Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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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="preprocessor">#include "<a class="code" href="can_8h.html">can.h</a>"</span>
<a name="l00030"></a>00030
<a name="l00031"></a><a class="code" href="pdo_8h.html#ab5d5210d82e2226ffe237e54d2fc91a">00031</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structstruct__s__PDO__status.html">struct_s_PDO_status</a> <a class="code" href="pdo_8h.html#ab5d5210d82e2226ffe237e54d2fc91a">s_PDO_status</a>;
<a name="l00032"></a>00032
<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
<a name="l00035"></a>00035 <span class="comment">/* Status of the TPDO : */</span>
<a name="l00036"></a>00036 <span class="preprocessor">#define PDO_INHIBITED 0x01</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define PDO_RTR_SYNC_READY 0x01</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00040"></a><a class="code" href="structstruct__s__PDO__status.html">00040</a> <span class="keyword">struct </span><a class="code" href="structstruct__s__PDO__status.html">struct_s_PDO_status</a> {
<a name="l00041"></a><a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">00041</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a>;
<a name="l00042"></a><a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">00042</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>;
<a name="l00043"></a><a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">00043</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>;
<a name="l00044"></a><a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">00044</a> <a class="code" href="structMessage.html">Message</a> <a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>;
<a name="l00045"></a>00045 };
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="preprocessor">#define s_PDO_staus_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="preprocessor">#define TRANS_EVERY_N_SYNC(n) (n) </span><span class="comment">/*n = 1 to 240 */</span>
<a name="l00054"></a>00054 <span class="preprocessor">#define TRANS_SYNC_MIN 1 </span><span class="comment">/* Trans after reception of n SYNC. n = 1 to 240 */</span>
<a name="l00055"></a>00055 <span class="preprocessor">#define TRANS_SYNC_MAX 240 </span><span class="comment">/* Trans after reception of n SYNC. n = 1 to 240 */</span>
<a name="l00056"></a>00056 <span class="preprocessor">#define TRANS_RTR_SYNC 252 </span><span class="comment">/* Transmission on request */</span>
<a name="l00057"></a>00057 <span class="preprocessor">#define TRANS_RTR 253 </span><span class="comment">/* Transmission on request */</span>
<a name="l00058"></a>00058 <span class="preprocessor">#define TRANS_EVENT_SPECIFIC 254 </span><span class="comment">/* Transmission on event */</span>
<a name="l00059"></a>00059 <span class="preprocessor">#define TRANS_EVENT_PROFILE 255 </span><span class="comment">/* Transmission on event */</span>
<a name="l00060"></a>00060
<a name="l00069"></a>00069 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo, <a class="code" href="structMessage.html">Message</a> *pdo);
<a name="l00070"></a>00070
<a name="l00076"></a>00076 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> RPDOIndex );
<a name="l00077"></a>00077
<a name="l00082"></a>00082 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">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="l00083"></a>00083
<a name="l00090"></a>00090 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#adaae758ac4e9333eec59ff123ba98ad">sendPDOevent</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d);
<a name="l00091"></a>00091
<a name="l00095"></a>00095 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> isSyncEvent);
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#858b6c5fcf09d0c6c9cdd67f92bcd8f9">PDOInit</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d);
<a name="l00099"></a>00099 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#e31b98506e436ee213de906c19cc59f1">PDOStop</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d);
<a name="l00100"></a>00100 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum);
<a name="l00101"></a>00101 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">/* copy bit per bit in little endian */</span>
<a name="l00104"></a>00104 <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBigEndian);
<a name="l00105"></a>00105 <span class="preprocessor">#endif</span>
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