CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/pdo.c Source File

00001 /*
+
+src
+pdo.c
Go to the documentation of this file.00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
 00004 
@@ -38,55 +42,62 @@
 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"
+00024 #include "pdo.h"
+00025 #include "objacces.h"
+00026 #include "canfestival.h"
 00027 
-00037 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
+00037 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
 00038 {
-00039   UNS8 i;
-00040   if( d->nodeState == Operational ) {
-00041     Message m;
+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];
+00043     /* Message copy for sending */
+00044     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes
+00045                                       length */
+00046     if ( req == NOT_A_REQUEST ) {
+00047       UNS8 i;
+00048       m.rtr = NOT_A_REQUEST;
+00049       m.len = pdo.len;
+00050       /* memcpy(&m.data, &pdo.data, m.len); */
+00051       /* This Memcpy depends on packing structure. Avoid */
+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;
+00056       m.rtr = REQUEST;
+00057       m.len = 0;
 00058     }
 00059 
-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]);
+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   } 
+00066     return canSend(d->canHandle,&m);
+00067   } /* end if */
 00068   return 0xFF;
 00069 }
 00070 
-00079 UNS8 PDOmGR(CO_Data* d, UNS32 cobId)
+00079 UNS8 PDOmGR(CO_Data* d, UNS32 cobId)
 00080 {
-00081   UNS8 res;
-00082   UNS8 i;
-00083   s_PDO pdo;
+00081   UNS8 res;
+00082   UNS8 i;
+00083   s_PDO pdo;
 00084 
-00085   MSG_WAR(0x3905, "PDOmGR",0);
+00085   MSG_WAR(0x3905, "PDOmGR",0);
 00086 
-00089   pdo.cobId = cobId;
-00090   pdo.len =  d->process_var.count;
+00087   /* if PDO is waiting for transmission,
+00088     preparation of the message to send */
+00089   pdo.cobId = cobId;
+00090   pdo.len =  d->process_var.count;
+00091   /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
 00092      /* Ce memcpy devrait tre portable */
-00093     for ( i = 0 ; i < pdo.len ; i++) 
-00094       pdo.data[i] = d->process_var.data[i];
+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);
+00096     res = sendPDO(d, pdo, NOT_A_REQUEST);
 00097 
 00098     return res;
 00099 }
@@ -96,291 +107,348 @@
 00103 /* TODO : implement bit mapping                                                  */
 00104 /*********************************************************************/
 00105 
-00106 UNS8 buildPDO(CO_Data* d, UNS16 index)
+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;
+00108   UNS16 ind;
+00109   UNS8      subInd;
 00110 
-00111   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
+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;
+00116   UNS32 *    pMappingParameter = NULL;
 00117 
-00118   UNS8      Size;
-00119   UNS8      dataType;
-00120   UNS8      offset;
-00121   UNS16     offsetObjdict;
-00122   UNS16     offsetObjdictPrm;
-00123   UNS32     objDict;
+00118   UNS8      Size;
+00119   UNS8      dataType;
+00120   UNS8      offset;
+00121   UNS16     offsetObjdict;
+00122   UNS16     offsetObjdictPrm;
+00123   UNS32     objDict;
 00124 
-00125   subInd=(UNS8)0x00;
+00125   subInd=(UNS8)0x00;
 00126   offset = 0x00;
 00127   ind = index - 0x1800;
 00128 
-00129   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
+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);
+00131   /* only operational state allows PDO transmission */
+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;
+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 );
+00141       /* get mapped objects number to transmit with this PDO */
+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) { /* Loop on mapped variables */
+00146         /* get mapping parameters */
+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);
+00151         /* Get the mapped variable */
+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);
+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;
+00165         d->process_var.count = offset;
 00166         subInd++;
-00167       }
+00167       }/* end Loop on mapped variables  */
 00168     }
 00169   return 0;
 00170 }
 00171 #endif
 00172 
-00181 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
+00181 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
 00182 {
-00183   UNS32 * pwCobId;
-00184   UNS16          offset;
-00185   UNS16          lastIndex;
-00186   UNS8           err;
+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;
+00188   MSG_WAR(0x3930, "sendPDOrequest ",0);
+00189   /* Sending the request only if the cobid have been found on the PDO
+00190      receive */
+00191   /* part dictionary */
+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;
+00196       /* get the CobId*/
+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);
+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);
+00208   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
 00209   return 0xFF;
 00210 }
 00211 
 00212 
-00221 UNS8 proceedPDO(CO_Data* d, Message *m)
+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;
+00223   UNS8   numPdo;
+00224   UNS8   numMap;  /* Number of the mapped varable */
+00225   UNS8 i;
+00226   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
+00227   /* pointer to the var which is mapped to a pdo... */
+00228   /*  void *     pMappedAppObject = NULL;   */
+00229   /* pointer fo the var which holds the mapping parameter of an
+00230      mapping entry */
+00231   UNS32 *    pMappingParameter = NULL;
+00232   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission
+00233                                          type */
+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));
+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;
+00248   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
+00249                                      request. */
+00250     offsetObjdict = d->firstIndex->PDO_RCV;
