peter@413: /*
peter@413: This file is part of CanFestival, a library implementing CanOpen Stack.
peter@413: 
peter@413: Copyright (C): Andreas GLAUSER
peter@413: 
peter@413: See COPYING file for copyrights details.
peter@413: 
peter@413: This library is free software; you can redistribute it and/or
peter@413: modify it under the terms of the GNU Lesser General Public
peter@413: License as published by the Free Software Foundation; either
peter@413: version 2.1 of the License, or (at your option) any later version.
peter@413: 
peter@413: This library is distributed in the hope that it will be useful,
peter@413: but WITHOUT ANY WARRANTY; without even the implied warranty of
peter@413: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
peter@413: Lesser General Public License for more details.
peter@413: 
peter@413: You should have received a copy of the GNU Lesser General Public
peter@413: License along with this library; if not, write to the Free Software
peter@413: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
peter@413: */
peter@413: 
peter@413: // DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
peter@413: 
peter@413: // Includes for the Canfestival
peter@413: #include "ds401.h"
peter@413: 
peter@413: unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
peter@413: {
peter@413:   unsigned char loops, i, input, transmission = 0;
peter@413: 
peter@413:   loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
peter@413: 
peter@413:   for (i=0; i < loops; i++)
peter@413:   {
peter@413:     input = *newInput ^ Polarity_Input_8_Bit[i];
peter@413:     if (Read_Inputs_8_Bit[i] != input)
peter@413:     {
peter@413:       if (Global_Interrupt_Enable_Digital)
peter@413:       {
peter@413:         if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input)) 
peter@413: 	 || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
peter@413: 	 || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
peter@413: 	   transmission = 1;
peter@413:       }
peter@413:       // update object dict
peter@413:       Read_Inputs_8_Bit[i] = input;
peter@413:     }
peter@413:     newInput++;
peter@413:   }
peter@413:   if (transmission)
peter@417:   {
peter@417:   /* force emission of PDO by artificially changing last emitted*/
peter@417:     d->PDO_status[0].last_message.cob_id = 0;
peter@413:     sendPDOevent(d);
peter@417:   }
peter@413: 
peter@413:   return 1;
peter@413: }
peter@413: 
peter@413: unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
peter@413: {
peter@413:   unsigned char loops, i, error, type;
peter@413:   unsigned char varsize = 1;
peter@413: 
peter@413:   loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
peter@413: 
peter@413:   for (i=0; i < loops; i++)
peter@413:   {
peter@413:     getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
peter@413:     if ((getState(d) == Stopped) || (error != 0))	// node stopped or error
peter@413:     {
peter@413:       Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
peter@413:       Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
peter@413:     }
peter@413:     *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
peter@413:     newOutput++;
peter@413:   }
peter@413:   return 1;
peter@413: }
peter@413: 
peter@413: unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
peter@413: {
peter@413:   return 0;
peter@413: }
peter@413: 
peter@413: unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
peter@413: {
peter@413:   return 0;
peter@413: }
peter@413: 
peter@413: 
peter@413: