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@370: #include "sysdep.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@235:
etisserant@235: /*!
etisserant@235: **
nico@208: **
nico@208: ** @param d
etisserant@235: ** @param TPDO_com TPDO communication parameters OD entry
etisserant@235: ** @param TPDO_map TPDO mapping parameters OD entry
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@235:
etisserant@235: UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo)
etisserant@235: {
etisserant@235: const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
etisserant@235: const indextable* TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
etisserant@235:
etisserant@235: UNS8 prp_j = 0x00;
etisserant@235: UNS8 offset = 0x00;
etisserant@235: const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;
etisserant@235:
etisserant@370: pdo->cob_id = *(UNS16*)TPDO_com->pSubindex[1].pObject & UNS16_LE(0x7FF);
etisserant@235: pdo->rtr = NOT_A_REQUEST;
etisserant@235:
etisserant@235: MSG_WAR(0x3009, " PDO CobId is : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);
etisserant@235: MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
etisserant@235:
etisserant@235: do{
etisserant@235: UNS8 dataType; /* Unused */
etisserant@235: UNS8 tmp[]= {0,0,0,0,0,0,0,0}; /* temporary space to hold bits */
etisserant@235:
etisserant@235: /* pointer fo the var which holds the mapping parameter of an mapping entry */
etisserant@235: UNS32* pMappingParameter = (UNS32*) TPDO_map->pSubindex[prp_j + 1].pObject;
etisserant@235: UNS16 index = (UNS16)((*pMappingParameter) >> 16);
etisserant@235: UNS8 Size = (UNS8)(*pMappingParameter); /* Size in bits */
etisserant@235:
luis@350: /* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
luis@350: if(Size && ((offset + Size) <= 64)) {
luis@350: UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
luis@350: UNS8 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
luis@350:
luis@350: MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
luis@350: MSG_WAR(0x3050, " at index : ", TPDO_map->index);
luis@350: MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
luis@350:
luis@350: if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){
luis@350: MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
luis@350: return 0xFF;
luis@350: }
luis@350: /* copy bit per bit in little endian*/
luis@350: CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);
luis@350:
luis@350: offset += Size ;
etisserant@235: }
etisserant@235: prp_j++;
etisserant@235: }while( prp_j < *pMappingCount );
etisserant@235:
etisserant@235: pdo->len = 1 + ((offset - 1) >> 3);
etisserant@235:
etisserant@235: MSG_WAR(0x3015, " End scan mapped variable", 0);
etisserant@235:
etisserant@235: return 0;
etisserant@235: }
nico@208:
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param cobId
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@236: UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex )
nico@208: {
etisserant@370: UNS16 * pwCobId;
etisserant@236: UNS16 offset = d->firstIndex->PDO_RCV;
etisserant@236: UNS16 lastIndex = d->lastIndex->PDO_RCV;
etisserant@236:
nico@215: /* Sending the request only if the cobid have been found on the PDO
nico@208: receive */
nico@215: /* part dictionary */
etisserant@236:
etisserant@236: MSG_WAR(0x3930, "sendPDOrequest RPDO Index : ",RPDOIndex);
etisserant@236:
etisserant@236: if (offset && RPDOIndex >= 0x1400){
etisserant@236: offset += RPDOIndex - 0x1400;
etisserant@236: if (offset <= lastIndex) {
nico@215: /* get the CobId*/
etisserant@370: pwCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject;
nico@208:
etisserant@236: MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
leonid@252: {
etisserant@285: Message pdo;
etisserant@365: pdo.cob_id = *pwCobId;
etisserant@285: pdo.rtr = REQUEST;
etisserant@285: pdo.len = 0;
etisserant@285: return canSend(d->canHandle,&pdo);
leonid@252: }
nico@208: }
etisserant@236: }
etisserant@236: MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
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 */
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@370: UNS16 * pwCobId = NULL;
etisserant@0: UNS8 Size;
etisserant@0: UNS8 offset;
etisserant@0: UNS8 status;
etisserant@0: UNS32 objDict;
etisserant@0: UNS16 offsetObjdict;
etisserant@0: UNS16 lastIndex;
etisserant@235:
etisserant@235: status = state2;
nico@208:
etisserant@370: MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id & UNS16_LE(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@235:
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@208: case state2:
nico@215: /* get CobId of the dictionary correspondant to the received
nico@208: PDO */
etisserant@370: pwCobId = (UNS16*) 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: */
etisserant@365: if ( *pwCobId == (*m).cob_id ){
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);
luis@350:
luis@350: /* set variable only if Size != 0 and Size is lower than remaining bits in the PDO */
luis@350: if(Size && ((offset + Size) <= (m->len << 3))) {
luis@350: /* copy bit per bit in little endian */
luis@350: CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
luis@350:
luis@350: ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
luis@350: 2, ... */
luis@350:
luis@350: objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
luis@350: (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
luis@350: tmp, &ByteSize, 0 );
luis@350:
luis@350: if(objDict != OD_SUCCESSFUL) {
luis@350: MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
luis@350: MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
luis@350: MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
luis@350: return 0xFF;
luis@350: }
luis@350:
etisserant@365: MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id);
luis@350: MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16);
luis@350: MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
luis@350: /* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
luis@350: offset += Size;
luis@350: }
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 ){
etisserant@365: MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id);
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@370: pwCobId = (UNS16*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
etisserant@365: if ( *pwCobId == (*m).cob_id ) {
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:
etisserant@236: case state4:/* check transmission type */
etisserant@217: pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
etisserant@236: /* If PDO is to be sampled and send on RTR, do it*/
etisserant@236: if ( (*pTransmissionType == TRANS_RTR)) {
nico@208: status = state5;
nico@208: break;
etisserant@236: /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
etisserant@236: }else if ((*pTransmissionType == TRANS_RTR_SYNC )) {
etisserant@236: if(d->PDO_status[numPdo].transmit_type_parameter & PDO_RTR_SYNC_READY){
etisserant@236: /*Data ready, just send*/
etisserant@236: canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
etisserant@236: return 0;
etisserant@236: }else{
etisserant@236: /* if SYNC did never occur, force emission with current data */
etisserant@236: /* DS301 do not tell what to do in such a case...*/
etisserant@365: MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id);
etisserant@236: status = state5;
etisserant@236: }
etisserant@236: break;
etisserant@235: }else if(
etisserant@235: (*pTransmissionType == TRANS_EVENT_PROFILE) ||
etisserant@235: (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
etisserant@235: /* Zap all timers and inhibit flag */
etisserant@235: d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
etisserant@235: d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
etisserant@235: d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
etisserant@235: /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
etisserant@235: PDOEventTimerAlarm(d, numPdo);
etisserant@235: return 0;
etisserant@235: }else {
nico@215: /* The requested PDO is not to send on request. So, does
nico@208: nothing. */
etisserant@365: MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id);
nico@208: return 0xFF;
nico@208: }
nico@208:
etisserant@235: case state5:/* build and send requested PDO */
etisserant@235: {
etisserant@235: Message pdo;
etisserant@235: if( buildPDO(d, numPdo, &pdo))
etisserant@235: {
etisserant@236: MSG_ERR(0x1948, " Couldn't build TPDO n°", numPdo);
etisserant@236: return 0xFF;
etisserant@235: }
etisserant@235: canSend(d->canHandle,&pdo);
nico@208: return 0;
etisserant@235: }
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: }
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@235:
etisserant@235: UNS8 sendPDOevent( CO_Data* d)
etisserant@235: {
etisserant@235: /* Calls _sendPDOevent specifying it is not a sync event */
etisserant@235: return _sendPDOevent(d, 0);
etisserant@235: }
etisserant@235:
etisserant@235:
etisserant@235: void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
etisserant@235: {
etisserant@235: /* This is needed to avoid deletion of re-attribuated timer */
etisserant@235: d->PDO_status[pdoNum].event_timer = TIMER_NONE;
etisserant@235: /* force emission of PDO by artificially changing last emitted*/
etisserant@365: d->PDO_status[pdoNum].last_message.cob_id = 0;
etisserant@235: _sendPDOevent( d, 0 ); /* not a Sync Event*/
etisserant@235: }
etisserant@235:
etisserant@235: void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
etisserant@235: {
etisserant@235: /* This is needed to avoid deletion of re-attribuated timer */
etisserant@235: d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
etisserant@235: /* Remove inhibit flag */
etisserant@235: d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
etisserant@235: _sendPDOevent( d, 0 ); /* not a Sync Event*/
etisserant@235: }
etisserant@235:
etisserant@235: /*!