+00251     lastIndex = d->lastIndex->PDO_RCV;
 00252 
+00253     /* study of all the PDO stored in the dictionary */
 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;
+00259         case state1:/* data are stored in process_var array */
+00260           /* memcpy(&(process_var.data), &m->data, (*m).len); */
+00261           /* Ce memcpy devrait etre portable */
+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;
+00266           status = state2;
 00267           break;
 00268 
-00269         case state2:
-00272           pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+00269         case state2:
+00270           /* get CobId of the dictionary correspondant to the received
+00271              PDO */
+00272           pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+00273           /* check the CobId coherance */
+00274           /*pwCobId is the cobId read in the dictionary at the state 3
+00275             */
 00276           if ( *pwCobId == (*m).cob_id.w ){
-00278             status = state4;
-00279             MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
+00277             /* The cobId is recognized */
+00278             status = state4;
+00279             MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
 00280             break;
 00281           }
 00282           else {
+00283             /* cobId received does not match with those write in the
+00284               dictionnary */
 00285             numPdo++;
 00286             offsetObjdict++;
-00287             status = state2;
+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;
+00291             case state4:/* Get Mapped Objects Number */
+00292                /* The cobId of the message received has been found in the
+00293                  dictionnary. */
+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;
+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);
+00303                  MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
 00304                  return 0xFF;
 00305                }
-00313                Size = (UNS8)(*pMappingParameter);
+00306                /* Get the addresse of the mapped variable. */
+00307                /* detail of *pMappingParameter : */
+00308                /* The 16 hight bits contains the index, the medium 8 bits
+00309                  contains the subindex, */
+00310                /* and the lower 8 bits contains the size of the mapped
+00311                  variable. */
+00312 
+00313                Size = (UNS8)(*pMappingParameter);
 00314 
-00316                CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
+00315                /* copy bit per bit in little endian */
+00316                CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
 00317 
 00318                ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
 00319                                                    2, ... */
 00320 
-00321                objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
-00322                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
+00321                objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
+00322                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
 00323                                  tmp, &ByteSize, 0 );
 00324 
-00325                if(objDict != OD_SUCCESSFUL) {
-00326                  MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
-00327                  MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00328                  MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00325                if(objDict != OD_SUCCESSFUL) {
+00326                  MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
+00327                  MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00328                  MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
 00329                  return 0xFF;
 00330                }
 00331 
-00332                MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
-00333                MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00334                MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00332                MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
+00333                MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00334                MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00335                /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */
 00336                offset += Size;
 00337                numMap++;
-00338              } 
+00338              } /* end loop while on mapped variables */
+00339 
 00340              offset=0x00;
 00341              numMap = 0;
 00342              return 0;
 00343 
-00344         }
-00345       }
-00346   }
-00347   else if ((*m).rtr == REQUEST ){
-00348     MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
-00349     status = state1;
-00350     offsetObjdict = d->firstIndex->PDO_TRS;
-00351     lastIndex = d->lastIndex->PDO_TRS;
+00344         }/* end switch status*/
+00345       }/* end while*/
+00346   }/* end if Donnees */
+00347   else if ((*m).rtr == REQUEST ){
+00348     MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
+00349     status = state1;
+00350     offsetObjdict = d->firstIndex->PDO_TRS;
+00351     lastIndex = d->lastIndex->PDO_TRS;
 00352     if(offsetObjdict) while( offsetObjdict  <= lastIndex ){
+00353       /* study of all PDO stored in the objects dictionary */
+00354 
 00355       switch( status ){
 00356 
-00357       case state1:
-00360         pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
+00357       case state1:/* check the CobId */
+00358         /* get CobId of the dictionary which match to the received PDO
+00359          */
+00360         pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;
 00361         if ( *pwCobId == (*m).cob_id.w ) {
-00362           status = state4;
+00362           status = state4;
 00363           break;
