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: #include "pdo.h"
etisserant@0: #include "objacces.h"
etisserant@0: 
etisserant@0: /****************************************************************************/
etisserant@0: UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
etisserant@0: {
etisserant@0:   UNS8 i;
etisserant@0:   if( d->nodeState == Operational ) {
etisserant@0:     Message m;
etisserant@0: 
etisserant@0:     /* Message copy for sending */
frdupin@71:     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
etisserant@0:     if ( req == NOT_A_REQUEST ) {
etisserant@0:       UNS8 i;
etisserant@0:       m.rtr = NOT_A_REQUEST;
etisserant@0:       m.len = pdo.len;
frdupin@71:       /* memcpy(&m.data, &pdo.data, m.len); */
frdupin@71:       /* This Memcpy depends on packing structure. Avoid */
etisserant@0:       for (i = 0 ; i < pdo.len ; i++)
etisserant@0: 	m.data[i] = pdo.data[i];
etisserant@0:     }
etisserant@0:     else {
etisserant@0:       m.rtr = REQUEST;
etisserant@0:       m.len = 0;
etisserant@0:     }
etisserant@0: 
etisserant@0:     MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
etisserant@0:     MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
etisserant@0:     for (i = 0 ; i < m.len ; i++) {
etisserant@0:       MSG_WAR(0x3903,"           data : ", m.data[i]);
etisserant@0:     }
etisserant@0: 		  
etisserant@0:     return (*d->canSend)(&m);
frdupin@71:   } /* end if */
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
frdupin@71: UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
etisserant@0: {
etisserant@0:   UNS8 res;
etisserant@0:   UNS8 i;
etisserant@0:   s_PDO pdo;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3905, "PDOmGR",0);
etisserant@0: 	
etisserant@0:   /* if PDO is waiting for transmission,
etisserant@0:      preparation of the message to send */
etisserant@0:     pdo.cobId = cobId;
etisserant@0:     pdo.len =  d->process_var.count;
frdupin@71:     /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
frdupin@71:     /* Ce memcpy devrait être portable */
etisserant@0:     for ( i = 0 ; i < pdo.len ; i++) 
etisserant@0:       pdo.data[i] = d->process_var.data[i];
etisserant@0: 
etisserant@0:     res = sendPDO(d, pdo, NOT_A_REQUEST);
etisserant@0: 
etisserant@0:     return res;
etisserant@0: }
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: UNS8 buildPDO(CO_Data* d, UNS16 index)
frdupin@71: { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */	
etisserant@0:   UNS16 ind;
etisserant@0:   UNS8      subInd;
etisserant@0: 
frdupin@71:   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
frdupin@71:   /* pointer to the var which is mapped to a pdo */
frdupin@71: /*  void *     pMappedAppObject = NULL;  */
frdupin@71:   /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
etisserant@0:   UNS32 *    pMappingParameter = NULL;  
etisserant@0: 
etisserant@0:   UNS8      Size;
etisserant@0:   UNS8      dataType;
etisserant@0:   UNS8      offset;
etisserant@0:   UNS16     offsetObjdict;
etisserant@0:   UNS16     offsetObjdictPrm;
etisserant@0:   UNS32     objDict;
etisserant@0: 
etisserant@0:   subInd=(UNS8)0x00;
etisserant@0:   offset = 0x00;
etisserant@0:   ind = index - 0x1800;
etisserant@0:   
etisserant@0:   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
etisserant@0: 
etisserant@0:   /* only operational state allows PDO transmission */
etisserant@0:   if( d->nodeState != Operational ) {
etisserant@0:     MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   offsetObjdictPrm = d->firstIndex->PDO_TRS;
etisserant@0:   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
etisserant@0:   
etisserant@0:   if (offsetObjdictPrm && offsetObjdict)
etisserant@0:   {
etisserant@0: 	  /* get mapped objects number to transmit with this PDO */
etisserant@0: 	  pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
etisserant@0: 	  MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
etisserant@0: 	  MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
frdupin@71: 	  while (subInd < *pMappingCount) { /* Loop on mapped variables */
etisserant@0: 	    /* get mapping parameters */
etisserant@0: 	    pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
etisserant@0: 	    MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
etisserant@0: 	    MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
etisserant@0: 	    MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
frdupin@71: 	    /* Get the mapped variable */
etisserant@0: 	     Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
etisserant@0: 	     objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
etisserant@0: 				    (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
etisserant@0: 				    (void *)&d->process_var.data[offset], &Size, &dataType, 0 ); 
