doc/doxygen/html/pdo_8c-source.html
author nico
Mon, 04 Jun 2007 17:59:50 +0200
changeset 207 b6572d0336c3
child 210 6b5a4c21e061
permissions -rw-r--r--
First doxygen implementation
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/pdo.c Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<!-- Generated by Doxygen 1.5.1 -->
<div class="tabs">
  <ul>
    <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
    <li id="current"><a href="files.html"><span>Files</span></a></li>
  </ul></div>
<div class="tabs">
  <ul>
    <li><a href="files.html"><span>File&nbsp;List</span></a></li>
    <li><a href="globals.html"><span>Globals</span></a></li>
  </ul></div>
<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-&gt;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 &amp; 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(&amp;m.data, &amp;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 &lt; 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 &lt; 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-&gt;canHandle,&amp;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-&gt;process_var.count;
<a name="l00073"></a>00073     <span class="comment">/* memcpy(&amp;(pdo.data), &amp;(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 &lt; pdo.len ; i++) 
<a name="l00076"></a>00076       pdo.data[i] = d-&gt;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 -&gt; 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-&gt;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-&gt;firstIndex-&gt;PDO_TRS;
<a name="l00118"></a>00118   offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS_MAP;
<a name="l00119"></a>00119   
<a name="l00120"></a>00120   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; 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-&gt;objdict + offsetObjdict + ind)-&gt;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 &lt; *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-&gt;objdict + offsetObjdict + ind)-&gt;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) &amp; 0xFF) &gt;&gt; 3));
<a name="l00134"></a>00134                 objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, (UNS16)((*pMappingParameter) &gt;&gt; 16),
<a name="l00135"></a>00135                                     (UNS8)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0x000000FF),
<a name="l00136"></a>00136                                     (<span class="keywordtype">void</span> *)&amp;d-&gt;process_var.data[offset], &amp;Size, &amp;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) &gt;&gt; 16);
<a name="l00141"></a>00141                 MSG_WAR(0x2921, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 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-&gt;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-&gt;firstIndex-&gt;PDO_RCV;
<a name="l00165"></a>00165   lastIndex = d-&gt;lastIndex-&gt;PDO_RCV;
<a name="l00166"></a>00166   <span class="keywordflow">if</span> (offset)
<a name="l00167"></a>00167           <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
<a name="l00168"></a>00168             <span class="comment">/*get the CobId*/</span>
<a name="l00169"></a>00169             pwCobId = d-&gt;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 &amp; 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-&gt;firstIndex-&gt;PDO_RCV;
<a name="l00214"></a>00214     lastIndex = d-&gt;lastIndex-&gt;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 &lt;= 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(&amp;(process_var.data), &amp;m-&gt;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 &lt; m-&gt;len ; i++) 
<a name="l00226"></a>00226                     d-&gt;process_var.data[i] = m-&gt;data[i];
<a name="l00227"></a>00227                   d-&gt;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-&gt;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-&gt;firstIndex-&gt;PDO_RCV_MAP;
<a name="l00254"></a>00254                   lastIndex = d-&gt;lastIndex-&gt;PDO_RCV_MAP;
<a name="l00255"></a>00255                   pMappingCount = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;    
<a name="l00256"></a>00256                   numMap = 0;
<a name="l00257"></a>00257                   <span class="keywordflow">while</span> (numMap &lt; *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-&gt;objdict + offsetObjdict + numPdo)-&gt;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*)&amp;d-&gt;process_var.data[offset&gt;&gt;3], offset%8, 0, ((UNS8*)tmp), 0, 0);
<a name="l00274"></a>00274                         
<a name="l00275"></a>00275                         ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt; 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) &gt;&gt; 16),
<a name="l00278"></a>00278                                             (UNS8)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),
<a name="l00279"></a>00279                                                 tmp, &amp;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) &gt;&gt; 16);
<a name="l00284"></a>00284                       MSG_WAR(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 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-&gt;cob_id.w);  
<a name="l00289"></a>00289                     MSG_WAR(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);
<a name="l00290"></a>00290                     MSG_WAR(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 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-&gt;cob_id.w);
<a name="l00307"></a>00307       status = state1;
<a name="l00308"></a>00308       offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS;
<a name="l00309"></a>00309       lastIndex = d-&gt;lastIndex-&gt;PDO_TRS;
<a name="l00310"></a>00310       <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= 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-&gt;objdict + offsetObjdict)-&gt;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-&gt;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-&gt;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-&gt;firstIndex-&gt;PDO_TRS_MAP;
<a name="l00344"></a>00344           lastIndex = d-&gt;lastIndex-&gt;PDO_TRS_MAP;
<a name="l00345"></a>00345           pMappingCount = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;
<a name="l00346"></a>00346           numMap = 0;
<a name="l00347"></a>00347           <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {
<a name="l00348"></a>00348             pMappingParameter = (d-&gt;objdict + offsetObjdict + numPdo)-&gt;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) &amp; 0xFF) &gt;&gt; 3)); 
<a name="l00351"></a>00351             objDict = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>( d, (UNS16)((*pMappingParameter) &gt;&gt; (UNS8)16), 
<a name="l00352"></a>00352                                      (UNS8)(( (*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; 0xFF),
<a name="l00353"></a>00353                                      (<span class="keywordtype">void</span> *)&amp;d-&gt;process_var.data[offset], &amp;Size, &amp;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) &gt;&gt; 16);
<a name="l00357"></a>00357               MSG_WAR(0x2950, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 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) &amp; 0xFF) &gt;&gt; 3);
<a name="l00361"></a>00361             d-&gt;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 &gt; 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&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -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&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
<a name="l00390"></a>00390                 UNS8 BitsToCopy = BoudaryLimit &gt; 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 &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (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 &amp; ~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 &amp;= 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)&gt;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)&gt;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 -&gt; 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   = &amp;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-&gt;firstIndex-&gt;PDO_TRS;
<a name="l00459"></a>00459   
<a name="l00460"></a>00460   offsetObjdict = d-&gt;firstIndex-&gt;PDO_TRS_MAP;
<a name="l00461"></a>00461   lastIndex = d-&gt;lastIndex-&gt;PDO_TRS_MAP;
<a name="l00462"></a>00462 
<a name="l00463"></a>00463   <span class="keywordflow">if</span> (offsetObjdictPrm &amp;&amp; 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 &lt;= lastIndex){
<a name="l00466"></a>00466             <span class="comment">/* Check the transmission mode */</span>
<a name="l00467"></a>00467             pTransmissionType = d-&gt;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-&gt;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 &lt;= *pMappingCount) {
<a name="l00477"></a>00477               pMappingParameter = d-&gt;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) &gt;&gt; 16), 
<a name="l00481"></a>00481                                     (UNS8)(( (*pMappingParameter) &gt;&gt; (UNS8)8 ) &amp; (UNS32)0x000000FF),
<a name="l00482"></a>00482                                     (<span class="keywordtype">void</span> * *)&amp;pMappedAppObject, pSize, &amp;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) &gt;&gt; (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) &gt;&gt; (UNS8)8 ) &amp; (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) &gt;&gt; 16);
<a name="l00494"></a>00494                 MSG_WAR(0x3964, <span class="stringliteral">"                       subIndex : "</span>, 
<a name="l00495"></a>00495                         ((*pMappingParameter) &gt;&gt; 8 ) &amp; 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-&gt;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&nbsp;
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
</body>
</html>