CanFestival: include/pdo.h Source File

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 #ifndef __pdo_h__
-00024 #define __pdo_h__
-00025 
-00026 #include <applicfg.h>
-00027 #include <def.h>
-00028 
-00029 #include "can.h"
-00030 
-00031 typedef struct struct_s_PDO_status s_PDO_status;
-00032 
-00033 #include "data.h"
-00034 
-00035 /* Status of the TPDO : */
-00036 #define PDO_INHIBITED 0x01
-00037 #define PDO_RTR_SYNC_READY 0x01
-00038 
-00040 struct struct_s_PDO_status {
-00041   UNS8 transmit_type_parameter;
-00042   TIMER_HANDLE event_timer;
-00043   TIMER_HANDLE inhibit_timer;
-00044   Message last_message;
-00045 };
-00046 
-00047 #define s_PDO_staus_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
-00048 
-00053 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
-00054 #define TRANS_SYNC_MIN        1    /* Trans after reception of n SYNC. n = 1 to 240 */
-00055 #define TRANS_SYNC_MAX        240  /* Trans after reception of n SYNC. n = 1 to 240 */
-00056 #define TRANS_RTR_SYNC        252  /* Transmission on request */
-00057 #define TRANS_RTR             253  /* Transmission on request */
-00058 #define TRANS_EVENT_SPECIFIC  254  /* Transmission on event */
-00059 #define TRANS_EVENT_PROFILE   255  /* Transmission on event */
-00060 
-00069 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
-00070 
-00076 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
-00077 
-00082 UNS8 proceedPDO (CO_Data* d, Message *m);
-00083 
-00090 UNS8 sendPDOevent (CO_Data* d);
-00091 
-00095 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
-00096 
-00097 
-00098 void PDOInit(CO_Data* d);
-00099 void PDOStop(CO_Data* d);
-00100 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
-00101 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
-00102 
-00103 /* copy bit per bit in little endian */
-00104 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
-00105 #endif
-