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 #include "pdo.h"
-00023 #include "objacces.h"
-00024 #include "canfestival.h"
-00025 
-00026 /****************************************************************************/
-00027 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
-00028 {
-00029   UNS8 i;
-00030   if( d->nodeState == Operational ) {
-00031     Message m;
-00032 
-00033     /* Message copy for sending */
-00034     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
-00035     if ( req == NOT_A_REQUEST ) {
-00036       UNS8 i;
-00037       m.rtr = NOT_A_REQUEST;
-00038       m.len = pdo.len;
-00039       /* memcpy(&m.data, &pdo.data, m.len); */
-00040       /* This Memcpy depends on packing structure. Avoid */
-00041       for (i = 0 ; i < pdo.len ; i++)
-00042         m.data[i] = pdo.data[i];
-00043     }
-00044     else {
-00045       m.rtr = REQUEST;
-00046       m.len = 0;
-00047     }
-00048 
-00049     MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
-00050     MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
-00051     for (i = 0 ; i < m.len ; i++) {
-00052       MSG_WAR(0x3903,"           data : ", m.data[i]);
-00053     }
-00054                   
-00055     return canSend(d->canHandle,&m);
-00056   } /* end if */
-00057   return 0xFF;
-00058 }
+00002   This file is part of CanFestival, a library implementing CanOpen
+00003   Stack.
+00004 
+00005   Copyright (C): Edouard TISSERANT and Francis DUPIN
+00006 
+00007   See COPYING file for copyrights details.
+00008 
+00009   This library is free software; you can redistribute it and/or
+00010   modify it under the terms of the GNU Lesser General Public
+00011   License as published by the Free Software Foundation; either
+00012   version 2.1 of the License, or (at your option) any later version.
+00013 
+00014   This library is distributed in the hope that it will be useful,
+00015   but WITHOUT ANY WARRANTY; without even the implied warranty of
+00016   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+00017   Lesser General Public License for more details.
+00018 
+00019   You should have received a copy of the GNU Lesser General Public
+00020   License along with this library; if not, write to the Free Software
+00021   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
+00022   USA
+00023 */
+00024 #include "pdo.h"
+00025 #include "objacces.h"
+00026 #include "canfestival.h"
+00027 
+00037 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
+00038 {
+00039   UNS8 i;
+00040   if( d->nodeState == Operational ) {
+00041     Message m;
+00042 
+00044     m.cob_id.w = pdo.cobId & 0x7FF; 
+00046     if ( req == NOT_A_REQUEST ) {
+00047       UNS8 i;
+00048       m.rtr = NOT_A_REQUEST;
+00049       m.len = pdo.len;
+00052       for (i = 0 ; i < pdo.len ; i++)
+00053         m.data[i] = pdo.data[i];
+00054     }
+00055     else {
+00056       m.rtr = REQUEST;
+00057       m.len = 0;
+00058     }
 00059 
-00060 /***************************************************************************/
-00061 UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
-00062 {
-00063   UNS8 res;
-00064   UNS8 i;
-00065   s_PDO pdo;
-00066 
-00067   MSG_WAR(0x3905, "PDOmGR",0);
-00068         
-00069   /* if PDO is waiting for transmission,
-00070      preparation of the message to send */
-00071     pdo.cobId = cobId;
-00072     pdo.len =  d->process_var.count;
-00073     /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
-00074     /* Ce memcpy devrait être portable */
-00075     for ( i = 0 ; i < pdo.len ; i++) 
-00076       pdo.data[i] = d->process_var.data[i];
-00077 
-00078     res = sendPDO(d, pdo, NOT_A_REQUEST);
-00079 
-00080     return res;
-00081 }
-00082 
-00083 #if 0
-00084 /*********************************************************************/
-00085 /* TODO : implement bit mapping                                                  */
-00086 /*********************************************************************/
-00087 
-00088 UNS8 buildPDO(CO_Data* d, UNS16 index)
-00089 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */       
-00090   UNS16 ind;
-00091   UNS8      subInd;
-00092 
-00093   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
-00094   /* pointer to the var which is mapped to a pdo */
-00095 /*  void *     pMappedAppObject = NULL;  */
-00096   /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
-00097   UNS32 *    pMappingParameter = NULL;  
-00098 
-00099   UNS8      Size;
-00100   UNS8      dataType;
-00101   UNS8      offset;
-00102   UNS16     offsetObjdict;
-00103   UNS16     offsetObjdictPrm;
-00104   UNS32     objDict;
+00060     MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
+00061     MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
+00062     for (i = 0 ; i < m.len ; i++) {
+00063       MSG_WAR(0x3903,"           data : ", m.data[i]);
+00064     }
+00065 
+00066     return canSend(d->canHandle,&m);
+00067   } 
+00068   return 0xFF;
+00069 }
+00070 
+00079 UNS8 PDOmGR(CO_Data* d, UNS32 cobId)
+00080 {
+00081   UNS8 res;
+00082   UNS8 i;
+00083   s_PDO pdo;
+00084 
+00085   MSG_WAR(0x3905, "PDOmGR",0);
+00086 
