CanFestival: /home/epimerde/documents/tc11/CanFestival-3/include/pdo.h 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 
nico@207: 00023 #ifndef __pdo_h__
nico@207: 00024 #define __pdo_h__
nico@207: 00025 
nico@207: 00026 #include <applicfg.h>
nico@207: 00027 #include <def.h>
nico@207: 00028 
nico@207: 00029 /* The process_var structure
nico@207: 00030  Used to store the PDO before the transmission or the reception.
nico@207: 00031 */
nico@207: 00032 typedef struct struct_s_process_var {
nico@207: 00033   UNS8 count; /* Size of data. Ex : for a PDO of 6 bytes of data, count = 6 */
nico@207: 00034   /* WARNING s_process_var.data is subject to ENDIANISATION 
nico@207: 00035    * (with respect to CANOPEN_BIG_ENDIAN)
nico@207: 00036    */
nico@207: 00037   UNS8 data[PDO_MAX_LEN];
nico@207: 00038 }s_process_var;
nico@207: 00039 
nico@207: 00040 #include "data.h"
nico@207: 00041 
nico@207: 00043 typedef struct struct_s_PDO {
nico@207: 00044   UNS32 cobId;    /* COB-ID */
nico@207: 00045   UNS8           len;     /* Number of data transmitted (in data[]) */
nico@207: 00046   UNS8           data[8]; /* Contain the data */
nico@207: 00047 }s_PDO;
nico@207: 00048 
nico@207: 00055 UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
nico@207: 00056 
nico@207: 00064 UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
nico@207: 00065 
nico@207: 00071 UNS8 buildPDO (CO_Data* d, UNS16 index);
nico@207: 00072 
nico@207: 00078 UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
nico@207: 00079 
nico@207: 00084 UNS8 proceedPDO (CO_Data* d, Message *m);
nico@207: 00085 
nico@207: 00086 /* used by the application to send a variable by PDO.
nico@207: 00087  * Check in which PDO the variable is mapped, and send the PDO. 
nico@207: 00088  * of course, the others variables mapped in the PDO are also sent !
nico@207: 00089  * ( ie when a specific event occured)
nico@207: 00090  * bus_id is hardware dependant
nico@207: 00091  * variable is a pointer to the variable which has to be sent. Must be
nico@207: 00092  * defined in the object dictionary
nico@207: 00093  * return 0xFF if error, else return 0
nico@207: 00094  */
nico@207: 00095 UNS8 sendPDOevent (CO_Data* d, void * variable);
nico@207: 00096 
nico@207: 00097 /* copy bit per bit in little endian */
nico@207: 00098 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
nico@207: 00099 #endif
nico@207: