00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -47,50 +47,53 @@
 00026 #include <applicfg.h>
 00027 #include <def.h>
 00028 
-00029 /* The process_var structure
-00030  Used to store the PDO before the transmission or the reception.
-00031 */
-00032 typedef struct struct_s_process_var {
-00033   UNS8 count; /* Size of data. Ex : for a PDO of 6 bytes of data, count = 6 */
-00034   /* WARNING s_process_var.data is subject to ENDIANISATION 
-00035    * (with respect to CANOPEN_BIG_ENDIAN)
-00036    */
-00037   UNS8 data[PDO_MAX_LEN];
-00038 }s_process_var;
-00039 
-00040 #include "data.h"
-00041 
-00043 typedef struct struct_s_PDO {
-00044   UNS32 cobId;    /* COB-ID */
-00045   UNS8           len;     /* Number of data transmitted (in data[]) */
-00046   UNS8           data[8]; /* Contain the data */
-00047 }s_PDO;
-00048 
-00055 UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
-00056 
-00064 UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
-00065 
-00071 UNS8 buildPDO (CO_Data* d, UNS16 index);
-00072 
-00078 UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
-00079 
-00084 UNS8 proceedPDO (CO_Data* d, Message *m);
-00085 
-00086 /* used by the application to send a variable by PDO.
-00087  * Check in which PDO the variable is mapped, and send the PDO. 
-00088  * of course, the others variables mapped in the PDO are also sent !
-00089  * ( ie when a specific event occured)
-00090  * bus_id is hardware dependant
-00091  * variable is a pointer to the variable which has to be sent. Must be
-00092  * defined in the object dictionary
-00093  * return 0xFF if error, else return 0
-00094  */
-00095 UNS8 sendPDOevent (CO_Data* d, void * variable);
+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 /* copy bit per bit in little endian */
-00098 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
-00099 #endif
-
pdo.h