etisserant@0: 
etisserant@0: 	     if (objDict != OD_SUCCESSFUL) {
etisserant@0: 	        MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
etisserant@0: 		MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
frdupin@90: 		MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
etisserant@0: 		return 0xFF;
etisserant@0: 	     } 
etisserant@0: 
etisserant@0: 	      offset += Size;
etisserant@0: 	      d->process_var.count = offset;
etisserant@0: 	      subInd++;					
frdupin@71: 	}/* end Loop on mapped variables  */
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
etisserant@0: {		
etisserant@0:   UNS32 *	 pwCobId;	
etisserant@0:   UNS16          offset;
etisserant@0:   UNS16          lastIndex;
etisserant@0:   UNS8           err;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3930, "sendPDOrequest ",0);  
frdupin@71:   /* Sending the request only if the cobid have been found on the PDO receive */
frdupin@71:   /* part dictionary */
etisserant@0:   offset = d->firstIndex->PDO_RCV;
etisserant@0:   lastIndex = d->lastIndex->PDO_RCV;
etisserant@0:   if (offset)
etisserant@0: 	  while (offset <= lastIndex) {
etisserant@0: 	    /*get the CobId*/
etisserant@0: 	    pwCobId = d->objdict[offset].pSubindex[1].pObject;
etisserant@0: 	      
etisserant@0: 	    if ( *pwCobId  == cobId ) {
etisserant@0: 	      s_PDO pdo;
etisserant@0: 	      pdo.cobId = *pwCobId;
etisserant@0: 	      pdo.len = 0;
etisserant@0: 	      err  = sendPDO(d, pdo, REQUEST);	
etisserant@0: 	      return err;
etisserant@0: 	    }
etisserant@0: 	    offset++;
etisserant@0: 	  }
etisserant@0:   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: /***********************************************************************/
etisserant@0: UNS8 proceedPDO(CO_Data* d, Message *m)
etisserant@0: {		
etisserant@0:   UNS8   numPdo;
frdupin@71:   UNS8   numMap;  /* Number of the mapped varable */                      
etisserant@0:   UNS8 i;
frdupin@71:   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
frdupin@71:   /* pointer to the var which is mapped to a pdo... */
frdupin@71: /*  void *     pMappedAppObject = NULL;   */
frdupin@71:   /* pointer fo the var which holds the mapping parameter of an mapping entry */
etisserant@0:   UNS32 *    pMappingParameter = NULL;  
frdupin@71:   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
etisserant@0:   UNS32 *    pwCobId = NULL;
etisserant@0:   UNS8       Size;
etisserant@0:   UNS8       dataType;
etisserant@0:   UNS8       offset;
etisserant@0:   UNS8       status;
etisserant@0:   UNS32      objDict;
etisserant@0:   UNS16      offsetObjdict;
etisserant@0:   UNS16      lastIndex;
etisserant@0:   status = state1;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
etisserant@0:   offset = 0x00;
etisserant@0:   numPdo = 0;
etisserant@0:   numMap = 0;
frdupin@71:   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
etisserant@0:     offsetObjdict = d->firstIndex->PDO_RCV;
etisserant@0:     lastIndex = d->lastIndex->PDO_RCV;
etisserant@0: 
etisserant@0:     /* study of all the PDO stored in the dictionary */   
etisserant@0:     if(offsetObjdict)
etisserant@0: 	    while (offsetObjdict <= lastIndex) {
etisserant@0: 					
etisserant@0: 	      switch( status ) {
etisserant@0: 						
etisserant@0: 	        case state1:	/* data are stored in process_var array */
frdupin@71: 		  /* memcpy(&(process_var.data), &m->data, (*m).len); */
frdupin@71: 		  /* Ce memcpy devrait être portable. */
etisserant@0: 		  for ( i = 0 ; i < m->len ; i++) 
etisserant@0: 		    d->process_var.data[i] = m->data[i];
etisserant@0: 		  d->process_var.count = (*m).len;
etisserant@0: 	
etisserant@0: 		  status = state2; 
etisserant@0: 		  break;
etisserant@0: 	
etisserant@0: 		case state2:
etisserant@0: 		  /* get CobId of the dictionary correspondant to the received PDO */
etisserant@0: 	          pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
etisserant@0: 		  /* check the CobId coherance */
frdupin@71: 		  /*pwCobId is the cobId read in the dictionary at the state 3 */
etisserant@0: 		  if ( *pwCobId == (*m).cob_id.w ){
frdupin@71: 		    /* The cobId is recognized */
etisserant@0: 		    status = state4;
etisserant@0: 		    MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
etisserant@0: 		    break;
etisserant@0: 		  }
etisserant@0: 		  else {
frdupin@71: 		    /* cobId received does not match with those write in the dictionnary */
etisserant@0: 		    numPdo++;
etisserant@0: 		    offsetObjdict++;
etisserant@0: 		    status = state2;
etisserant@0: 		    break;
etisserant@0: 		  }
etisserant@0: 	
etisserant@0: 		case state4:	/* get mapped objects number */
frdupin@71: 		  /* The cobId of the message received has been found in the dictionnary. */
