CanFestival: 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
+