00273"></a>00273 }
<a name="l00274"></a>00274
<a name="l00275"></a>00275 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#be94c50e18055692ad2e0d220f09aea5">state11</a>:
<a name="l00276"></a>00276 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3017, <span class="stringliteral">"next pdo index : "</span>, pdoNum);
<a name="l00277"></a>00277 status = <a class="code" href="def_8h.html#07ae7798ee670d4db12e71b373c60e0a">state3</a>;
<a name="l00278"></a>00278 <span class="keywordflow">break</span>;
<a name="l00279"></a>00279
<a name="l00280"></a>00280 <span class="keywordflow">default</span>:
<a name="l00281"></a>00281 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1019,<span class="stringliteral">"Unknown state has been reached : %d"</span>,status);
<a name="l00282"></a>00282 <span class="keywordflow">return</span> 0xFF;
<a name="l00283"></a>00283 }<span class="comment">/* end switch case */</span>
<a name="l00284"></a>00284
<a name="l00285"></a>00285 }<span class="comment">/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */</span>
<a name="l00286"></a>00286
<a name="l00287"></a>00287 (*<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a>)();
<a name="l00288"></a>00288
<a name="l00289"></a>00289 <span class="keywordflow">return</span> 0;
<a name="l00290"></a>00290 }
<a name="l00291"></a>00291
<a name="l00292"></a>00292
<a name="l00293"></a><a class="code" href="sync_8h.html#1da155dcbd7fa1271216d74a15e30490">00293</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#a5e0cde14192eb72627526bb75c033c5">_post_sync</a>(){}
<a name="l00294"></a><a class="code" href="sync_8h.html#1fdf94721303f1c60bb2de1a36b13cc4">00294</a> <span class="keywordtype">void</span> <a class="code" href="sync_8c.html#c4082a05eed4b4c472f4ff2f7323dd28">_post_TPDO</a>(){}
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by
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