CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/pdo.c Source File

00001 /*
nico@207: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@207: 00003 
nico@207: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 00005 
nico@207: 00006 See COPYING file for copyrights details.
nico@207: 00007 
nico@207: 00008 This library is free software; you can redistribute it and/or
nico@207: 00009 modify it under the terms of the GNU Lesser General Public
nico@207: 00010 License as published by the Free Software Foundation; either
nico@207: 00011 version 2.1 of the License, or (at your option) any later version.
nico@207: 00012 
nico@207: 00013 This library is distributed in the hope that it will be useful,
nico@207: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207: 00016 Lesser General Public License for more details.
nico@207: 00017 
nico@207: 00018 You should have received a copy of the GNU Lesser General Public
nico@207: 00019 License along with this library; if not, write to the Free Software
nico@207: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@207: 00021 */
nico@207: 00022 #include "pdo.h"
nico@207: 00023 #include "objacces.h"
nico@207: 00024 #include "canfestival.h"
nico@207: 00025 
nico@207: 00026 /****************************************************************************/
nico@207: 00027 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
nico@207: 00028 {
nico@207: 00029   UNS8 i;
nico@207: 00030   if( d->nodeState == Operational ) {
nico@207: 00031     Message m;
nico@207: 00032 
nico@207: 00033     /* Message copy for sending */
nico@207: 00034     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
nico@207: 00035     if ( req == NOT_A_REQUEST ) {
nico@207: 00036       UNS8 i;
nico@207: 00037       m.rtr = NOT_A_REQUEST;
nico@207: 00038       m.len = pdo.len;
nico@207: 00039       /* memcpy(&m.data, &pdo.data, m.len); */
nico@207: 00040       /* This Memcpy depends on packing structure. Avoid */
nico@207: 00041       for (i = 0 ; i < pdo.len ; i++)
nico@207: 00042         m.data[i] = pdo.data[i];
nico@207: 00043     }
nico@207: 00044     else {
nico@207: 00045       m.rtr = REQUEST;
nico@207: 00046       m.len = 0;
nico@207: 00047     }
nico@207: 00048 
nico@207: 00049     MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
nico@207: 00050     MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
nico@207: 00051     for (i = 0 ; i < m.len ; i++) {
nico@207: 00052       MSG_WAR(0x3903,"           data : ", m.data[i]);
nico@207: 00053     }
nico@207: 00054                   
nico@207: 00055     return canSend(d->canHandle,&m);
nico@207: 00056   } /* end if */
nico@207: 00057   return 0xFF;
nico@207: 00058 }
nico@207: 00059 
nico@207: 00060 /***************************************************************************/
nico@207: 00061 UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
nico@207: 00062 {
nico@207: 00063   UNS8 res;
nico@207: 00064   UNS8 i;
nico@207: 00065   s_PDO pdo;
nico@207: 00066 
nico@207: 00067   MSG_WAR(0x3905, "PDOmGR",0);
nico@207: 00068         
nico@207: 00069   /* if PDO is waiting for transmission,
nico@207: 00070      preparation of the message to send */
nico@207: 00071     pdo.cobId = cobId;
nico@207: 00072     pdo.len =  d->process_var.count;
nico@207: 00073     /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
nico@207: 00074     /* Ce memcpy devrait être portable */
nico@207: 00075     for ( i = 0 ; i < pdo.len ; i++) 
nico@207: 00076       pdo.data[i] = d->process_var.data[i];
nico@207: 00077 
nico@207: 00078     res = sendPDO(d, pdo, NOT_A_REQUEST);
nico@207: 00079 
nico@207: 00080     return res;
nico@207: 00081 }
nico@207: 00082 
nico@207: 00083 #if 0
nico@207: 00084 /*********************************************************************/
nico@207: 00085 /* TODO : implement bit mapping                                                  */
nico@207: 00086 /*********************************************************************/
nico@207: 00087 
nico@207: 00088 UNS8 buildPDO(CO_Data* d, UNS16 index)
nico@207: 00089 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */       
nico@207: 00090   UNS16 ind;
nico@207: 00091   UNS8      subInd;
nico@207: 00092 
nico@207: 00093   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
nico@207: 00094   /* pointer to the var which is mapped to a pdo */
nico@207: 00095 /*  void *     pMappedAppObject = NULL;  */
nico@207: 00096   /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
nico@207: 00097   UNS32 *    pMappingParameter = NULL;  
nico@207: 00098 
nico@207: 00099   UNS8      Size;
nico@207: 00100   UNS8      dataType;
nico@207: 00101   UNS8      offset;
nico@207: 00102   UNS16     offsetObjdict;
nico@207: 00103   UNS16     offsetObjdictPrm;
nico@207: 00104   UNS32     objDict;
nico@207: 00105 
nico@207: 00106   subInd=(UNS8)0x00;
nico@207: 00107   offset = 0x00;
nico@207: 00108   ind = index - 0x1800;
nico@207: 00109   
nico@207: 00110   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
nico@207: 00111 
nico@207: 00112   /* only operational state allows PDO transmission */
