CanFestival: /home/epimerde/documents/tc11/CanFestival-3/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 /* 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);
-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
-