 00364         }
 00365         else {
 00366           numPdo++;
 00367           offsetObjdict++;
 00368         }
-00369         status = state1;
+00369         status = state1;
 00370         break;
 00371 
 00372 
-00373       case state4:
-00374         pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
-00375         if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
-00376           status = state5;
+00373       case state4:/* check transmission type (after request?) */
+00374         pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
+00375         if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
+00376           status = state5;
 00377           break;
 00378         }
 00379         else {
-00382           MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
+00380           /* The requested PDO is not to send on request. So, does
+00381             nothing. */
+00382           MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
 00383           return 0xFF;
 00384         }
 00385 
-00386       case state5:
-00387         offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-00388         lastIndex = d->lastIndex->PDO_TRS_MAP;
-00389         pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
+00386       case state5:/* get mapped objects number */
+00387         offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00388         lastIndex = d->lastIndex->PDO_TRS_MAP;
+00389         pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
 00390         numMap = 0;
 00391         while (numMap < *pMappingCount) {
-00392           pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
-00394           Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
-00395           objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
-00396                                 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
-00397                                 (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
-00398           if (objDict != OD_SUCCESSFUL) {
-00399             MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
-00400             MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
-00401             MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00392           pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
+00393           /* Get the mapped variable */
+00394           Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
+00395           objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16),
+00396                                 (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
+00397                                 (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
+00398           if (objDict != OD_SUCCESSFUL) {
+00399             MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);
+00400             MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00401             MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
 00402             return 0xFF;
 00403           }
-00404           offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
-00405           d->process_var.count = offset;
+00404           offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
+00405           d->process_var.count = offset;
 00406           numMap++;
 00407 
-00408         } 
-00409         PDOmGR( d, *pwCobId ); 
+00408         } /* end while */
+00409         PDOmGR( d, *pwCobId ); /* Transmit the PDO */
 00410         return 0;
 00411 
-00412       }
-00413     }
-00414   }
+00412       }/* end switch status */
+00413     }/* end while */
+00414   }/* end if Requete */
+00415 
 00416   return 0;
 00417 }
 00418 
-00430 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
+00430 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
 00431 {
+00432   /* This loop copy as many bits that it can each time, crossing*/
+00433   /* successively bytes*/
 00434   // boundaries from LSB to MSB.
 00435   while(NbBits > 0)
 00436     {
-00438       INTEGER8 Vect = DestBitIndex - SrcBitIndex;
+00437       /* Bit missalignement between src and dest*/
+00438       INTEGER8 Vect = DestBitIndex - SrcBitIndex;
 00439 
-00441       UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
+00440       /* We can now get src and align it to dest*/
+00441       UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
 00442 
-00444       UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
-00445       UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
+00443       /* Compute the nb of bit we will be able to copy*/
+00444       UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
+00445       UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
 00446 
-00448       UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
+00447       /* Create a mask that will serve in:*/
+00448       UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
 00449 
-00451       UNS8 Filtered = Aligned & ~Mask;
+00450       /* - Filtering src*/
+00451       UNS8 Filtered = Aligned & ~Mask;
 00452 
+00453       /* - and erase bits where we write, preserve where we don't*/
 00454       *DestByteIndex &= Mask;
 00455 
+00456       /* Then write.*/
 00457       *DestByteIndex |= Filtered ;
 00458 
-00460       if((SrcBitIndex += BitsToCopy)>7)
+00459       /*Compute next time cursors for src*/
+00460       if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
 00461         {
-00462           SrcBitIndex = 0;
-00463           SrcByteIndex += (SrcBigEndian ? -1 : 1);
+00462           SrcBitIndex = 0;/* First bit*/
+00463           SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
 00464         }
 00465 
 00466 
+00467       /*Compute next time cursors for dest*/
 00468       if((DestBitIndex += BitsToCopy)>7)
 00469         {
-00470           DestBitIndex = 0;
-00471           DestByteIndex += (DestBigEndian ? -1 : 1);
+00470           DestBitIndex = 0;/* First bit*/
+00471           DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
