#include "pdo.h"#include "objacces.h"#include "canfestival.h"nico@210: Include dependency graph for pdo.c:
nico@207: Go to the source code of this file.
Functions | |
| UNS8 | sendPDO (CO_Data *d, s_PDO pdo, UNS8 req) |
| UNS8 | PDOmGR (CO_Data *d, UNS32 cobId) |
| UNS8 | sendPDOrequest (CO_Data *d, UNS32 cobId) |
| UNS8 | proceedPDO (CO_Data *d, Message *m) |
| void | CopyBits (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian) |
nico@210: Definition in file pdo.c.
| void CopyBits | nico@207:( | nico@207:UNS8 | nico@207:NbBits, | nico@207:|
| nico@207: | nico@207: | UNS8 * | nico@207:SrcByteIndex, | nico@207:|
| nico@207: | nico@207: | UNS8 | nico@207:SrcBitIndex, | nico@207:|
| nico@207: | nico@207: | UNS8 | nico@207:SrcBigEndian, | nico@207:|
| nico@207: | nico@207: | UNS8 * | nico@207:DestByteIndex, | nico@207:|
| nico@207: | nico@207: | UNS8 | nico@207:DestBitIndex, | nico@207:|
| nico@207: | nico@207: | UNS8 | nico@207:DestBigEndian | nico@207: |
| nico@207: | ) | nico@207:nico@207: |
nico@210:
| NbBits | ||
| SrcByteIndex | ||
| SrcBitIndex | ||
| SrcBigEndian | ||
| DestByteIndex | ||
| DestBitIndex | ||
| DestBigEndian |
nico@210: This loop copy as many bits that it can each time, crossing
nico@210: successively bytes
nico@210: Bit missalignement between src and dest
nico@210: We can now get src and align it to dest
nico@210: Compute the nb of bit we will be able to copy
nico@210: Create a mask that will serve in:
nico@210:
nico@210:
nico@210: Then write.
nico@210: Compute next time cursors for src
nico@210: cross boundary ?
nico@210: First bit
nico@210: Next byte
nico@210: Compute next time cursors for dest
nico@210: First bit
nico@210: Next byte
nico@210: And decrement counter. nico@210:
nico@210: Definition at line 430 of file pdo.c. nico@210:
nico@210: Referenced by proceedPDO(), and proceedSYNC(). nico@207:
| UNS8 PDOmGR | nico@207:( | nico@207:CO_Data * | nico@207:d, | nico@207:|
| nico@207: | nico@207: | UNS32 | nico@207:cobId | nico@207: |
| nico@207: | ) | nico@207:nico@207: |
nico@210: PDO Manager
nico@210:
| d | ||
| cobId |
nico@210: if PDO is waiting for transmission, preparation of the message to send
nico@210: memcpy(&(pdo.data), &(process_var.data), pdo.len); nico@210:
nico@210: Definition at line 79 of file pdo.c. nico@210:
nico@210: References sendPDO(). nico@210:
nico@210: Referenced by proceedPDO(), and proceedSYNC(). nico@210:
nico@210: Here is the call graph for this function:
| UNS8 proceedPDO | nico@207:( | nico@207:CO_Data * | nico@207:d, | nico@207:|
| nico@207: | nico@207: | Message * | nico@207:m | nico@207: |
| nico@207: | ) | nico@207:nico@207: |
nico@210:
| d | ||
| m |
nico@210: Number of the mapped varable
nico@210: count of mapped objects...
nico@210: pointer to the var which is mapped to a pdo...
nico@210: void * pMappedAppObject = NULL;
nico@210: pointer fo the var which holds the mapping parameter of an mapping entry
nico@210: pointer to the transmission type
nico@210: The PDO received is not a request.
nico@210: study of all the PDO stored in the dictionary
nico@210: data are stored in process_var array
nico@210: memcpy(&(process_var.data), &m->data, (*m).len);
nico@210: Ce memcpy devrait etre portable
nico@210: get CobId of the dictionary correspondant to the received PDO
nico@210: check the CobId coherance
nico@210: pwCobId is the cobId read in the dictionary at the state 3
nico@210: The cobId is recognized
nico@210: cobId received does not match with those write in the dictionnary
nico@210: Get Mapped Objects Number
nico@210: The cobId of the message received has been found in the dictionnary.
nico@210: Get the addresse of the mapped variable.
nico@210: detail of *pMappingParameter :
nico@210: The 16 hight bits contains the index, the medium 8 bits contains the subindex,
nico@210: and the lower 8 bits contains the size of the mapped variable.
nico@210: copy bit per bit in little endian
nico@210: MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject));
nico@210: end loop while on mapped variables
nico@210: end switch status
nico@210: end while
nico@210: end if Donnees
nico@210: study of all PDO stored in the objects dictionary
nico@210: check the CobId
nico@210: get CobId of the dictionary which match to the received PDO
nico@210: check transmission type (after request?)
nico@210: The requested PDO is not to send on request. So, does nothing.
nico@210: get mapped objects number
nico@210: Get the mapped variable
nico@210: end while
nico@210: Transmit the PDO
nico@210: end switch status
nico@210: end while
nico@210: end if Requete nico@210:
nico@210: Definition at line 221 of file pdo.c. nico@210:
nico@210: References CopyBits(), getODentry(), PDOmGR(), and setODentry(). nico@210:
nico@210: Referenced by canDispatch(). nico@210:
nico@210: Here is the call graph for this function:
| UNS8 sendPDO | nico@207:( | nico@207:CO_Data * | nico@207:d, | nico@207:|
| nico@207: | nico@207: | s_PDO | nico@207:pdo, | nico@207:|
| nico@207: | nico@207: | UNS8 | nico@207:req | nico@207: |
| nico@207: | ) | nico@207:nico@207: |
nico@207: nico@207:
nico@210: Definition at line 37 of file pdo.c. nico@210:
nico@210: Referenced by PDOmGR(), and sendPDOrequest(). nico@207:
| UNS8 sendPDOrequest | nico@207:( | nico@207:CO_Data * | nico@207:d, | nico@207:|
| nico@207: | nico@207: | UNS32 | nico@207:cobId | nico@207: |
| nico@207: | ) | nico@207:nico@207: |
nico@210:
| d | ||
| cobId |
nico@210: Sending the request only if the cobid have been found on the PDO receive
nico@210: part dictionary
nico@210: get the CobId nico@210:
nico@210: Definition at line 181 of file pdo.c. nico@210:
nico@210: References sendPDO(). nico@210:
nico@210: Here is the call graph for this function:
nico@210:
1.5.1
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