+00089   pdo.cobId = cobId;
+00090   pdo.len =  d->process_var.count;
+00092      /* Ce memcpy devrait tre portable */
+00093     for ( i = 0 ; i < pdo.len ; i++) 
+00094       pdo.data[i] = d->process_var.data[i];
+00095 
+00096     res = sendPDO(d, pdo, NOT_A_REQUEST);
+00097 
+00098     return res;
+00099 }
+00100 
+00101 #if 0
+00102 /*********************************************************************/
+00103 /* TODO : implement bit mapping                                                  */
+00104 /*********************************************************************/
 00105 
-00106   subInd=(UNS8)0x00;
-00107   offset = 0x00;
-00108   ind = index - 0x1800;
-00109   
-00110   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
-00111 
-00112   /* only operational state allows PDO transmission */
-00113   if( d->nodeState != Operational ) {
-00114     MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
-00115     return 0xFF;
-00116   }
-00117   offsetObjdictPrm = d->firstIndex->PDO_TRS;
-00118   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-00119   
-00120   if (offsetObjdictPrm && offsetObjdict)
-00121   {
-00122           /* get mapped objects number to transmit with this PDO */
-00123           pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
-00124           MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
-00125           MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
-00126           while (subInd < *pMappingCount) { /* Loop on mapped variables */
-00127             /* get mapping parameters */
-00128             pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
-00129             MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
-00130             MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
-00131             MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
-00132             /* Get the mapped variable */
-00133             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
-00134                 objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
-00135                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
-00136                                     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );  
-00137 
-00138              if (objDict != OD_SUCCESSFUL) {
-00139                 MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
-00140                 MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00141                 MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
-00142                 return 0xFF;
-00143              } 
-00144 
-00145               offset += Size;
-00146               d->process_var.count = offset;
-00147               subInd++;                                 
-00148         }/* end Loop on mapped variables  */
-00149   }
-00150   return 0;
-00151 }
-00152 #endif
-00153 /**************************************************************************/
-00154 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
-00155 {               
-00156   UNS32 *        pwCobId;       
-00157   UNS16          offset;
-00158   UNS16          lastIndex;
-00159   UNS8           err;
-00160 
-00161   MSG_WAR(0x3930, "sendPDOrequest ",0);  
-00162   /* Sending the request only if the cobid have been found on the PDO receive */
-00163   /* part dictionary */
-00164   offset = d->firstIndex->PDO_RCV;
-00165   lastIndex = d->lastIndex->PDO_RCV;
-00166   if (offset)
-00167           while (offset <= lastIndex) {
-00168             /*get the CobId*/
-00169             pwCobId = d->objdict[offset].pSubindex[1].pObject;
-00170               
-00171             if ( *pwCobId  == cobId ) {
-00172               s_PDO pdo;
-00173               pdo.cobId = *pwCobId;
-00174               pdo.len = 0;
-00175               err  = sendPDO(d, pdo, REQUEST);  
-00176               return err;
-00177             }
-00178             offset++;
-00179           }
-00180   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
-00181   return 0xFF;
-00182 }
-00183 
-00184 
-00185 
-00186 /***********************************************************************/
-00187 UNS8 proceedPDO(CO_Data* d, Message *m)
-00188 {               
-00189   UNS8   numPdo;
-00190   UNS8   numMap;  /* Number of the mapped varable */                      
-00191   UNS8 i;
-00192   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
-00193   /* pointer to the var which is mapped to a pdo... */
-00194 /*  void *     pMappedAppObject = NULL;   */
-00195   /* pointer fo the var which holds the mapping parameter of an mapping entry */
-00196   UNS32 *    pMappingParameter = NULL;  
-00197   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
-00198   UNS32 *    pwCobId = NULL;
-00199   UNS8       Size;
-00200   UNS8       dataType;
-00201   UNS8       offset;
-00202   UNS8       status;
-00203   UNS32      objDict;
-00204   UNS16      offsetObjdict;
-00205   UNS16      lastIndex;
-00206   status = state1;
-00207  
-00208   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
-00209   offset = 0x00;
-00210   numPdo = 0;
-00211   numMap = 0;
-00212   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