etisserant@235: **
etisserant@235: **
etisserant@235: ** @param d
etisserant@235: ** @param isSyncEvent
etisserant@235: **
etisserant@235: ** @return
etisserant@235: **/
etisserant@235:
etisserant@235: UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
etisserant@235: {
etisserant@235: UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
etisserant@235: UNS8* pTransmissionType = NULL;
etisserant@235: UNS8 status = state3;
etisserant@235: UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
etisserant@235: UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
etisserant@235: UNS16 lastIndex = d->lastIndex->PDO_TRS;
etisserant@235:
etisserant@235: /* study all PDO stored in the objects dictionary */
etisserant@235: if(offsetObjdict){
etisserant@235: Message pdo = Message_Initializer;
etisserant@235: while( offsetObjdict <= lastIndex) {
etisserant@235: switch( status ) {
etisserant@236: case state3:
etisserant@236: if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/
etisserant@236: /* check if TPDO is not valid */
luis@298: *(UNS32*)d->objdict[offsetObjdict].pSubindex[1].pObject & 0x80000000) {
etisserant@236: MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
etisserant@236: /*Go next TPDO*/
etisserant@236: status = state11;
etisserant@236: break;
etisserant@235: }
etisserant@236: /* get the PDO transmission type */
etisserant@235: pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
etisserant@236: MSG_WAR(0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
etisserant@236:
etisserant@236: /* check if transmission type is SYNCRONOUS */
etisserant@236: /* The message is transmited every n SYNC with n=TransmissionType */
etisserant@235: if( isSyncEvent &&
etisserant@235: (*pTransmissionType >= TRANS_SYNC_MIN) &&
etisserant@235: (*pTransmissionType <= TRANS_SYNC_MAX) &&
etisserant@236: (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
etisserant@236: /*Reset count of SYNC*/
etisserant@235: d->PDO_status[pdoNum].transmit_type_parameter = 0;
etisserant@236: MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
leonid@252: {
leonid@252: Message msg_init = Message_Initializer;
leonid@252: pdo = msg_init;
leonid@252: }
etisserant@235: if(buildPDO(d, pdoNum, &pdo))
etisserant@235: {
etisserant@236: MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum);
etisserant@235: status = state11;
etisserant@235: break;
etisserant@235: }
etisserant@235: status = state5;
etisserant@236: /* If transmission RTR, with data sampled on SYNC */
etisserant@236: }else if( isSyncEvent &&
etisserant@236: (*pTransmissionType == TRANS_RTR_SYNC)) {
etisserant@236: if(buildPDO(d, pdoNum, &d->PDO_status[pdoNum].last_message))
etisserant@236: {
etisserant@236: MSG_ERR(0x1966, " Couldn't build TPDO number : ", pdoNum);
etisserant@236: d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY;
etisserant@236: }else{
etisserant@236: d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY;
etisserant@236: }
etisserant@236: status = state11;
etisserant@236: break;
etisserant@235: /* If transmission on Event and not inhibited, check for changes */
etisserant@236: }else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
etisserant@235: *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
etisserant@235: !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
etisserant@236: MSG_WAR(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType);
leonid@252: {
leonid@252: Message msg_init = Message_Initializer;
leonid@252: pdo = msg_init;
leonid@252: }
etisserant@235: if(buildPDO(d, pdoNum, &pdo))
etisserant@235: {
etisserant@236: MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum);
etisserant@235: status = state11;
etisserant@235: break;
etisserant@235: }
etisserant@235:
etisserant@235: /*Compare new and old PDO*/
etisserant@365: if(d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id &&
etisserant@235: d->PDO_status[pdoNum].last_message.len == pdo.len &&
etisserant@315: #ifdef UNS64
etisserant@235: *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
etisserant@315: #else /* don't ALLOW_64BIT_OPS*/
etisserant@315: *(UNS32*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS32*)(&pdo.data[0]) &&
etisserant@315: *(UNS32*)(&d->PDO_status[pdoNum].last_message.data[4]) == *(UNS32*)(&pdo.data[4])){
etisserant@315: #endif
etisserant@235: /* No changes -> go to next pdo*/
etisserant@235: status = state11;
etisserant@235: }else{
luis@298:
luis@298: UNS16 EventTimerDuration;
luis@298: UNS16 InhibitTimerDuration;
luis@298:
etisserant@236: MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum);
etisserant@235: /* Changes detected -> transmit message */
luis@298: EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject;
luis@298: InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject;
etisserant@297:
etisserant@235: status = state5;
etisserant@235:
etisserant@235: /* Start both event_timer and inhibit_timer*/
etisserant@297: if(EventTimerDuration){
etisserant@297: DelAlarm(d->PDO_status[pdoNum].event_timer);
etisserant@297: d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(EventTimerDuration), 0);
etisserant@297: }
etisserant@235:
etisserant@297: if(InhibitTimerDuration){
etisserant@297: DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
etisserant@297: d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(InhibitTimerDuration * 100), 0);
etisserant@297: /* and inhibit TPDO */
etisserant@297: d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
etisserant@297: }
etisserant@235:
etisserant@235: }
etisserant@235: }else{
etisserant@236: MSG_WAR(0x306C, " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
etisserant@235: status = state11;
etisserant@235: }
etisserant@235: break;
etisserant@235: case state5: /*Send the pdo*/
etisserant@235: /*store_as_last_message*/
etisserant@235: d->PDO_status[pdoNum].last_message = pdo;
etisserant@365: MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id);
etisserant@236: MSG_WAR(0x396E, " Nb octets : ", pdo.len);
etisserant@235:
etisserant@235: canSend(d->canHandle,&pdo);
etisserant@235: status = state11;
etisserant@235: break;
etisserant@235: case state11: /*Go to next TPDO*/
etisserant@235: pdoNum++;
etisserant@235: offsetObjdict++;
etisserant@235: offsetObjdictMap++;
etisserant@236: MSG_WAR(0x3970, "next pdo index : ", pdoNum);
etisserant@235: status = state3;
etisserant@235: break;
etisserant@235:
etisserant@235: default:
etisserant@236: MSG_ERR(0x1972,"Unknown state has been reached : %d",status);
etisserant@235: return 0xFF;
etisserant@235: }/* end switch case */
etisserant@235:
etisserant@235: }/* end while */
etisserant@235: }
etisserant@235: return 0;
etisserant@235: }
etisserant@235:
etisserant@236: /*!
