etisserant@0: /*
nico@208:   This file is part of CanFestival, a library implementing CanOpen
nico@208:   Stack.
nico@208: 
nico@208:   Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@208: 
nico@208:   See COPYING file for copyrights details.
nico@208: 
nico@208:   This library is free software; you can redistribute it and/or
nico@208:   modify it under the terms of the GNU Lesser General Public
nico@208:   License as published by the Free Software Foundation; either
nico@208:   version 2.1 of the License, or (at your option) any later version.
nico@208: 
nico@208:   This library is distributed in the hope that it will be useful,
nico@208:   but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@208:   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@208:   Lesser General Public License for more details.
nico@208: 
nico@208:   You should have received a copy of the GNU Lesser General Public
nico@208:   License along with this library; if not, write to the Free Software
nico@208:   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
nico@208:   USA
etisserant@0: */
etisserant@0: #include "pdo.h"
etisserant@0: #include "objacces.h"
etisserant@149: #include "canfestival.h"
etisserant@0: 
nico@208: /*!
nico@208: ** @file   pdo.c
nico@208: ** @author Edouard TISSERANT and Francis DUPIN
nico@208: ** @date   Tue Jun  5 09:32:32 2007
nico@208: **
nico@208: ** @brief
nico@208: **
nico@208: **
nico@208: */
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: 
nico@215:     /* Message copy for sending */
nico@215:     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes
nico@208:                                       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;
nico@215:       /* memcpy(&m.data, &pdo.data, m.len); */
nico@215:       /* This Memcpy depends on packing structure. Avoid */
etisserant@0:       for (i = 0 ; i < pdo.len ; i++)
nico@208:         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:     }
nico@208: 
etisserant@149:     return canSend(d->canHandle,&m);
nico@215:   } /* end if */
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
nico@208: /*!
nico@208: ** PDO Manager
nico@208: **
nico@208: ** @param d
nico@208: ** @param cobId
nico@208: **
nico@208: ** @return
nico@208: **/
nico@208: UNS8 PDOmGR(CO_Data* d, UNS32 cobId)
etisserant@0: {
etisserant@0:   UNS8 res;
etisserant@0:   UNS8 i;
etisserant@0:   s_PDO pdo;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3905, "PDOmGR",0);
nico@208: 
nico@215:   /* if PDO is waiting for transmission,
nico@208:     preparation of the message to send */
nico@208:   pdo.cobId = cobId;
nico@208:   pdo.len =  d->process_var.count;
nico@215:   /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
nico@208:      /* Ce memcpy devrait tre 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: 
greg@201: #if 0
greg@201: /*********************************************************************/
greg@201: /* TODO : implement bit mapping                          			 */
greg@201: /*********************************************************************/
greg@201: 
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  */ 
nico@208:  
nico@208:   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;
nico@208: 
etisserant@0:   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
etisserant@0: 
nico@215:   /* 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;
nico@208: 
etisserant@0:   if (offsetObjdictPrm && offsetObjdict)
nico@208:     {
nico@215:       /* get mapped objects number to transmit with this PDO */
nico@208:       pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
nico@208:       MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
nico@208:       MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
nico@215:       while (subInd < *pMappingCount) { /* Loop on mapped variables */
nico@215:         /* get mapping parameters */
nico@208:         pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
nico@208:         MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
nico@208:         MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
nico@208:         MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
nico@215:         /* Get the mapped variable */
nico@208:         Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
nico@208:         objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
nico@208:                              (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
nico@208:                              (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
nico@208: 
nico@208:         if (objDict != OD_SUCCESSFUL) {
nico@208:           MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);
nico@208:           MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@208:           MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@208:           return 0xFF;
nico@208:         }
nico@208: 
nico@208:         offset += Size;
nico@208:         d->process_var.count = offset;
nico@208:         subInd++;
nico@215:       }/* end Loop on mapped variables  */
nico@208:     }
etisserant@0:   return 0;
etisserant@0: }
greg@201: #endif
nico@208: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param cobId