-00213     offsetObjdict = d->firstIndex->PDO_RCV;
-00214     lastIndex = d->lastIndex->PDO_RCV;
-00215     
-00216     /* study of all the PDO stored in the dictionary */   
-00217     if(offsetObjdict)
-00218             while (offsetObjdict <= lastIndex) {
-00219                         
-00220               switch( status ) {
-00221                                                 
-00222                 case state1:    /* data are stored in process_var array */
-00223                   /* memcpy(&(process_var.data), &m->data, (*m).len); */
-00224                   /* Ce memcpy devrait être portable. */
-00225                   for ( i = 0 ; i < m->len ; i++) 
-00226                     d->process_var.data[i] = m->data[i];
-00227                   d->process_var.count = (*m).len;
-00228         
-00229                   status = state2; 
-00230                   break;
-00231         
-00232                 case state2:
-00233                   /* get CobId of the dictionary correspondant to the received PDO */
-00234                   pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; 
-00235                   /* check the CobId coherance */
-00236                   /*pwCobId is the cobId read in the dictionary at the state 3 */
-00237                   if ( *pwCobId == (*m).cob_id.w ){
-00238                     /* The cobId is recognized */
-00239                     status = state4;
-00240                     MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
-00241                     break;
-00242                   }
-00243                   else {
-00244                     /* cobId received does not match with those write in the dictionnary */
-00245                     numPdo++;
-00246                     offsetObjdict++;
-00247                     status = state2;
-00248                     break;
-00249                   }
-00250         
-00251                 case state4:    /* get mapped objects number */
-00252                   /* The cobId of the message received has been found in the dictionnary. */
-00253                   offsetObjdict = d->firstIndex->PDO_RCV_MAP;
-00254                   lastIndex = d->lastIndex->PDO_RCV_MAP;
-00255                   pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;    
-00256                   numMap = 0;
-00257                   while (numMap < *pMappingCount) {
-00258                         UNS8 tmp[]= {0,0,0,0,0,0,0,0};
-00259                         UNS8 ByteSize;
-00260                     pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
-00261                     if (pMappingParameter == NULL) {
-00262                       MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
-00263                       return 0xFF;
-00264                     }
-00265                         /* Get the addresse of the mapped variable. */
-00266                     /* detail of *pMappingParameter : */
-00267                     /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
-00268                     /* and the lower 8 bits contains the size of the mapped variable. */
-00269                     
-00270                     Size = (UNS8)(*pMappingParameter);
-00271                         
-00272                         /* copy bit per bit in little endian */
-00273                         CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
-00274                         
-00275                         ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
-00276                         
-00277                     objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
-00278                                             (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
-00279                                                 tmp, &ByteSize, 0 );
-00280                                                 
-00281                     if(objDict != OD_SUCCESSFUL) {
-00282                       MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
-00283                       MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00284                       MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
-00285                       return 0xFF;
-00286                     }
-00287 
-00288                     MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
-00289                     MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00290                     MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
-00291                     /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
-00292                     offset += Size;
-00293                     numMap++;
-00294                   } /* end loop while on mapped variables */
-00295                   
-00296                   offset=0x00;          
-00297                   numMap = 0;
-00298                   return 0;
-00299                   
-00300               }/* end switch status     */       
-00301             }/* end while       */
-00302   }/* end if Donnees */
-00303 
-00304 
-00305   else if ((*m).rtr == REQUEST ){  
-00306       MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