nico@207: 00113   if( d->nodeState != Operational ) {
nico@207: 00114     MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
nico@207: 00115     return 0xFF;
nico@207: 00116   }
nico@207: 00117   offsetObjdictPrm = d->firstIndex->PDO_TRS;
nico@207: 00118   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
nico@207: 00119   
nico@207: 00120   if (offsetObjdictPrm && offsetObjdict)
nico@207: 00121   {
nico@207: 00122           /* get mapped objects number to transmit with this PDO */
nico@207: 00123           pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
nico@207: 00124           MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
nico@207: 00125           MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
nico@207: 00126           while (subInd < *pMappingCount) { /* Loop on mapped variables */
nico@207: 00127             /* get mapping parameters */
nico@207: 00128             pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
nico@207: 00129             MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
nico@207: 00130             MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
nico@207: 00131             MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
nico@207: 00132             /* Get the mapped variable */
nico@207: 00133             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
nico@207: 00134                 objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
nico@207: 00135                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
nico@207: 00136                                     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );  
nico@207: 00137 
nico@207: 00138              if (objDict != OD_SUCCESSFUL) {
nico@207: 00139                 MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
nico@207: 00140                 MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@207: 00141                 MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@207: 00142                 return 0xFF;
nico@207: 00143              } 
nico@207: 00144 
nico@207: 00145               offset += Size;
nico@207: 00146               d->process_var.count = offset;
nico@207: 00147               subInd++;                                 
nico@207: 00148         }/* end Loop on mapped variables  */
nico@207: 00149   }
nico@207: 00150   return 0;
nico@207: 00151 }
nico@207: 00152 #endif
nico@207: 00153 /**************************************************************************/
nico@207: 00154 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
nico@207: 00155 {               
nico@207: 00156   UNS32 *        pwCobId;       
nico@207: 00157   UNS16          offset;
nico@207: 00158   UNS16          lastIndex;
nico@207: 00159   UNS8           err;
nico@207: 00160 
nico@207: 00161   MSG_WAR(0x3930, "sendPDOrequest ",0);  
nico@207: 00162   /* Sending the request only if the cobid have been found on the PDO receive */
nico@207: 00163   /* part dictionary */
nico@207: 00164   offset = d->firstIndex->PDO_RCV;
nico@207: 00165   lastIndex = d->lastIndex->PDO_RCV;
nico@207: 00166   if (offset)
nico@207: 00167           while (offset <= lastIndex) {
nico@207: 00168             /*get the CobId*/
nico@207: 00169             pwCobId = d->objdict[offset].pSubindex[1].pObject;
nico@207: 00170               
nico@207: 00171             if ( *pwCobId  == cobId ) {
nico@207: 00172               s_PDO pdo;
nico@207: 00173               pdo.cobId = *pwCobId;
nico@207: 00174               pdo.len = 0;
nico@207: 00175               err  = sendPDO(d, pdo, REQUEST);  
nico@207: 00176               return err;
nico@207: 00177             }
nico@207: 00178             offset++;
nico@207: 00179           }
nico@207: 00180   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
nico@207: 00181   return 0xFF;
nico@207: 00182 }
nico@207: 00183 
nico@207: 00184 
nico@207: 00185 
nico@207: 00186 /***********************************************************************/
nico@207: 00187 UNS8 proceedPDO(CO_Data* d, Message *m)
nico@207: 00188 {               
nico@207: 00189   UNS8   numPdo;
nico@207: 00190   UNS8   numMap;  /* Number of the mapped varable */                      
nico@207: 00191   UNS8 i;
nico@207: 00192   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
nico@207: 00193   /* pointer to the var which is mapped to a pdo... */
nico@207: 00194 /*  void *     pMappedAppObject = NULL;   */
nico@207: 00195   /* pointer fo the var which holds the mapping parameter of an mapping entry */
nico@207: 00196   UNS32 *    pMappingParameter = NULL;  
nico@207: 00197   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
nico@207: 00198   UNS32 *    pwCobId = NULL;
nico@207: 00199   UNS8       Size;
nico@207: 00200   UNS8       dataType;
nico@207: 00201   UNS8       offset;
nico@207: 00202   UNS8       status;
nico@207: 00203   UNS32      objDict;
nico@207: 00204   UNS16      offsetObjdict;
nico@207: 00205   UNS16      lastIndex;
nico@207: 00206   status = state1;
nico@207: 00207  