 00472         }
 00473 
+00474       /*And decrement counter.*/
 00475       NbBits -= BitsToCopy;
 00476     }
 00477 
@@ -393,79 +461,89 @@
 00484  */
 00485 /*********************************************************************/
 00486 
-00495 UNS8 sendPDOevent( CO_Data* d, void * variable )
-00496 { 
-00498   UNS32           objDict = 0;
-00499   UNS8            ind, sub_ind;
-00500   UNS8            status;
-00501   UNS8            offset;
-00502   UNS8 *     pMappingCount = NULL;
-00503   UNS32 *    pMappingParameter = NULL;
+00495 UNS8 sendPDOevent( CO_Data* d, void * variable )
+00496 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
+00497     loop if it fails.*/
+00498   UNS32           objDict = 0;
+00499   UNS8            ind, sub_ind;
+00500   UNS8            status;
+00501   UNS8            offset;
+00502   UNS8 *     pMappingCount = NULL;
+00503   UNS32 *    pMappingParameter = NULL;
 00504   void *     pMappedAppObject = NULL;
-00505   UNS8 *     pTransmissionType = NULL; 
-00507   UNS32 *    pwCobId = NULL;
-00508   UNS8 *     pSize;
-00509   UNS8       size;
-00510   UNS8       dataType;
-00511   UNS16      offsetObjdict;
-00512   UNS16      offsetObjdictPrm;
-00513   UNS16      lastIndex;
-00514   UNS8       numMap;
+00505   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission
+00506                                          type */
+00507   UNS32 *    pwCobId = NULL;
+00508   UNS8 *     pSize;
+00509   UNS8       size;
+00510   UNS8       dataType;
+00511   UNS16      offsetObjdict;
+00512   UNS16      offsetObjdictPrm;
+00513   UNS16      lastIndex;
+00514   UNS8       numMap;
 00515   ind     = 0x00;
 00516   sub_ind = 1;
 00517   offset  = 0x00;
 00518   pSize   = &size;
-00519   status  = state1;
+00519   status  = state1;
 00520 
 00521 
-00525   MSG_WAR (0x3960, "sendPDOevent", 0);
-00526   offsetObjdictPrm = d->firstIndex->PDO_TRS;
+00522   /* look for the index and subindex where the variable is mapped */
+00523   /* Then, send the pdo which contains the variable. */
+00524 
+00525   MSG_WAR (0x3960, "sendPDOevent", 0);
+00526   offsetObjdictPrm = d->firstIndex->PDO_TRS;
 00527 
-00528   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
-00529   lastIndex = d->lastIndex->PDO_TRS_MAP;
+00528   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00529   lastIndex = d->lastIndex->PDO_TRS_MAP;
 00530 
 00531   if (offsetObjdictPrm && offsetObjdict)
+00532     /* Loop on PDO Transmit */
 00533     while(offsetObjdict <= lastIndex){
-00535       pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
-00536       if (*pTransmissionType != TRANS_EVENT) {
+00534       /* Check the transmission mode */
+00535       pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
+00536       if (*pTransmissionType != TRANS_EVENT) {
 00537         ind++;
 00538         offsetObjdict++;
 00539         offsetObjdictPrm++;
 00540         continue;
 00541       }
-00542       pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
-00543       numMap = 1; 
+00542       pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
+00543       numMap = 1; /* mapped variable */
 00544       while (numMap <= *pMappingCount) {
-00545         pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
-00547         objDict = getODentry( d,
-00548                               (UNS16)((*pMappingParameter) >> 16),
-00549                               (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
+00545         pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
+00546         /* Get the variable */
+00547         objDict = getODentry( d,
+00548                               (UNS16)((*pMappingParameter) >> 16),
+00549                               (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
 00550                               (void * *)&pMappedAppObject, pSize, &dataType, 0 );
-00551         if( objDict != OD_SUCCESSFUL ) {
-00552           MSG_WAR(0x2961, "Error in dict. at index : ",
-00553                   (*pMappingParameter) >> (UNS8)16);
+00551         if( objDict != OD_SUCCESSFUL ) {
+00552           MSG_WAR(0x2961, "Error in dict. at index : ",
+00553                   (*pMappingParameter) >> (UNS8)16);
 00554 
-00555           MSG_WAR(0x2962, "               subindex : ",
-00556                   ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
+00555           MSG_WAR(0x2962, "               subindex : ",
+00556                   ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
 00557           return 0xFF;
 00558         }
 00559         if (pMappedAppObject == variable) { // Variable found !
-00560           MSG_WAR(0x3963, "Variable to send found at index : ",
+00560           MSG_WAR(0x3963, "Variable to send found at index : ",
 00561                   (*pMappingParameter) >> 16);
-00562           MSG_WAR(0x3964, "                       subIndex : ",
+00562           MSG_WAR(0x3964, "                       subIndex : ",
 00563                   ((*pMappingParameter) >> 8 ) & 0x000000FF);
-00564           buildPDO(d, 0x1800 + ind);
-00566           pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
-00567           PDOmGR( d, *pwCobId ); 
+00564           buildPDO(d, 0x1800 + ind);
+00565           /* Get the cobId */
+00566           pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
+00567           PDOmGR( d, *pwCobId ); /* Send the PDO */
 00568           return 0;
 00569         }
 00570         numMap++;
-00571       } 
+00571       } /* End loop on mapped variable */
 00572       ind++;
 00573       offsetObjdict++;
 00574       offsetObjdictPrm++;
-00575     } 
-00577   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
+00575     } /* End loop while on PDO */
+00576 
+00577   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
 00578   return 0xFF;
 00579 
 00580 }
@@ -473,7 +551,7 @@
 00582 
 00583 
 00584 
-
Generated on Tue Jun 5 18:32:05 2007 for CanFestival by 
+