-00307       status = state1;
-00308       offsetObjdict = d->firstIndex->PDO_TRS;
-00309       lastIndex = d->lastIndex->PDO_TRS;
-00310       if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
-00311         /* study of all PDO stored in the objects dictionary */
-00312 
-00313         switch( status ){
+00106 UNS8 buildPDO(CO_Data* d, UNS16 index)
+00107 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */       
+00108   UNS16 ind;
+00109   UNS8      subInd;
+00110 
+00111   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
+00112   /* pointer to the var which is mapped to a pdo */
+00113 /*  void *     pMappedAppObject = NULL;  */
+00114   /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
+00115  
+00116   UNS32 *    pMappingParameter = NULL;
+00117 
+00118   UNS8      Size;
+00119   UNS8      dataType;
+00120   UNS8      offset;
+00121   UNS16     offsetObjdict;
+00122   UNS16     offsetObjdictPrm;
+00123   UNS32     objDict;
+00124 
+00125   subInd=(UNS8)0x00;
+00126   offset = 0x00;
+00127   ind = index - 0x1800;
+00128 
+00129   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
+00130 
+00132   if( d->nodeState != Operational ) {
+00133     MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
+00134     return 0xFF;
+00135   }
+00136   offsetObjdictPrm = d->firstIndex->PDO_TRS;
+00137   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00138 
+00139   if (offsetObjdictPrm && offsetObjdict)
+00140     {
+00142       pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
+00143       MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
+00144       MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
+00145       while (subInd < *pMappingCount) { 
+00147         pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
+00148         MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
+00149         MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
+00150         MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
+00152         Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
+00153         objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
+00154                              (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
+00155                              (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
+00156 
+00157         if (objDict != OD_SUCCESSFUL) {
+00158           MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);
+00159           MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00160           MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00161           return 0xFF;
+00162         }
+00163 
+00164         offset += Size;
+00165         d->process_var.count = offset;
+00166         subInd++;
+00167       }
+00168     }
+00169   return 0;
+00170 }
+00171 #endif
+00172 
+00181 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
+00182 {
+00183   UNS32 * pwCobId;
+00184   UNS16          offset;
+00185   UNS16          lastIndex;
+00186   UNS8           err;
+00187 
+00188   MSG_WAR(0x3930, "sendPDOrequest ",0);
+00192   offset = d->firstIndex->PDO_RCV;
+00193   lastIndex = d->lastIndex->PDO_RCV;
+00194   if (offset)
+00195     while (offset <= lastIndex) {
+00197       pwCobId = d->objdict[offset].pSubindex[1].pObject;
+00198 
+00199       if ( *pwCobId  == cobId ) {
+00200         s_PDO pdo;
+00201         pdo.cobId = *pwCobId;
+00202         pdo.len = 0;
+00203         err  = sendPDO(d, pdo, REQUEST);
+00204         return err;
+00205       }
+00206       offset++;
+00207     }
+00208   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
+00209   return 0xFF;
+00210 }
+00211 
+00212 
+00221 UNS8 proceedPDO(CO_Data* d, Message *m)
+00222 {
+00223   UNS8   numPdo;
+00224   UNS8   numMap;  
+00225   UNS8 i;
+00226   UNS8 *     pMappingCount = NULL;    
+00231   UNS32 *    pMappingParameter = NULL;
+00232   UNS8  *    pTransmissionType = NULL; 
+00234   UNS32 *    pwCobId = NULL;
+00235   UNS8       Size;
+00236   UNS8       dataType;
+00237   UNS8       offset;
+00238   UNS8       status;
+00239   UNS32      objDict;
+00240   UNS16      offsetObjdict;
+00241   UNS16      lastIndex;
+00242   status = state1;
+00243 
+00244   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
+00245   offset = 0x00;
+00246   numPdo = 0;
+00247   numMap = 0;
+00248   if((*m).rtr == NOT_A_REQUEST ) { 
+00250     offsetObjdict = d->firstIndex->PDO_RCV;
+00251     lastIndex = d->lastIndex->PDO_RCV;
+00252 
+00254     if(offsetObjdict)
+00255       while (offsetObjdict <= lastIndex) {
+00256 
+00257         switch( status ) {
+00258 
+00259         case state1:
+00262           for ( i = 0 ; i < m->len ; i++)
+00263             d->process_var.data[i] = m->data[i];
+00264           d->process_var.count = (*m).len;
+00265 
+00266           status = state2;
+00267           break;
+00268 
+00269         case state2:
+00272           pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+00276           if ( *pwCobId == (*m).cob_id.w ){
+00278             status = state4;
+00279             MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
+00280             break;