nico@207: 00208   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
nico@207: 00209   offset = 0x00;
nico@207: 00210   numPdo = 0;
nico@207: 00211   numMap = 0;
nico@207: 00212   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
nico@207: 00213     offsetObjdict = d->firstIndex->PDO_RCV;
nico@207: 00214     lastIndex = d->lastIndex->PDO_RCV;
nico@207: 00215     
nico@207: 00216     /* study of all the PDO stored in the dictionary */   
nico@207: 00217     if(offsetObjdict)
nico@207: 00218             while (offsetObjdict <= lastIndex) {
nico@207: 00219                         
nico@207: 00220               switch( status ) {
nico@207: 00221                                                 
nico@207: 00222                 case state1:    /* data are stored in process_var array */
nico@207: 00223                   /* memcpy(&(process_var.data), &m->data, (*m).len); */
nico@207: 00224                   /* Ce memcpy devrait être portable. */
nico@207: 00225                   for ( i = 0 ; i < m->len ; i++) 
nico@207: 00226                     d->process_var.data[i] = m->data[i];
nico@207: 00227                   d->process_var.count = (*m).len;
nico@207: 00228         
nico@207: 00229                   status = state2; 
nico@207: 00230                   break;
nico@207: 00231         
nico@207: 00232                 case state2:
nico@207: 00233                   /* get CobId of the dictionary correspondant to the received PDO */
nico@207: 00234                   pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; 
nico@207: 00235                   /* check the CobId coherance */
nico@207: 00236                   /*pwCobId is the cobId read in the dictionary at the state 3 */
nico@207: 00237                   if ( *pwCobId == (*m).cob_id.w ){
nico@207: 00238                     /* The cobId is recognized */
nico@207: 00239                     status = state4;
nico@207: 00240                     MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
nico@207: 00241                     break;
nico@207: 00242                   }
nico@207: 00243                   else {
nico@207: 00244                     /* cobId received does not match with those write in the dictionnary */
nico@207: 00245                     numPdo++;
nico@207: 00246                     offsetObjdict++;
nico@207: 00247                     status = state2;
nico@207: 00248                     break;
nico@207: 00249                   }
nico@207: 00250         
nico@207: 00251                 case state4:    /* get mapped objects number */
nico@207: 00252                   /* The cobId of the message received has been found in the dictionnary. */
nico@207: 00253                   offsetObjdict = d->firstIndex->PDO_RCV_MAP;
nico@207: 00254                   lastIndex = d->lastIndex->PDO_RCV_MAP;
nico@207: 00255                   pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;    
nico@207: 00256                   numMap = 0;
nico@207: 00257                   while (numMap < *pMappingCount) {
nico@207: 00258                         UNS8 tmp[]= {0,0,0,0,0,0,0,0};
nico@207: 00259                         UNS8 ByteSize;
nico@207: 00260                     pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
nico@207: 00261                     if (pMappingParameter == NULL) {
nico@207: 00262                       MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
nico@207: 00263                       return 0xFF;
nico@207: 00264                     }
nico@207: 00265                         /* Get the addresse of the mapped variable. */
nico@207: 00266                     /* detail of *pMappingParameter : */
nico@207: 00267                     /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
nico@207: 00268                     /* and the lower 8 bits contains the size of the mapped variable. */
nico@207: 00269                     
nico@207: 00270                     Size = (UNS8)(*pMappingParameter);
nico@207: 00271                         
nico@207: 00272                         /* copy bit per bit in little endian */
nico@207: 00273                         CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
nico@207: 00274                         
nico@207: 00275                         ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
nico@207: 00276                         
nico@207: 00277                     objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
nico@207: 00278                                             (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
nico@207: 00279                                                 tmp, &ByteSize, 0 );
nico@207: 00280                                                 
nico@207: 00281                     if(objDict != OD_SUCCESSFUL) {
nico@207: 00282                       MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
nico@207: 00283                       MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@207: 00284                       MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@207: 00285                       return 0xFF;