etisserant@0: 		  offsetObjdict = d->firstIndex->PDO_RCV_MAP;
etisserant@0: 		  lastIndex = d->lastIndex->PDO_RCV_MAP;
etisserant@0: 		  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;	  
etisserant@0: 		  numMap = 0;
etisserant@0: 		  while (numMap < *pMappingCount) {
etisserant@0: 		    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
etisserant@0: 		    if (pMappingParameter == NULL) {
etisserant@0: 		      MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
etisserant@0: 		      return 0xFF;
etisserant@0: 		    }
frdupin@71: 		    /* Get the addresse of the mapped variable. */
frdupin@71: 		    /* detail of *pMappingParameter : */
frdupin@71: 	            /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
frdupin@71: 		    /* and the lower 8 bits contains the size of the mapped variable. */
etisserant@0: 
etisserant@0: 		    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
etisserant@0: 
etisserant@0: 		    objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
etisserant@0: 				            (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
etisserant@0: 					    (void *)&d->process_var.data[offset], &Size, 0 );
etisserant@0: 
etisserant@0: 		    if(objDict != OD_SUCCESSFUL) {
etisserant@0: 		      MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
etisserant@0: 		      MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
etisserant@0: 		      MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
etisserant@0: 		      return 0xFF;
etisserant@0: 		    }
etisserant@0: 
etisserant@0: 		    MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
etisserant@0: 		    MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
etisserant@0: 		    MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
frdupin@71: 		    /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
etisserant@0: 		    offset += Size;
etisserant@0: 		    numMap++;
frdupin@71: 		  } /* end loop while on mapped variables */
etisserant@0: 		  
etisserant@0: 		  offset=0x00;		
etisserant@0: 		  numMap = 0;
etisserant@0: 		  return 0;
etisserant@0: 		  
frdupin@71: 	      }/* end switch status	*/	 
frdupin@71: 	    }/* end while	*/
frdupin@71:   }/* end if Donnees */
etisserant@0: 
etisserant@0: 
etisserant@0:   else if ((*m).rtr == REQUEST ){  
etisserant@0:       MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
etisserant@0:       status = state1;
etisserant@0:       offsetObjdict = d->firstIndex->PDO_TRS;
etisserant@0:       lastIndex = d->lastIndex->PDO_TRS;
etisserant@0:       if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
etisserant@0: 	/* study of all PDO stored in the objects dictionary */
etisserant@0: 
etisserant@0: 	switch( status ){
etisserant@0: 
etisserant@0: 	case state1:	/* check the CobId */
etisserant@0: 			/* get CobId of the dictionary which match to the received PDO */
etisserant@0: 	  pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;	  
etisserant@0: 	  if ( *pwCobId == (*m).cob_id.w ) {
etisserant@0: 	    status = state4;
etisserant@0: 	    break;
etisserant@0: 	  }
etisserant@0: 	  else {
etisserant@0: 	    numPdo++;
etisserant@0: 	    offsetObjdict++;
etisserant@0: 	  }
etisserant@0: 	  status = state1;
etisserant@0: 	  break;
etisserant@0: 
etisserant@0: 
etisserant@0: 	case state4:	/* check transmission type (after request?) */
etisserant@0: 	  pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
etisserant@0: 	  if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
etisserant@0: 	    status = state5;
etisserant@0: 	    break;
etisserant@0: 	  }
etisserant@0: 	  else {
frdupin@71: 	    /* The requested PDO is not to send on request. So, does nothing. */
etisserant@0: 	    MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
etisserant@0: 	    return 0xFF;
etisserant@0: 	  }
etisserant@0: 
etisserant@0: 	case state5:	/* get mapped objects number */
etisserant@0: 	  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
etisserant@0: 	  lastIndex = d->lastIndex->PDO_TRS_MAP;
etisserant@0: 	  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
etisserant@0: 	  numMap = 0;
etisserant@0: 	  while (numMap < *pMappingCount) {
etisserant@0: 	    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
frdupin@71: 	    /* Get the mapped variable */
etisserant@0: 	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
etisserant@0: 	    objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
etisserant@0: 				     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
etisserant@0: 				     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
etisserant@0: 	    if (objDict != OD_SUCCESSFUL) {
etisserant@0: 	      MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
etisserant@0: 	      MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
