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 +
1.5.1
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