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
nico@208: {
nico@208:   UNS32 * pwCobId;
etisserant@0:   UNS16          offset;
etisserant@0:   UNS16          lastIndex;
etisserant@0:   UNS8           err;
etisserant@0: 
nico@208:   MSG_WAR(0x3930, "sendPDOrequest ",0);
nico@215:   /* Sending the request only if the cobid have been found on the PDO
nico@208:      receive */
nico@215:   /* part dictionary */
etisserant@0:   offset = d->firstIndex->PDO_RCV;
etisserant@0:   lastIndex = d->lastIndex->PDO_RCV;
etisserant@0:   if (offset)
nico@208:     while (offset <= lastIndex) {
nico@215:       /* get the CobId*/
etisserant@217:       pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
nico@208: 
nico@208:       if ( *pwCobId  == cobId ) {
nico@208:         s_PDO pdo;
nico@208:         pdo.cobId = *pwCobId;
nico@208:         pdo.len = 0;
nico@208:         err  = sendPDO(d, pdo, REQUEST);
nico@208:         return err;
nico@208:       }
nico@208:       offset++;
nico@208:     }
nico@208:   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param m
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 proceedPDO(CO_Data* d, Message *m)
nico@208: {
etisserant@0:   UNS8   numPdo;
nico@215:   UNS8   numMap;  /* Number of the mapped varable */
etisserant@0:   UNS8 i;
nico@215:   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
nico@215:   /* pointer to the var which is mapped to a pdo... */
nico@215:   /*  void *     pMappedAppObject = NULL;   */
nico@215:   /* pointer fo the var which holds the mapping parameter of an
nico@208:      mapping entry */
nico@208:   UNS32 *    pMappingParameter = NULL;
nico@215:   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission
nico@208:                                          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;
nico@208: 
nico@208:   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
etisserant@0:   offset = 0x00;
etisserant@0:   numPdo = 0;
etisserant@0:   numMap = 0;
nico@215:   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
nico@208:                                      request. */
etisserant@0:     offsetObjdict = d->firstIndex->PDO_RCV;
etisserant@0:     lastIndex = d->lastIndex->PDO_RCV;
nico@208: 
nico@215:     /* study of all the PDO stored in the dictionary */
etisserant@0:     if(offsetObjdict)
nico@208:       while (offsetObjdict <= lastIndex) {
nico@208: 
nico@208:         switch( status ) {
nico@208: 
nico@215:         case state1:/* data are stored in process_var array */
nico@215:           /* memcpy(&(process_var.data), &m->data, (*m).len); */
nico@215:           /* Ce memcpy devrait etre portable */
nico@208:           for ( i = 0 ; i < m->len ; i++)
nico@208:             d->process_var.data[i] = m->data[i];
nico@208:           d->process_var.count = (*m).len;
nico@208: 
nico@208:           status = state2;
nico@208:           break;
nico@208: 
nico@208:         case state2:
nico@215:           /* get CobId of the dictionary correspondant to the received
nico@208:              PDO */
etisserant@217:           pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
nico@215:           /* check the CobId coherance */
nico@215:           /*pwCobId is the cobId read in the dictionary at the state 3
nico@208:             */
nico@208:           if ( *pwCobId == (*m).cob_id.w ){
nico@215:             /* The cobId is recognized */
nico@208:             status = state4;
nico@208:             MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
nico@208:             break;
nico@208:           }
nico@208:           else {
nico@215:             /* cobId received does not match with those write in the
nico@208:               dictionnary */
nico@208:             numPdo++;
nico@208:             offsetObjdict++;
nico@208:             status = state2;
nico@208:             break;
nico@208:           }
nico@208: 
nico@215:             case state4:/* Get Mapped Objects Number */
nico@215:                /* The cobId of the message received has been found in the
nico@208:                  dictionnary. */
nico@208:                offsetObjdict = d->firstIndex->PDO_RCV_MAP;
nico@208:              lastIndex = d->lastIndex->PDO_RCV_MAP;
etisserant@217:              pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
nico@208:              numMap = 0;
nico@208:              while (numMap < *pMappingCount) {
nico@208:                UNS8 tmp[]= {0,0,0,0,0,0,0,0};
nico@208:                UNS8 ByteSize;
etisserant@217:                pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
nico@208:                if (pMappingParameter == NULL) {
nico@208:                  MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
nico@208:                  return 0xFF;
nico@208:                }
nico@215:                /* Get the addresse of the mapped variable. */
nico@215:                /* detail of *pMappingParameter : */
nico@215:                /* The 16 hight bits contains the index, the medium 8 bits
nico@208:                  contains the subindex, */
nico@215:                /* and the lower 8 bits contains the size of the mapped
nico@208:                  variable. */
nico@208: 
nico@208:                Size = (UNS8)(*pMappingParameter);
nico@208: 
nico@215:                /* copy bit per bit in little endian */
