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

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
#include "pdo.h"
#include "objacces.h"
#include "canfestival.h"

/****************************************************************************/
UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
{
  UNS8 i;
  if( d->nodeState == Operational ) {
    Message m;

    /* Message copy for sending */
    m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
    if ( req == NOT_A_REQUEST ) {
      UNS8 i;
      m.rtr = NOT_A_REQUEST;
      m.len = pdo.len;
      /* memcpy(&m.data, &pdo.data, m.len); */
      /* This Memcpy depends on packing structure. Avoid */
      for (i = 0 ; i < pdo.len ; i++)
        m.data[i] = pdo.data[i];
    }
    else {
      m.rtr = REQUEST;
      m.len = 0;
    }

    MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
    MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
    for (i = 0 ; i < m.len ; i++) {
      MSG_WAR(0x3903,"           data : ", m.data[i]);
    }
                  
    return canSend(d->canHandle,&m);
  } /* end if */
  return 0xFF;
}

/***************************************************************************/
UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
{
  UNS8 res;
  UNS8 i;
  s_PDO pdo;

  MSG_WAR(0x3905, "PDOmGR",0);
        
  /* if PDO is waiting for transmission,
     preparation of the message to send */
    pdo.cobId = cobId;
    pdo.len =  d->process_var.count;
    /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
    /* Ce memcpy devrait être portable */
    for ( i = 0 ; i < pdo.len ; i++) 
      pdo.data[i] = d->process_var.data[i];

    res = sendPDO(d, pdo, NOT_A_REQUEST);

    return res;
}

#if 0
/*********************************************************************/
/* TODO : implement bit mapping                                                  */
/*********************************************************************/

UNS8 buildPDO(CO_Data* d, UNS16 index)
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */       
  UNS16 ind;
  UNS8      subInd;

  UNS8 *     pMappingCount = NULL;      /* 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  */ 
  UNS32 *    pMappingParameter = NULL;  

  UNS8      Size;
  UNS8      dataType;
  UNS8      offset;
  UNS16     offsetObjdict;
  UNS16     offsetObjdictPrm;
  UNS32     objDict;

  subInd=(UNS8)0x00;
  offset = 0x00;
  ind = index - 0x1800;
  
  MSG_WAR(0x3910,"Prepare PDO to send index :", index);

  /* only operational state allows PDO transmission */
  if( d->nodeState != Operational ) {
    MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
    return 0xFF;
  }
  offsetObjdictPrm = d->firstIndex->PDO_TRS;
  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
  
  if (offsetObjdictPrm && offsetObjdict)
  {
          /* get mapped objects number to transmit with this PDO */
          pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
          MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
          MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
          while (subInd < *pMappingCount) { /* Loop on mapped variables */
            /* get mapping parameters */
            pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
            MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
            MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
            MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
            /* Get the mapped variable */
            Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
                objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
                                    (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
                                    (void *)&d->process_var.data[offset], &Size, &dataType, 0 );  

             if (objDict != OD_SUCCESSFUL) {
                MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
                MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
                MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
                return 0xFF;
             } 

              offset += Size;
              d->process_var.count = offset;
              subInd++;                                 
        }/* end Loop on mapped variables  */
  }
  return 0;
}
#endif
/**************************************************************************/
UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
{               
  UNS32 *        pwCobId;       
  UNS16          offset;
  UNS16          lastIndex;
  UNS8           err;

  MSG_WAR(0x3930, "sendPDOrequest ",0);  
  /* Sending the request only if the cobid have been found on the PDO receive */
  /* part dictionary */
  offset = d->firstIndex->PDO_RCV;
  lastIndex = d->lastIndex->PDO_RCV;
  if (offset)
          while (offset <= lastIndex) {
            /*get the CobId*/
            pwCobId = d->objdict[offset].pSubindex[1].pObject;
              
            if ( *pwCobId  == cobId ) {
              s_PDO pdo;
              pdo.cobId = *pwCobId;
              pdo.len = 0;
              err  = sendPDO(d, pdo, REQUEST);  
              return err;
            }
            offset++;
          }
  MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
  return 0xFF;
}



/***********************************************************************/
UNS8 proceedPDO(CO_Data* d, Message *m)
{               
  UNS8   numPdo;
  UNS8   numMap;  /* Number of the mapped varable */                      
  UNS8 i;
  UNS8 *     pMappingCount = NULL;    /* 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 */
  UNS32 *    pMappingParameter = NULL;  
  UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
  UNS32 *    pwCobId = NULL;
  UNS8       Size;
  UNS8       dataType;
  UNS8       offset;
  UNS8       status;
  UNS32      objDict;
  UNS16      offsetObjdict;
  UNS16      lastIndex;
  status = state1;
 
  MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
  offset = 0x00;
  numPdo = 0;
  numMap = 0;
  if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
    offsetObjdict = d->firstIndex->PDO_RCV;
    lastIndex = d->lastIndex->PDO_RCV;
    
    /* study of all the PDO stored in the dictionary */   
    if(offsetObjdict)
            while (offsetObjdict <= lastIndex) {
                        
              switch( status ) {
                                                
                case state1:    /* data are stored in process_var array */
                  /* memcpy(&(process_var.data), &m->data, (*m).len); */
                  /* Ce memcpy devrait être portable. */
                  for ( i = 0 ; i < m->len ; i++) 
                    d->process_var.data[i] = m->data[i];
                  d->process_var.count = (*m).len;
        
                  status = state2; 
                  break;
        
                case state2:
                  /* get CobId of the dictionary correspondant to the received PDO */
                  pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; 
                  /* check the CobId coherance */
                  /*pwCobId is the cobId read in the dictionary at the state 3 */
                  if ( *pwCobId == (*m).cob_id.w ){
                    /* The cobId is recognized */
                    status = state4;
                    MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
                    break;
                  }
                  else {
                    /* cobId received does not match with those write in the dictionnary */
                    numPdo++;
                    offsetObjdict++;
                    status = state2;
                    break;
                  }
        
                case state4:    /* get mapped objects number */
                  /* The cobId of the message received has been found in the dictionnary. */
                  offsetObjdict = d->firstIndex->PDO_RCV_MAP;
                  lastIndex = d->lastIndex->PDO_RCV_MAP;
                  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;    
                  numMap = 0;
                  while (numMap < *pMappingCount) {
                        UNS8 tmp[]= {0,0,0,0,0,0,0,0};
                        UNS8 ByteSize;
                    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
                    if (pMappingParameter == NULL) {
                      MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
                      return 0xFF;
                    }
                        /* 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. */
                    
                    Size = (UNS8)(*pMappingParameter);
                        
                        /* copy bit per bit in little endian */
                        CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
                        
                        ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
                        
                    objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
                                            (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
                                                tmp, &ByteSize, 0 );
                                                
                    if(objDict != OD_SUCCESSFUL) {
                      MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
                      MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
                      MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
                      return 0xFF;
                    }

                    MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
                    MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
                    MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
                    /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
                    offset += Size;
                    numMap++;
                  } /* end loop while on mapped variables */
                  
                  offset=0x00;          
                  numMap = 0;
                  return 0;
                  
              }/* end switch status     */       
            }/* end while       */
  }/* end if Donnees */


  else if ((*m).rtr == REQUEST ){  
      MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
      status = state1;
      offsetObjdict = d->firstIndex->PDO_TRS;
      lastIndex = d->lastIndex->PDO_TRS;
      if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
        /* study of all PDO stored in the objects dictionary */

        switch( status ){

        case state1:    /* check the CobId */
                        /* get CobId of the dictionary which match to the received PDO */
          pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;   
          if ( *pwCobId == (*m).cob_id.w ) {
            status = state4;
            break;
          }
          else {
            numPdo++;
            offsetObjdict++;
          }
          status = state1;
          break;


        case state4:    /* check transmission type (after request?) */
          pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
          if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
            status = state5;
            break;
          }
          else {
            /* The requested PDO is not to send on request. So, does nothing. */
            MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
            return 0xFF;
          }

        case state5:    /* get mapped objects number */
          offsetObjdict = d->firstIndex->PDO_TRS_MAP;
          lastIndex = d->lastIndex->PDO_TRS_MAP;
          pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
          numMap = 0;
          while (numMap < *pMappingCount) {
            pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
            /* Get the mapped variable */
            Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); 
            objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
                                     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
                                     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
            if (objDict != OD_SUCCESSFUL) {
              MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
              MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
              MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
              return 0xFF;
            }
            offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
            d->process_var.count = offset;
            numMap++;

          } /* end while */
          PDOmGR( d, *pwCobId ); /* Transmit the PDO */
          return 0;

        }/* end switch status */
      }/* end while      */                     
    }/* end if Requete */
                
  return 0;
}


void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
{
        //This loop copy as many bits that it can each time, crossing successively bytes
        // boundaries from LSB to MSB.
        while(NbBits > 0)
        {
                // Bit missalignement between src and dest
                INTEGER8 Vect = DestBitIndex - SrcBitIndex;
                
                // We can now get src and align it to dest
                UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
                
                // Compute the nb of bit we will be able to copy
                UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
                UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;

                // Create a mask that will serve in:
                UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));

                // - Filtering src
                UNS8 Filtered = Aligned & ~Mask;

                // - and erase bits where we write, preserve where we don't
                *DestByteIndex &= Mask;

                // Then write.
                *DestByteIndex |= Filtered ;

                //Compute next time cursors for src
                if((SrcBitIndex += BitsToCopy)>7)       // cross boundary ?
                {
                        SrcBitIndex = 0;                                                        // First bit
                        SrcByteIndex += (SrcBigEndian ? -1 : 1);        // Next byte
                }

                //Compute next time cursors for dest
                if((DestBitIndex += BitsToCopy)>7)
                {
                        DestBitIndex = 0;                                                       // First bit
                        DestByteIndex += (DestBigEndian ? -1 : 1);// Next byte
                }
                
                //And decrement counter.
                NbBits -= BitsToCopy;
        }

}

#if 0

/*********************************************************************/
/* TODO : reimplement this using CallBacks                           */
/*********************************************************************/

UNS8 sendPDOevent( CO_Data* d, void * variable )
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.  */
  UNS32           objDict = 0;
  UNS8            ind, sub_ind;
  UNS8            status; 
  UNS8            offset;
  UNS8 *     pMappingCount = NULL;
  UNS32 *    pMappingParameter = NULL;
  void *     pMappedAppObject = NULL;
  UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
  UNS32 *    pwCobId = NULL;
  UNS8 *     pSize;
  UNS8       size;
  UNS8       dataType;
  UNS16      offsetObjdict;
  UNS16      offsetObjdictPrm;
  UNS16      lastIndex;
  UNS8       numMap;
  ind     = 0x00;
  sub_ind = 1; 
  offset  = 0x00;
  pSize   = &size;
  status  = state1;

  /* look for the index and subindex where the variable is mapped */
  /* Then, send the pdo which contains the variable. */

  MSG_WAR (0x3960, "sendPDOevent", 0);
  offsetObjdictPrm = d->firstIndex->PDO_TRS;
  
  offsetObjdict = d->firstIndex->PDO_TRS_MAP;
  lastIndex = d->lastIndex->PDO_TRS_MAP;

  if (offsetObjdictPrm && offsetObjdict) 
          /* Loop on PDO Transmit */
          while(offsetObjdict <= lastIndex){
            /* Check the transmission mode */
            pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
            if (*pTransmissionType != TRANS_EVENT) {
              ind++;
              offsetObjdict++;  
              offsetObjdictPrm++;
              continue;
            }
            pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; 
            numMap = 1; /* mapped variable */
            while (numMap <= *pMappingCount) {
              pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
              /* Get the variable */
              objDict = getODentry( d,
                                    (UNS16)((*pMappingParameter) >> 16), 
                                    (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
                                    (void * *)&pMappedAppObject, pSize, &dataType, 0 );
              if( objDict != OD_SUCCESSFUL ) {  
                MSG_WAR(0x2961, "Error in dict. at index : ", 
                        (*pMappingParameter) >> (UNS8)16);
              
                MSG_WAR(0x2962, "               subindex : ", 
                        ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
                return 0xFF;
              }
              if (pMappedAppObject == variable) { // Variable found !
                MSG_WAR(0x3963, "Variable to send found at index : ", 
                        (*pMappingParameter) >> 16);
                MSG_WAR(0x3964, "                       subIndex : ", 
                        ((*pMappingParameter) >> 8 ) & 0x000000FF);
                buildPDO(d, 0x1800 + ind);
                /* Get the cobId */
                pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
                PDOmGR( d, *pwCobId ); /* Send the PDO */
                return 0;           
              }
              numMap++;
            } /* End loop on mapped variable */
            ind++;      
            offsetObjdict++;  
            offsetObjdictPrm++;
          } /* End loop while on PDO */

  MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
  return 0xFF;

}
#endif

---