pdo.h File Reference

#include <applicfg.h>
#include <def.h>
#include "data.h"

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Data Structures
struct	struct_s_process_var
struct	struct_s_PDO
Typedefs
typedef struct_s_process_var	s_process_var
typedef struct_s_PDO	s_PDO
Functions
UNS8	sendPDO (CO_Data *d, s_PDO pdo, UNS8 request)
UNS8	PDOmGR (CO_Data *d, UNS32 cobId)
UNS8	buildPDO (CO_Data *d, UNS16 index)
UNS8	sendPDOrequest (CO_Data *d, UNS32 cobId)
UNS8	proceedPDO (CO_Data *d, Message *m)
UNS8	sendPDOevent (CO_Data *d, void *variable)
void	CopyBits (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)

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Typedef Documentation

typedef struct struct_s_PDO s_PDO

The PDO structure

typedef struct struct_s_process_var s_process_var

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Function Documentation

UNS8 buildPDO	(	CO_Data *	d,
		UNS16	index
	)

Prepare the PDO defined at index to be sent by PDOmGR Copy all the data to transmit in process_var *pwCobId : returns the value of the cobid. (subindex 1) Return 0 or 0xFF if error.

void CopyBits	(	UNS8	NbBits,
		UNS8 *	SrcByteIndex,
		UNS8	SrcBitIndex,
		UNS8	SrcBigEndian,
		UNS8 *	DestByteIndex,
		UNS8	DestBitIndex,
		UNS8	DestBigEndian
	)

Parameters:

	NbBits
	SrcByteIndex
	SrcBitIndex
	SrcBigEndian
	DestByteIndex
	DestBitIndex
	DestBigEndian

Definition at line 430 of file pdo.c.

References INTEGER8, and UNS8.

Referenced by proceedPDO(), and proceedSYNC().

UNS8 PDOmGR	(	CO_Data *	d,
		UNS32	cobId
	)

PDO Manager

Parameters:

	d
	cobId

Returns:

Definition at line 79 of file pdo.c.

References struct_s_PDO::cobId, struct_s_process_var::count, struct_s_timer_entry::d, struct_s_process_var::data, struct_s_PDO::data, struct_s_PDO::len, MSG_WAR, NOT_A_REQUEST, struct_CO_Data::process_var, sendPDO(), and UNS8.

Referenced by proceedPDO(), and proceedSYNC().

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UNS8 proceedPDO	(	CO_Data *	d,
		Message *	m
	)

Parameters:

	d
	m

Returns:

Definition at line 221 of file pdo.c.

References Message::cob_id, CopyBits(), struct_s_process_var::count, struct_s_timer_entry::d, Message::data, struct_s_process_var::data, struct_CO_Data::firstIndex, getODentry(), struct_CO_Data::lastIndex, Message::len, MSG_ERR, MSG_WAR, NOT_A_REQUEST, struct_CO_Data::objdict, OD_SUCCESSFUL, s_quick_index::PDO_RCV, s_quick_index::PDO_RCV_MAP, s_quick_index::PDO_TRS, s_quick_index::PDO_TRS_MAP, PDOmGR(), td_subindex::pObject, struct_CO_Data::process_var, td_indextable::pSubindex, REQUEST, setODentry(), state1, state2, state4, state5, TRANS_EVENT, TRANS_RTR, TRANS_RTR_SYNC, UNS16, UNS32, UNS8, and SHORT_CAN::w.

Referenced by canDispatch().

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UNS8 sendPDO	(	CO_Data *	d,
		s_PDO	pdo,
		UNS8	request
	)

Transmit a PDO data frame on the bus bus_id pdo is a structure which contains the pdo to transmit bus_id is hardware dependant return canSend(bus_id,&m) or 0xFF if error request can take the value REQUEST or NOT_A_REQUEST

Definition at line 37 of file pdo.c.

References struct_CO_Data::canHandle, canSend(), Message::cob_id, struct_s_PDO::cobId, struct_s_timer_entry::d, struct_s_PDO::data, Message::data, struct_s_PDO::len, Message::len, MSG_WAR, struct_CO_Data::nodeState, NOT_A_REQUEST, Operational, REQUEST, Message::rtr, UNS8, and SHORT_CAN::w.

Referenced by PDOmGR(), and sendPDOrequest().

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UNS8 sendPDOevent	(	CO_Data *	d,
		void *	variable
	)

UNS8 sendPDOrequest	(	CO_Data *	d,
		UNS32	cobId
	)

Parameters:

	d
	cobId

Returns:

Definition at line 181 of file pdo.c.

References struct_s_PDO::cobId, struct_s_timer_entry::d, struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, struct_s_PDO::len, MSG_WAR, struct_CO_Data::objdict, s_quick_index::PDO_RCV, td_subindex::pObject, td_indextable::pSubindex, REQUEST, sendPDO(), UNS16, UNS32, and UNS8.

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