etisserant@236: **
etisserant@236: **
etisserant@236: ** @param d
etisserant@236: ** @param OD_entry
etisserant@236: ** @param bSubindex
etisserant@236: ** @return always 0
etisserant@236: **/
etisserant@236:
etisserant@236: UNS32 TPDO_Communication_Parameter_Callback(CO_Data* d, const indextable * OD_entry, UNS8 bSubindex)
etisserant@236: {
etisserant@236: /* If PDO are actives */
etisserant@236: if(d->CurrentCommunicationState.csPDO) switch(bSubindex)
etisserant@236: {
etisserant@236: case 2: /* Changed transmition type */
etisserant@236: case 3: /* Changed inhibit time */
etisserant@236: case 5: /* Changed event time */
etisserant@236: {
etisserant@236: const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
etisserant@236: UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
etisserant@236:
etisserant@236: /* Zap all timers and inhibit flag */
etisserant@236: d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
etisserant@236: d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
etisserant@236: d->PDO_status[numPdo].transmit_type_parameter = 0;
etisserant@236: /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
etisserant@236: PDOEventTimerAlarm(d, numPdo);
etisserant@236: return 0;
etisserant@236: }
etisserant@236:
etisserant@236: default: /* other subindex are ignored*/
etisserant@236: break;
etisserant@236: }
etisserant@236: return 0;
etisserant@236: }
etisserant@236:
etisserant@235: void PDOInit(CO_Data* d)
etisserant@235: {
etisserant@236: /* For each TPDO mapping parameters */
etisserant@236: UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
etisserant@236:
etisserant@236: UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
etisserant@236: UNS16 lastIndex = d->lastIndex->PDO_TRS;
etisserant@236: if(offsetObjdict) while( offsetObjdict <= lastIndex) {
etisserant@236: /* Assign callbacks to sensible TPDO mapping subindexes */
etisserant@236: UNS32 errorCode;
etisserant@236: ODCallback_t *CallbackList;
etisserant@236: /* Find callback list */
etisserant@236: scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
etisserant@236: if(errorCode == OD_SUCCESSFUL && CallbackList)
etisserant@236: {
etisserant@236: /*Assign callbacks to corresponding subindex*/
etisserant@236: /* Transmission type */
etisserant@236: CallbackList[2] = &TPDO_Communication_Parameter_Callback;
etisserant@236: /* Inhibit time */
etisserant@236: CallbackList[3] = &TPDO_Communication_Parameter_Callback;
etisserant@236: /* Event timer */
etisserant@236: CallbackList[5] = &TPDO_Communication_Parameter_Callback;
etisserant@236: }
etisserant@236: pdoIndex++;
etisserant@236: offsetObjdict++;
etisserant@236: }
etisserant@236:
etisserant@236: /* Trigger a non-sync event */
etisserant@236: _sendPDOevent( d, 0 );
etisserant@235: }
etisserant@235:
etisserant@235: void PDOStop(CO_Data* d)
etisserant@235: {
etisserant@236: /* For each TPDO mapping parameters */
etisserant@235: UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
etisserant@235: UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
etisserant@235: UNS16 lastIndex = d->lastIndex->PDO_TRS;
etisserant@235: if(offsetObjdict) while( offsetObjdict <= lastIndex) {
etisserant@236: /* Delete TPDO timers */
etisserant@235: d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
etisserant@235: d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
etisserant@236: /* Reset transmit type parameter */
etisserant@235: d->PDO_status[pdoNum].transmit_type_parameter = 0;
etisserant@365: d->PDO_status[pdoNum].last_message.cob_id = 0;
etisserant@235: pdoNum++;
etisserant@235: offsetObjdict++;
etisserant@235: }
etisserant@235: }