nico@208:                CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
nico@208: 
nico@208:                ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
nico@208:                                                    2, ... */
nico@208: 
nico@208:                objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
nico@208:                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
nico@208:                                  tmp, &ByteSize, 0 );
nico@208: 
nico@208:                if(objDict != OD_SUCCESSFUL) {
nico@208:                  MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
nico@208:                  MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@208:                  MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@208:                  return 0xFF;
nico@208:                }
nico@208: 
nico@208:                MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
nico@208:                MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@208:                MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@215:                /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */
nico@208:                offset += Size;
nico@208:                numMap++;
nico@215:              } /* end loop while on mapped variables */
nico@208: 
nico@208:              offset=0x00;
nico@208:              numMap = 0;
nico@208:              return 0;
nico@208: 
nico@215:         }/* end switch status*/
nico@215:       }/* end while*/
nico@215:   }/* end if Donnees */
nico@208:   else if ((*m).rtr == REQUEST ){
nico@208:     MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
nico@208:     status = state1;
nico@208:     offsetObjdict = d->firstIndex->PDO_TRS;
nico@208:     lastIndex = d->lastIndex->PDO_TRS;
nico@208:     if(offsetObjdict) while( offsetObjdict  <= lastIndex ){
nico@215:       /* study of all PDO stored in the objects dictionary */
nico@208: 
nico@208:       switch( status ){
nico@208: 
nico@215:       case state1:/* check the CobId */
nico@215:         /* get CobId of the dictionary which match to the received PDO
nico@208:          */
etisserant@217:         pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
nico@208:         if ( *pwCobId == (*m).cob_id.w ) {
nico@208:           status = state4;
nico@208:           break;
nico@208:         }
nico@208:         else {
nico@208:           numPdo++;
nico@208:           offsetObjdict++;
nico@208:         }
nico@208:         status = state1;
nico@208:         break;
nico@208: 
nico@208: 
nico@215:       case state4:/* check transmission type (after request?) */
etisserant@217:         pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
nico@208:         if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
nico@208:           status = state5;
nico@208:           break;
nico@208:         }
nico@208:         else {
nico@215:           /* The requested PDO is not to send on request. So, does
nico@208:             nothing. */
nico@208:           MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
nico@208:           return 0xFF;
nico@208:         }
nico@208: 
nico@215:       case state5:/* get mapped objects number */
nico@208:         offsetObjdict = d->firstIndex->PDO_TRS_MAP;
nico@208:         lastIndex = d->lastIndex->PDO_TRS_MAP;
etisserant@217:         pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
nico@208:         numMap = 0;
nico@208:         while (numMap < *pMappingCount) {
etisserant@217:           pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
nico@215:           /* Get the mapped variable */
nico@208:           Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
nico@208:           objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
nico@208:                                 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
nico@208:                                 (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
nico@208:           if (objDict != OD_SUCCESSFUL) {
nico@208:             MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
nico@208:             MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@208:             MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@208:             return 0xFF;
nico@208:           }
nico@208:           offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
nico@208:           d->process_var.count = offset;
nico@208:           numMap++;
nico@208: 
nico@215:         } /* end while */
nico@215:         PDOmGR( d, *pwCobId ); /* Transmit the PDO */
nico@208:         return 0;
nico@208: 
nico@215:       }/* end switch status */
nico@215:     }/* end while */
nico@215:   }/* end if Requete */
nico@208: 
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param NbBits
nico@208: ** @param SrcByteIndex
nico@208: ** @param SrcBitIndex
nico@208: ** @param SrcBigEndian
nico@208: ** @param DestByteIndex
nico@208: ** @param DestBitIndex
nico@208: ** @param DestBigEndian
nico@208: **/
greg@201: void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
greg@201: {
nico@215:   /* This loop copy as many bits that it can each time, crossing*/
nico@215:   /* successively bytes*/
nico@208:   // boundaries from LSB to MSB.
