etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #ifndef __pdo_h__
etisserant@0: #define __pdo_h__
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include <def.h>
etisserant@0: 
etisserant@0: /* The process_var structure
etisserant@0:  Used to store the PDO before the transmission or the reception.
etisserant@0: */
etisserant@0: typedef struct struct_s_process_var {
frdupin@71:   UNS8 count; /* Size of data. Ex : for a PDO of 6 bytes of data, count = 6 */
frdupin@71:   /* WARNING s_process_var.data is subject to ENDIANISATION 
frdupin@71:    * (with respect to CANOPEN_BIG_ENDIAN)
frdupin@71:    */
etisserant@0:   UNS8 data[PDO_MAX_LEN];
etisserant@0: }s_process_var;
etisserant@0: 
etisserant@0: #include "data.h"
etisserant@0: 
etisserant@0: /** The PDO structure */
etisserant@0: typedef struct struct_s_PDO {
frdupin@71:   UNS32 cobId;	  /* COB-ID */
frdupin@71:   UNS8           len;	  /* Number of data transmitted (in data[]) */
frdupin@71:   UNS8           data[8]; /* Contain the data */
etisserant@0: }s_PDO;
etisserant@0: 
etisserant@0: /** Transmit a PDO data frame on the bus bus_id
etisserant@0:  * pdo is a structure which contains the pdo to transmit
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * return canSend(bus_id,&m) or 0xFF if error
etisserant@0:  * request can take the value  REQUEST or NOT_A_REQUEST
etisserant@0:  */
etisserant@0: UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
etisserant@0: 
etisserant@0: /** Prepare a PDO frame transmission, 
etisserant@0:  * whose different parameters are stored in process_var table,
etisserant@0:  * to the slave.
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * call the function sendPDO
etisserant@0:  * return the result of the function sendPDO or 0xFF if error
etisserant@0:  */
etisserant@0: UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
etisserant@0: 
etisserant@0: /** Prepare the PDO defined at index to be sent by  PDOmGR
etisserant@0:  * Copy all the data to transmit in process_var
etisserant@0:  * *pwCobId : returns the value of the cobid. (subindex 1)
etisserant@0:  * Return 0 or 0xFF if error.
etisserant@0:  */
etisserant@0: UNS8 buildPDO (CO_Data* d, UNS16 index);
etisserant@0: 
etisserant@0: /** Transmit a PDO request frame on the bus bus_id
etisserant@0:  * to the slave.
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * Returns 0xFF if error, other in success.
etisserant@0:  */
etisserant@0: UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
etisserant@0: 
etisserant@0: /** Compute a PDO frame reception
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * return 0xFF if error, else return 0
etisserant@0:  */
etisserant@0: UNS8 proceedPDO (CO_Data* d, Message *m);
etisserant@0: 
etisserant@0: /* used by the application to send a variable by PDO.
etisserant@0:  * Check in which PDO the variable is mapped, and send the PDO. 
etisserant@0:  * of course, the others variables mapped in the PDO are also sent !
etisserant@0:  * ( ie when a specific event occured)
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * variable is a pointer to the variable which has to be sent. Must be
etisserant@0:  * defined in the object dictionary
etisserant@0:  * return 0xFF if error, else return 0
etisserant@0:  */
etisserant@0: UNS8 sendPDOevent (CO_Data* d, void * variable);
etisserant@0: 
greg@201: /* copy bit per bit in little endian */
greg@201: void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
etisserant@0: #endif