+00281           }
+00282           else {
+00285             numPdo++;
+00286             offsetObjdict++;
+00287             status = state2;
+00288             break;
+00289           }
+00290 
+00291             case state4:
+00294                offsetObjdict = d->firstIndex->PDO_RCV_MAP;
+00295              lastIndex = d->lastIndex->PDO_RCV_MAP;
+00296              pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
+00297              numMap = 0;
+00298              while (numMap < *pMappingCount) {
+00299                UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+00300                UNS8 ByteSize;
+00301                pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
+00302                if (pMappingParameter == NULL) {
+00303                  MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
+00304                  return 0xFF;
+00305                }
+00313                Size = (UNS8)(*pMappingParameter);
 00314 
-00315         case state1:    /* check the CobId */
-00316                         /* get CobId of the dictionary which match to the received PDO */
-00317           pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;   
-00318           if ( *pwCobId == (*m).cob_id.w ) {
-00319             status = state4;
-00320             break;
-00321           }
-00322           else {
-00323             numPdo++;
-00324             offsetObjdict++;
-00325           }
-00326           status = state1;
-00327           break;
-00328 
-00329 
-00330         case state4:    /* check transmission type (after request?) */
-00331           pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
-00332           if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
-00333             status = state5;
-00334             break;
-00335           }
-00336           else {
-00337             /* The requested PDO is not to send on request. So, does nothing. */
-00338             MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
-00339             return 0xFF;
-00340           }
-00341 
-00342         case state5:    /* get mapped objects number */
-00343           offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-00344           lastIndex = d->lastIndex->PDO_TRS_MAP;
-00345           pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
-00346           numMap = 0;
-00347           while (numMap < *pMappingCount) {
-00348             pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
-00349             /* Get the mapped variable */
-00350             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); 
-00351             objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
-00352                                      (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
-00353                                      (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
-00354             if (objDict != OD_SUCCESSFUL) {
-00355               MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
-00356               MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00357               MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
-00358               return 0xFF;
-00359             }
-00360             offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
-00361             d->process_var.count = offset;
-00362             numMap++;
-00363 
-00364           } /* end while */
-00365           PDOmGR( d, *pwCobId ); /* Transmit the PDO */
-00366           return 0;
-00367 
-00368         }/* end switch status */
-00369       }/* end while      */                     
-00370     }/* end if Requete */
-00371                 
-00372   return 0;
-00373 }
-00374 
-00375 
-00376 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
-00377 {
-00378         //This loop copy as many bits that it can each time, crossing successively bytes
-00379         // boundaries from LSB to MSB.
-00380         while(NbBits > 0)
-00381         {
-00382                 // Bit missalignement between src and dest
-00383                 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
-00384                 
-00385                 // We can now get src and align it to dest
-00386                 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
-00387                 
-00388                 // Compute the nb of bit we will be able to copy
-00389                 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
-00390                 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
-00391 
-00392                 // Create a mask that will serve in:
-00393                 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
-00394 
-00395                 // - Filtering src
-00396                 UNS8 Filtered = Aligned & ~Mask;
-00397 
-00398                 // - and erase bits where we write, preserve where we don't
-00399                 *DestByteIndex &= Mask;
-00400 
-00401                 // Then write.
-00402                 *DestByteIndex |= Filtered ;
-00403 
-00404                 //Compute next time cursors for src
-00405                 if((SrcBitIndex += BitsToCopy)>7)       // cross boundary ?