etisserant@0: 	      MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
etisserant@0: 	      return 0xFF;
etisserant@0: 	    }
etisserant@0: 	    offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
etisserant@0: 	    d->process_var.count = offset;
etisserant@0: 	    numMap++;
etisserant@0: 
frdupin@71: 	  } /* end while */
frdupin@71: 	  PDOmGR( d, *pwCobId ); /* Transmit the PDO */
etisserant@0: 	  return 0;
etisserant@0: 
frdupin@71: 	}/* end switch status */
frdupin@71:       }/* end while	 */			
frdupin@71:     }/* end if Requete */
etisserant@0: 		
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: 
frdupin@71: #if 0
frdupin@71: 
etisserant@0: /*********************************************************************/
etisserant@0: /* TODO : reimplement this using CallBacks                           */
etisserant@0: /*********************************************************************/
frdupin@71: 
etisserant@0: UNS8 sendPDOevent( CO_Data* d, void * variable )
frdupin@71: { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.	*/
etisserant@0:   UNS32           objDict = 0;
etisserant@0:   UNS8            ind, sub_ind;
etisserant@0:   UNS8            status; 
etisserant@0:   UNS8            offset;
etisserant@0:   UNS8 *     pMappingCount = NULL;
etisserant@0:   UNS32 *    pMappingParameter = NULL;
etisserant@0:   void *     pMappedAppObject = NULL;
frdupin@71:   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
etisserant@0:   UNS32 *    pwCobId = NULL;
etisserant@0:   UNS8 *     pSize;
etisserant@0:   UNS8       size;
etisserant@0:   UNS8       dataType;
etisserant@0:   UNS16      offsetObjdict;
etisserant@0:   UNS16      offsetObjdictPrm;
etisserant@0:   UNS16      lastIndex;
etisserant@0:   UNS8       numMap;
etisserant@0:   ind     = 0x00;
etisserant@0:   sub_ind = 1; 
etisserant@0:   offset  = 0x00;
etisserant@0:   pSize   = &size;
etisserant@0:   status  = state1;
etisserant@0: 
frdupin@71:   /* look for the index and subindex where the variable is mapped */
frdupin@71:   /* Then, send the pdo which contains the variable. */
etisserant@0: 
etisserant@0:   MSG_WAR (0x3960, "sendPDOevent", 0);
etisserant@0:   offsetObjdictPrm = d->firstIndex->PDO_TRS;
etisserant@0:   
etisserant@0:   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
etisserant@0:   lastIndex = d->lastIndex->PDO_TRS_MAP;
etisserant@0: 
etisserant@0:   if (offsetObjdictPrm && offsetObjdict) 
frdupin@71: 	  /* Loop on PDO Transmit */
etisserant@0: 	  while(offsetObjdict <= lastIndex){
frdupin@71: 	    /* Check the transmission mode */
etisserant@0: 	    pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
etisserant@0: 	    if (*pTransmissionType != TRANS_EVENT) {
etisserant@0: 	      ind++;
etisserant@0: 	      offsetObjdict++;  
etisserant@0: 	      offsetObjdictPrm++;
etisserant@0: 	      continue;
etisserant@0: 	    }
etisserant@0: 	    pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
frdupin@71: 	    numMap = 1; /* mapped variable */
etisserant@0: 	    while (numMap <= *pMappingCount) {
etisserant@0: 	      pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
frdupin@71: 	      /* Get the variable */
etisserant@0: 	      objDict = getODentry( d,
etisserant@0: 	                            (UNS16)((*pMappingParameter) >> 16), 
etisserant@0: 				    (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
etisserant@0: 				    (void * *)&pMappedAppObject, pSize, &dataType, 0 );
etisserant@0: 	      if( objDict != OD_SUCCESSFUL ) {  
etisserant@0: 		MSG_WAR(0x2961, "Error in dict. at index : ", 
etisserant@0: 			(*pMappingParameter) >> (UNS8)16);
etisserant@0: 	      
etisserant@0: 		MSG_WAR(0x2962, "               subindex : ", 
etisserant@0: 			((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
etisserant@0: 		return 0xFF;
etisserant@0: 	      }
etisserant@0: 	      if (pMappedAppObject == variable) { // Variable found !
etisserant@0: 		MSG_WAR(0x3963, "Variable to send found at index : ", 
etisserant@0: 			(*pMappingParameter) >> 16);
etisserant@0: 		MSG_WAR(0x3964, "                       subIndex : ", 
etisserant@0: 			((*pMappingParameter) >> 8 ) & 0x000000FF);
etisserant@0: 		buildPDO(d, 0x1800 + ind);
frdupin@71: 		/* Get the cobId */
etisserant@0: 		pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
frdupin@71: 		PDOmGR( d, *pwCobId ); /* Send the PDO */
etisserant@0: 		return 0;	    
etisserant@0: 	      }
etisserant@0: 	      numMap++;
frdupin@71: 	    } /* End loop on mapped variable */
etisserant@0: 	    ind++;	
etisserant@0: 	    offsetObjdict++;  
etisserant@0: 	    offsetObjdictPrm++;
frdupin@71: 	  } /* End loop while on PDO */
etisserant@0: 
etisserant@0:   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
etisserant@0:   return 0xFF;
etisserant@0: 
etisserant@0: }
frdupin@71: #endif