nico@208:   while(NbBits > 0)
nico@208:     {
nico@215:       /* Bit missalignement between src and dest*/
nico@208:       INTEGER8 Vect = DestBitIndex - SrcBitIndex;
nico@208: 
nico@215:       /* We can now get src and align it to dest*/
nico@208:       UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
nico@208: 
nico@215:       /* Compute the nb of bit we will be able to copy*/
nico@208:       UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
nico@208:       UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
nico@208: 
nico@215:       /* Create a mask that will serve in:*/
nico@208:       UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
nico@208: 
nico@215:       /* - Filtering src*/
nico@208:       UNS8 Filtered = Aligned & ~Mask;
nico@208: 
nico@215:       /* - and erase bits where we write, preserve where we don't*/
nico@208:       *DestByteIndex &= Mask;
nico@208: 
nico@215:       /* Then write.*/
nico@208:       *DestByteIndex |= Filtered ;
nico@208: 
nico@215:       /*Compute next time cursors for src*/
nico@215:       if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
nico@208:         {
nico@215:           SrcBitIndex = 0;/* First bit*/
nico@215:           SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
nico@215:         }
nico@215: 
nico@215: 
nico@215:       /*Compute next time cursors for dest*/
nico@208:       if((DestBitIndex += BitsToCopy)>7)
nico@208:         {
nico@215:           DestBitIndex = 0;/* First bit*/
nico@215:           DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
nico@215:         }
nico@215: 
nico@215:       /*And decrement counter.*/
nico@208:       NbBits -= BitsToCopy;
nico@208:     }
greg@201: 
greg@201: }
etisserant@0: 
frdupin@71: #if 0
frdupin@71: 
etisserant@0: /*********************************************************************/
nico@208: /* TODO : reimplement this using CallBacks
nico@208:  */
etisserant@0: /*********************************************************************/
frdupin@71: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param variable
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 sendPDOevent( CO_Data* d, void * variable )
nico@215: { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
nico@208:     loop if it fails.*/
etisserant@0:   UNS32           objDict = 0;
etisserant@0:   UNS8            ind, sub_ind;
nico@208:   UNS8            status;
etisserant@0:   UNS8            offset;
etisserant@0:   UNS8 *     pMappingCount = NULL;
etisserant@0:   UNS32 *    pMappingParameter = NULL;
etisserant@0:   void *     pMappedAppObject = NULL;
nico@215:   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission
nico@208:                                          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;
nico@208:   sub_ind = 1;
etisserant@0:   offset  = 0x00;
etisserant@0:   pSize   = &size;
etisserant@0:   status  = state1;
etisserant@0: 
nico@208: 
nico@215:   /* look for the index and subindex where the variable is mapped */
nico@215:   /* Then, send the pdo which contains the variable. */
etisserant@0: 
etisserant@0:   MSG_WAR (0x3960, "sendPDOevent", 0);
etisserant@0:   offsetObjdictPrm = d->firstIndex->PDO_TRS;
nico@208: 
etisserant@0:   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
etisserant@0:   lastIndex = d->lastIndex->PDO_TRS_MAP;
etisserant@0: 
nico@208:   if (offsetObjdictPrm && offsetObjdict)
nico@215:     /* Loop on PDO Transmit */
nico@208:     while(offsetObjdict <= lastIndex){
nico@215:       /* Check the transmission mode */
nico@208:       pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
nico@208:       if (*pTransmissionType != TRANS_EVENT) {
nico@208:         ind++;
nico@208:         offsetObjdict++;
nico@208:         offsetObjdictPrm++;
nico@208:         continue;
nico@208:       }
nico@208:       pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
nico@215:       numMap = 1; /* mapped variable */
nico@208:       while (numMap <= *pMappingCount) {
nico@208:         pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
nico@215:         /* Get the variable */
nico@208:         objDict = getODentry( d,
nico@208:                               (UNS16)((*pMappingParameter) >> 16),
nico@208:                               (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
nico@208:                               (void * *)&pMappedAppObject, pSize, &dataType, 0 );
nico@208:         if( objDict != OD_SUCCESSFUL ) {
nico@208:           MSG_WAR(0x2961, "Error in dict. at index : ",
nico@208:                   (*pMappingParameter) >> (UNS8)16);
nico@208: 
nico@208:           MSG_WAR(0x2962, "               subindex : ",
nico@208:                   ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
nico@208:           return 0xFF;
nico@208:         }
nico@208:         if (pMappedAppObject == variable) { // Variable found !
nico@208:           MSG_WAR(0x3963, "Variable to send found at index : ",
nico@208:                   (*pMappingParameter) >> 16);
nico@208:           MSG_WAR(0x3964, "                       subIndex : ",
nico@208:                   ((*pMappingParameter) >> 8 ) & 0x000000FF);
nico@208:           buildPDO(d, 0x1800 + ind);
nico@215:           /* Get the cobId */
nico@208:           pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
nico@215:           PDOmGR( d, *pwCobId ); /* Send the PDO */
nico@208:           return 0;
nico@208:         }
nico@208:         numMap++;
nico@215:       } /* End loop on mapped variable */
nico@208:       ind++;
nico@208:       offsetObjdict++;
nico@208:       offsetObjdictPrm++;
nico@215:     } /* 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
nico@208: 
nico@208: 
nico@208: