#include "pdo.h"#include "objacces.h"#include "canfestival.h"Include dependency graph for pdo.c:
Go to the source code of this file.
Functions | |
| UNS8 | sendPDO (CO_Data *d, s_PDO pdo, UNS8 req) |
| UNS8 | PDOmGR (CO_Data *d, UNS32 cobId) |
| UNS8 | sendPDOrequest (CO_Data *d, UNS32 cobId) |
| UNS8 | proceedPDO (CO_Data *d, Message *m) |
| void | CopyBits (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian) |
Definition in file pdo.c.
| void CopyBits | ( | UNS8 | NbBits, | |
| UNS8 * | SrcByteIndex, | |||
| UNS8 | SrcBitIndex, | |||
| UNS8 | SrcBigEndian, | |||
| UNS8 * | DestByteIndex, | |||
| UNS8 | DestBitIndex, | |||
| UNS8 | DestBigEndian | |||
| ) |
| NbBits | ||
| SrcByteIndex | ||
| SrcBitIndex | ||
| SrcBigEndian | ||
| DestByteIndex | ||
| DestBitIndex | ||
| DestBigEndian |
This loop copy as many bits that it can each time, crossing
successively bytes
Bit missalignement between src and dest
We can now get src and align it to dest
Compute the nb of bit we will be able to copy
Create a mask that will serve in:
Then write.
Compute next time cursors for src
cross boundary ?
First bit
Next byte
Compute next time cursors for dest
First bit
Next byte
And decrement counter.
Definition at line 430 of file pdo.c.
Referenced by proceedPDO(), and proceedSYNC().
| UNS8 PDOmGR | ( | CO_Data * | d, | |
| UNS32 | cobId | |||
| ) |
PDO Manager
| d | ||
| cobId |
if PDO is waiting for transmission, preparation of the message to send
memcpy(&(pdo.data), &(process_var.data), pdo.len);
Definition at line 79 of file pdo.c.
References sendPDO().
Referenced by proceedPDO(), and proceedSYNC().
Here is the call graph for this function:
| UNS8 proceedPDO | ( | CO_Data * | d, | |
| Message * | m | |||
| ) |
| d | ||
| m |
Number of the mapped varable
count of mapped objects...
pointer to the var which is mapped to a pdo...
void * pMappedAppObject = NULL;
pointer fo the var which holds the mapping parameter of an mapping entry
pointer to the transmission type
The PDO received is not a request.
study of all the PDO stored in the dictionary
data are stored in process_var array
memcpy(&(process_var.data), &m->data, (*m).len);
Ce memcpy devrait etre portable
get CobId of the dictionary correspondant to the received PDO
check the CobId coherance
pwCobId is the cobId read in the dictionary at the state 3
The cobId is recognized
cobId received does not match with those write in the dictionnary
Get Mapped Objects Number
The cobId of the message received has been found in the dictionnary.
Get the addresse of the mapped variable.
detail of *pMappingParameter :
The 16 hight bits contains the index, the medium 8 bits contains the subindex,
and the lower 8 bits contains the size of the mapped variable.
copy bit per bit in little endian
MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject));
end loop while on mapped variables
end switch status
end while
end if Donnees
study of all PDO stored in the objects dictionary
check the CobId
get CobId of the dictionary which match to the received PDO
check transmission type (after request?)
The requested PDO is not to send on request. So, does nothing.
get mapped objects number
Get the mapped variable
end while
Transmit the PDO
end switch status
end while
end if Requete
Definition at line 221 of file pdo.c.
References CopyBits(), getODentry(), PDOmGR(), and setODentry().
Referenced by canDispatch().
Here is the call graph for this function:
| UNS8 sendPDO | ( | CO_Data * | d, | |
| s_PDO | pdo, | |||
| UNS8 | req | |||
| ) |
| UNS8 sendPDOrequest | ( | CO_Data * | d, | |
| UNS32 | cobId | |||
| ) |
1.5.1
