CanFestival: include/pdo.h Source File

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 
nico@215: 00023 #ifndef __pdo_h__
nico@215: 00024 #define __pdo_h__
nico@215: 00025 
nico@215: 00026 #include <applicfg.h>
nico@215: 00027 #include <def.h>
nico@215: 00028 
etisserant@240: 00029 #include "can.h"
etisserant@240: 00030 
etisserant@240: 00031 typedef struct struct_s_PDO_status s_PDO_status;
etisserant@240: 00032 
etisserant@240: 00033 #include "data.h"
etisserant@240: 00034 
etisserant@240: 00035 /* Status of the TPDO : */
etisserant@240: 00036 #define PDO_INHIBITED 0x01
etisserant@240: 00037 #define PDO_RTR_SYNC_READY 0x01
etisserant@240: 00038 
etisserant@240: 00040 struct struct_s_PDO_status {
etisserant@240: 00041   UNS8 transmit_type_parameter;
etisserant@240: 00042   TIMER_HANDLE event_timer;
etisserant@240: 00043   TIMER_HANDLE inhibit_timer;
etisserant@240: 00044   Message last_message;
etisserant@240: 00045 };
etisserant@240: 00046 
etisserant@240: 00047 #define s_PDO_staus_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
etisserant@240: 00048 
etisserant@240: 00053 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
etisserant@240: 00054 #define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */
etisserant@240: 00055 #define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */
etisserant@240: 00056 #define TRANS_RTR_SYNC        252  /* Transmission on request */
etisserant@240: 00057 #define TRANS_RTR             253  /* Transmission on request */
etisserant@240: 00058 #define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */
etisserant@240: 00059 #define TRANS_EVENT_PROFILE   255  /* Transmission on event */
etisserant@240: 00060 
etisserant@240: 00069 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
etisserant@240: 00070 
etisserant@240: 00076 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
etisserant@240: 00077 
etisserant@240: 00082 UNS8 proceedPDO (CO_Data* d, Message *m);
etisserant@240: 00083 
etisserant@240: 00090 UNS8 sendPDOevent (CO_Data* d);
etisserant@240: 00091 
etisserant@240: 00095 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
nico@215: 00096 
etisserant@240: 00097 
etisserant@240: 00098 void PDOInit(CO_Data* d);
etisserant@240: 00099 void PDOStop(CO_Data* d);
etisserant@240: 00100 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
etisserant@240: 00101 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
etisserant@240: 00102 
etisserant@240: 00103 /* copy bit per bit in little endian */
etisserant@240: 00104 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
etisserant@240: 00105 #endif
etisserant@240: