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<h1>pdo.h</h1><a href="pdo_8h.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="l00023"></a>00023 <span class="preprocessor">#ifndef __pdo_h__</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define __pdo_h__</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>></span>
<a name="l00027"></a>00027 <span class="preprocessor">#include <<a class="code" href="def_8h.html">def.h</a>></span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">/* The process_var structure</span>
<a name="l00030"></a>00030 <span class="comment"> Used to store the PDO before the transmission or the reception.</span>
<a name="l00031"></a>00031 <span class="comment">*/</span>
<a name="l00032"></a><a class="code" href="structstruct__s__process__var.html">00032</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structstruct__s__process__var.html">struct_s_process_var</a> {
<a name="l00033"></a><a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">00033</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__s__process__var.html#f5110cf5f12faa435cb992cc96e7ff6b">count</a>; <span class="comment">/* Size of data. Ex : for a PDO of 6 bytes of data, count = 6 */</span>
<a name="l00034"></a>00034 <span class="comment">/* WARNING s_process_var.data is subject to ENDIANISATION </span>
<a name="l00035"></a>00035 <span class="comment"> * (with respect to CANOPEN_BIG_ENDIAN)</span>
<a name="l00036"></a>00036 <span class="comment"> */</span>
<a name="l00037"></a><a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">00037</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__s__process__var.html#8790415d8a6886dadbb02c5f145bb543">data</a>[<a class="code" href="def_8h.html#53c0d55da6d9ed06d7f55c595611eccc">PDO_MAX_LEN</a>];
<a name="l00038"></a>00038 }<a class="code" href="structstruct__s__process__var.html">s_process_var</a>;
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="data_8h.html">data.h</a>"</span>
<a name="l00041"></a>00041
<a name="l00043"></a><a class="code" href="structstruct__s__PDO.html">00043</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structstruct__s__PDO.html">struct_s_PDO</a> {
<a name="l00044"></a><a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">00044</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="structstruct__s__PDO.html#79a70c0ef320cc4c939f825e83e3d5b2">cobId</a>; <span class="comment">/* COB-ID */</span>
<a name="l00045"></a><a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">00045</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__s__PDO.html#49db07106430da9b89ec526e8ec1573d">len</a>; <span class="comment">/* Number of data transmitted (in data[]) */</span>
<a name="l00046"></a><a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">00046</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__s__PDO.html#34fdcefa8119162840bccf2d67b5c6c0">data</a>[8]; <span class="comment">/* Contain the data */</span>
<a name="l00047"></a>00047 }<a class="code" href="structstruct__s__PDO.html">s_PDO</a>;
<a name="l00048"></a>00048
<a name="l00055"></a>00055 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#d9a4a4f0a4ef48866c6184ccbd30f210">sendPDO</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="structstruct__s__PDO.html">s_PDO</a> pdo, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> request);
<a name="l00056"></a>00056
<a name="l00064"></a>00064 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId);
<a name="l00065"></a>00065
<a name="l00071"></a>00071 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> index);
<a name="l00072"></a>00072
<a name="l00078"></a>00078 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> cobId);
<a name="l00079"></a>00079
<a name="l00084"></a>00084 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8c.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="structMessage.html">Message</a> *m);
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment">/* used by the application to send a variable by PDO.</span>
<a name="l00087"></a>00087 <span class="comment"> * Check in which PDO the variable is mapped, and send the PDO. </span>
<a name="l00088"></a>00088 <span class="comment"> * of course, the others variables mapped in the PDO are also sent !</span>
<a name="l00089"></a>00089 <span class="comment"> * ( ie when a specific event occured)</span>
<a name="l00090"></a>00090 <span class="comment"> * bus_id is hardware dependant</span>
<a name="l00091"></a>00091 <span class="comment"> * variable is a pointer to the variable which has to be sent. Must be</span>
<a name="l00092"></a>00092 <span class="comment"> * defined in the object dictionary</span>
<a name="l00093"></a>00093 <span class="comment"> * return 0xFF if error, else return 0</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="pdo_8h.html#07ff33d0d2e6b1070bf3c27578006e8d">sendPDOevent</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <span class="keywordtype">void</span> * variable);
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="comment">/* copy bit per bit in little endian */</span>
<a name="l00098"></a>00098 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e468510c9f77f502207d961d26389918">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> DestBigEndian);
<a name="l00099"></a>00099 <span class="preprocessor">#endif</span>
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