nico@207: 00286                     }
nico@207: 00287 
nico@207: 00288                     MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
nico@207: 00289                     MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@207: 00290                     MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@207: 00291                     /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
nico@207: 00292                     offset += Size;
nico@207: 00293                     numMap++;
nico@207: 00294                   } /* end loop while on mapped variables */
nico@207: 00295                   
nico@207: 00296                   offset=0x00;          
nico@207: 00297                   numMap = 0;
nico@207: 00298                   return 0;
nico@207: 00299                   
nico@207: 00300               }/* end switch status     */       
nico@207: 00301             }/* end while       */
nico@207: 00302   }/* end if Donnees */
nico@207: 00303 
nico@207: 00304 
nico@207: 00305   else if ((*m).rtr == REQUEST ){  
nico@207: 00306       MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
nico@207: 00307       status = state1;
nico@207: 00308       offsetObjdict = d->firstIndex->PDO_TRS;
nico@207: 00309       lastIndex = d->lastIndex->PDO_TRS;
nico@207: 00310       if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
nico@207: 00311         /* study of all PDO stored in the objects dictionary */
nico@207: 00312 
nico@207: 00313         switch( status ){
nico@207: 00314 
nico@207: 00315         case state1:    /* check the CobId */
nico@207: 00316                         /* get CobId of the dictionary which match to the received PDO */
nico@207: 00317           pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;   
nico@207: 00318           if ( *pwCobId == (*m).cob_id.w ) {
nico@207: 00319             status = state4;
nico@207: 00320             break;
nico@207: 00321           }
nico@207: 00322           else {
nico@207: 00323             numPdo++;
nico@207: 00324             offsetObjdict++;
nico@207: 00325           }
nico@207: 00326           status = state1;
nico@207: 00327           break;
nico@207: 00328 
nico@207: 00329 
nico@207: 00330         case state4:    /* check transmission type (after request?) */
nico@207: 00331           pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
nico@207: 00332           if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
nico@207: 00333             status = state5;
nico@207: 00334             break;
nico@207: 00335           }
nico@207: 00336           else {
nico@207: 00337             /* The requested PDO is not to send on request. So, does nothing. */
nico@207: 00338             MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
nico@207: 00339             return 0xFF;
nico@207: 00340           }
nico@207: 00341 
nico@207: 00342         case state5:    /* get mapped objects number */
nico@207: 00343           offsetObjdict = d->firstIndex->PDO_TRS_MAP;
nico@207: 00344           lastIndex = d->lastIndex->PDO_TRS_MAP;
nico@207: 00345           pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
nico@207: 00346           numMap = 0;
nico@207: 00347           while (numMap < *pMappingCount) {
nico@207: 00348             pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
nico@207: 00349             /* Get the mapped variable */
nico@207: 00350             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); 
nico@207: 00351             objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
nico@207: 00352                                      (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
nico@207: 00353                                      (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
nico@207: 00354             if (objDict != OD_SUCCESSFUL) {
nico@207: 00355               MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
nico@207: 00356               MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
nico@207: 00357               MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
nico@207: 00358               return 0xFF;
nico@207: 00359             }
nico@207: 00360             offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
nico@207: 00361             d->process_var.count = offset;
nico@207: 00362             numMap++;
nico@207: 00363 
nico@207: 00364           } /* end while */
nico@207: 00365           PDOmGR( d, *pwCobId ); /* Transmit the PDO */
nico@207: 00366           return 0;
nico@207: 00367 
nico@207: 00368         }/* end switch status */
nico@207: 00369       }/* end while      */                     
nico@207: 00370     }/* end if Requete */
nico@207: 00371                 
nico@207: 00372   return 0;
nico@207: 00373 }
nico@207: 00374 
nico@207: 00375 
nico@207: 00376 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
nico@207: 00377 {
nico@207: 00378         //This loop copy as many bits that it can each time, crossing successively bytes
nico@207: 00379         // boundaries from LSB to MSB.