-00406                 {
-00407                         SrcBitIndex = 0;                                                        // First bit
-00408                         SrcByteIndex += (SrcBigEndian ? -1 : 1);        // Next byte
-00409                 }
-00410 
-00411                 //Compute next time cursors for dest
-00412                 if((DestBitIndex += BitsToCopy)>7)
-00413                 {
-00414                         DestBitIndex = 0;                                                       // First bit
-00415                         DestByteIndex += (DestBigEndian ? -1 : 1);// Next byte
-00416                 }
-00417                 
-00418                 //And decrement counter.
-00419                 NbBits -= BitsToCopy;
-00420         }
-00421 
-00422 }
-00423 
-00424 #if 0
-00425 
-00426 /*********************************************************************/
-00427 /* TODO : reimplement this using CallBacks                           */
-00428 /*********************************************************************/
-00429 
-00430 UNS8 sendPDOevent( CO_Data* d, void * variable )
-00431 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.  */
-00432   UNS32           objDict = 0;
-00433   UNS8            ind, sub_ind;
-00434   UNS8            status; 
-00435   UNS8            offset;
-00436   UNS8 *     pMappingCount = NULL;
-00437   UNS32 *    pMappingParameter = NULL;
-00438   void *     pMappedAppObject = NULL;
-00439   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
-00440   UNS32 *    pwCobId = NULL;
-00441   UNS8 *     pSize;
-00442   UNS8       size;
-00443   UNS8       dataType;
-00444   UNS16      offsetObjdict;
-00445   UNS16      offsetObjdictPrm;
-00446   UNS16      lastIndex;
-00447   UNS8       numMap;
-00448   ind     = 0x00;
-00449   sub_ind = 1; 
-00450   offset  = 0x00;
-00451   pSize   = &size;
-00452   status  = state1;
-00453 
-00454   /* look for the index and subindex where the variable is mapped */
-00455   /* Then, send the pdo which contains the variable. */
-00456 
-00457   MSG_WAR (0x3960, "sendPDOevent", 0);
-00458   offsetObjdictPrm = d->firstIndex->PDO_TRS;
-00459   
-00460   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-00461   lastIndex = d->lastIndex->PDO_TRS_MAP;
-00462 
-00463   if (offsetObjdictPrm && offsetObjdict) 
-00464           /* Loop on PDO Transmit */
-00465           while(offsetObjdict <= lastIndex){
-00466             /* Check the transmission mode */
-00467             pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
-00468             if (*pTransmissionType != TRANS_EVENT) {
-00469               ind++;
-00470               offsetObjdict++;  
-00471               offsetObjdictPrm++;
-00472               continue;
-00473             }
-00474             pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; 
-00475             numMap = 1; /* mapped variable */
-00476             while (numMap <= *pMappingCount) {
-00477               pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
-00478               /* Get the variable */
-00479               objDict = getODentry( d,
-00480                                     (UNS16)((*pMappingParameter) >> 16), 
-00481                                     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
-00482                                     (void * *)&pMappedAppObject, pSize, &dataType, 0 );
-00483               if( objDict != OD_SUCCESSFUL ) {  
-00484                 MSG_WAR(0x2961, "Error in dict. at index : ", 
-00485                         (*pMappingParameter) >> (UNS8)16);
-00486               
-00487                 MSG_WAR(0x2962, "               subindex : ", 
-00488                         ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
-00489                 return 0xFF;
-00490               }
-00491               if (pMappedAppObject == variable) { // Variable found !
-00492                 MSG_WAR(0x3963, "Variable to send found at index : ", 
-00493                         (*pMappingParameter) >> 16);
-00494                 MSG_WAR(0x3964, "                       subIndex : ", 
-00495                         ((*pMappingParameter) >> 8 ) & 0x000000FF);
-00496                 buildPDO(d, 0x1800 + ind);
-00497                 /* Get the cobId */
-00498                 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
-00499                 PDOmGR( d, *pwCobId ); /* Send the PDO */
-00500                 return 0;           
-00501               }
-00502               numMap++;
-00503             } /* End loop on mapped variable */
-00504             ind++;      
-00505             offsetObjdict++;  
-00506             offsetObjdictPrm++;
-00507           } /* End loop while on PDO */
-00508 
-00509   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
-00510   return 0xFF;
-00511 
-00512 }
-00513 #endif
-
/home/epimerde/documents/tc11/CanFestival-3/src/pdo.c