nico@207: 00380         while(NbBits > 0)
nico@207: 00381         {
nico@207: 00382                 // Bit missalignement between src and dest
nico@207: 00383                 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
nico@207: 00384                 
nico@207: 00385                 // We can now get src and align it to dest
nico@207: 00386                 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
nico@207: 00387                 
nico@207: 00388                 // Compute the nb of bit we will be able to copy
nico@207: 00389                 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
nico@207: 00390                 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
nico@207: 00391 
nico@207: 00392                 // Create a mask that will serve in:
nico@207: 00393                 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
nico@207: 00394 
nico@207: 00395                 // - Filtering src
nico@207: 00396                 UNS8 Filtered = Aligned & ~Mask;
nico@207: 00397 
nico@207: 00398                 // - and erase bits where we write, preserve where we don't
nico@207: 00399                 *DestByteIndex &= Mask;
nico@207: 00400 
nico@207: 00401                 // Then write.
nico@207: 00402                 *DestByteIndex |= Filtered ;
nico@207: 00403 
nico@207: 00404                 //Compute next time cursors for src
nico@207: 00405                 if((SrcBitIndex += BitsToCopy)>7)       // cross boundary ?
nico@207: 00406                 {
nico@207: 00407                         SrcBitIndex = 0;                                                        // First bit
nico@207: 00408                         SrcByteIndex += (SrcBigEndian ? -1 : 1);        // Next byte
nico@207: 00409                 }
nico@207: 00410 
nico@207: 00411                 //Compute next time cursors for dest
nico@207: 00412                 if((DestBitIndex += BitsToCopy)>7)
nico@207: 00413                 {
nico@207: 00414                         DestBitIndex = 0;                                                       // First bit
nico@207: 00415                         DestByteIndex += (DestBigEndian ? -1 : 1);// Next byte
nico@207: 00416                 }
nico@207: 00417                 
nico@207: 00418                 //And decrement counter.
nico@207: 00419                 NbBits -= BitsToCopy;
nico@207: 00420         }
nico@207: 00421 
nico@207: 00422 }
nico@207: 00423 
nico@207: 00424 #if 0
nico@207: 00425 
nico@207: 00426 /*********************************************************************/
nico@207: 00427 /* TODO : reimplement this using CallBacks                           */
nico@207: 00428 /*********************************************************************/
nico@207: 00429 
nico@207: 00430 UNS8 sendPDOevent( CO_Data* d, void * variable )
nico@207: 00431 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.  */
nico@207: 00432   UNS32           objDict = 0;
nico@207: 00433   UNS8            ind, sub_ind;
nico@207: 00434   UNS8            status; 
nico@207: 00435   UNS8            offset;
nico@207: 00436   UNS8 *     pMappingCount = NULL;
nico@207: 00437   UNS32 *    pMappingParameter = NULL;
nico@207: 00438   void *     pMappedAppObject = NULL;
nico@207: 00439   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
nico@207: 00440   UNS32 *    pwCobId = NULL;
nico@207: 00441   UNS8 *     pSize;
nico@207: 00442   UNS8       size;
nico@207: 00443   UNS8       dataType;
nico@207: 00444   UNS16      offsetObjdict;
nico@207: 00445   UNS16      offsetObjdictPrm;
nico@207: 00446   UNS16      lastIndex;
nico@207: 00447   UNS8       numMap;
nico@207: 00448   ind     = 0x00;
nico@207: 00449   sub_ind = 1; 
nico@207: 00450   offset  = 0x00;
nico@207: 00451   pSize   = &size;
nico@207: 00452   status  = state1;
nico@207: 00453 
nico@207: 00454   /* look for the index and subindex where the variable is mapped */
nico@207: 00455   /* Then, send the pdo which contains the variable. */
nico@207: 00456 
nico@207: 00457   MSG_WAR (0x3960, "sendPDOevent", 0);
nico@207: 00458   offsetObjdictPrm = d->firstIndex->PDO_TRS;
nico@207: 00459   
nico@207: 00460   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
nico@207: 00461   lastIndex = d->lastIndex->PDO_TRS_MAP;
nico@207: 00462 
nico@207: 00463   if (offsetObjdictPrm && offsetObjdict) 
nico@207: 00464           /* Loop on PDO Transmit */
nico@207: 00465           while(offsetObjdict <= lastIndex){
nico@207: 00466             /* Check the transmission mode */
nico@207: 00467             pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
nico@207: 00468             if (*pTransmissionType != TRANS_EVENT) {
nico@207: 00469               ind++;
nico@207: 00470               offsetObjdict++;  
nico@207: 00471               offsetObjdictPrm++;
nico@207: 00472               continue;
nico@207: 00473             }
nico@207: 00474             pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; 
nico@207: 00475             numMap = 1; /* mapped variable */
nico@207: 00476             while (numMap <= *pMappingCount) {
nico@207: 00477               pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
nico@207: 00478               /* Get the variable */
nico@207: 00479               objDict = getODentry( d,
nico@207: 00480                                     (UNS16)((*pMappingParameter) >> 16), 
nico@207: 00481                                     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
nico@207: 00482                                     (void * *)&pMappedAppObject, pSize, &dataType, 0 );
nico@207: 00483               if( objDict != OD_SUCCESSFUL ) {  
nico@207: 00484                 MSG_WAR(0x2961, "Error in dict. at index : ", 
nico@207: 00485                         (*pMappingParameter) >> (UNS8)16);
nico@207: 00486               
nico@207: 00487                 MSG_WAR(0x2962, "               subindex : ", 
nico@207: 00488                         ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
nico@207: 00489                 return 0xFF;
nico@207: 00490               }
nico@207: 00491               if (pMappedAppObject == variable) { // Variable found !
nico@207: 00492                 MSG_WAR(0x3963, "Variable to send found at index : ", 
nico@207: 00493                         (*pMappingParameter) >> 16);
nico@207: 00494                 MSG_WAR(0x3964, "                       subIndex : ", 
nico@207: 00495                         ((*pMappingParameter) >> 8 ) & 0x000000FF);
nico@207: 00496                 buildPDO(d, 0x1800 + ind);
nico@207: 00497                 /* Get the cobId */
nico@207: 00498                 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
nico@207: 00499                 PDOmGR( d, *pwCobId ); /* Send the PDO */
nico@207: 00500                 return 0;           
nico@207: 00501               }
nico@207: 00502               numMap++;
nico@207: 00503             } /* End loop on mapped variable */
nico@207: 00504             ind++;      
nico@207: 00505             offsetObjdict++;  
nico@207: 00506             offsetObjdictPrm++;
nico@207: 00507           } /* End loop while on PDO */
nico@207: 00508 
nico@207: 00509   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
nico@207: 00510   return 0xFF;
nico@207: 00511 
nico@207: 00512 }
nico@207: 00513 #endif
nico@207: