# HG changeset patch # User 'Gr?gory Tr?lat ' # Date 1256734140 -3600 # Node ID e9fce24923fcf5d5e920acf5def5e7d90c486974 # Parent fc3399727a06e9b325ecdd8ab9de0c6743b4d7d4# Parent 3e0c776da33bc7e6dfe2e2142f54f939df8149e2 changes merged diff -r fc3399727a06 -r e9fce24923fc include/pdo.h --- a/include/pdo.h Wed Oct 28 13:46:53 2009 +0100 +++ b/include/pdo.h Wed Oct 28 13:49:00 2009 +0100 @@ -107,6 +107,7 @@ * @param *d Pointer on a CAN object data structure */ UNS8 sendPDOevent (CO_Data* d); +UNS8 sendOnePDOevent (CO_Data* d, UNS32 pdoNum); /** * @ingroup pdo diff -r fc3399727a06 -r e9fce24923fc src/dcf.c --- a/src/dcf.c Wed Oct 28 13:46:53 2009 +0100 +++ b/src/dcf.c Wed Oct 28 13:49:00 2009 +0100 @@ -118,7 +118,8 @@ static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId) { - /* Loop on all DCF subindexes, corresponding to node ID until there is no request*/ + if(nodeId > d->dcf_odentry->bSubCount) return; +/* Loop on all DCF subindexes, corresponding to node ID until there is no request*/ //while (nodeId < d->dcf_odentry->bSubCount){ while (d->dcf_request>0){ if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){ diff -r fc3399727a06 -r e9fce24923fc src/pdo.c --- a/src/pdo.c Wed Oct 28 13:46:53 2009 +0100 +++ b/src/pdo.c Wed Oct 28 13:49:00 2009 +0100 @@ -124,6 +124,11 @@ UNS16 offset = d->firstIndex->PDO_RCV; UNS16 lastIndex = d->lastIndex->PDO_RCV; + if (!d->CurrentCommunicationState.csPDO) + { + return 0; + } + /* Sending the request only if the cobid have been found on the PDO receive */ /* part dictionary */ @@ -478,6 +483,17 @@ } +static void sendPdo(CO_Data * d, UNS32 pdoNum, Message * pdo) +{ + /*store_as_last_message */ + d->PDO_status[pdoNum].last_message = *pdo; + MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id)); + MSG_WAR (0x396E, " Nb octets : ", pdo.len); + + canSend (d->canHandle, pdo); +} + + /*! ** ** @@ -493,6 +509,76 @@ return _sendPDOevent (d, 0); } +UNS8 +sendOnePDOevent (CO_Data * d, UNS32 pdoNum) +{ + if (!d->CurrentCommunicationState.csPDO || + !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) + { + return 0; + } + + UNS16 offsetObjdict = d->firstIndex->PDO_TRS + pdoNum; + MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", + *pTransmissionType); + Message pdo; + memset(&pdo, 0, sizeof(pdo)); + if (buildPDO (d, pdoNum, &pdo)) + { + MSG_ERR (0x3907, " Couldn't build TPDO number : ", + pdoNum); + return; + } + + /*Compare new and old PDO */ + if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id + && d->PDO_status[pdoNum].last_message.len == pdo.len + && memcmp(d->PDO_status[pdoNum].last_message.data, + pdo.data, 8) == 0 + ) + { + /* No changes -> go to next pdo */ + return; + } + else + { + + TIMEVAL EventTimerDuration; + TIMEVAL InhibitTimerDuration; + + MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum); + /* Changes detected -> transmit message */ + EventTimerDuration = + *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5]. + pObject; + InhibitTimerDuration = + *(UNS16 *) d->objdict[offsetObjdict].pSubindex[3]. + pObject; + + /* Start both event_timer and inhibit_timer */ + if (EventTimerDuration) + { + DelAlarm (d->PDO_status[pdoNum].event_timer); + d->PDO_status[pdoNum].event_timer = + SetAlarm (d, pdoNum, &PDOEventTimerAlarm, + MS_TO_TIMEVAL (EventTimerDuration), 0); + } + + if (InhibitTimerDuration) + { + DelAlarm (d->PDO_status[pdoNum].inhibit_timer); + d->PDO_status[pdoNum].inhibit_timer = + SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm, + US_TO_TIMEVAL (InhibitTimerDuration * + 100), 0); + /* and inhibit TPDO */ + d->PDO_status[pdoNum].transmit_type_parameter |= + PDO_INHIBITED; + } + + sendPdo(d, pdoNum, &pdo); + } +} void PDOEventTimerAlarm (CO_Data * d, UNS32 pdoNum) @@ -501,7 +587,7 @@ d->PDO_status[pdoNum].event_timer = TIMER_NONE; /* force emission of PDO by artificially changing last emitted */ d->PDO_status[pdoNum].last_message.cob_id = 0; - _sendPDOevent (d, 0); /* not a Sync Event */ + sendOnePDOevent (d, pdoNum); } void @@ -511,7 +597,7 @@ d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE; /* Remove inhibit flag */ d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED; - _sendPDOevent (d, 0); /* not a Sync Event */ + sendOnePDOevent (d, pdoNum); } /*! @@ -533,6 +619,12 @@ UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP; UNS16 lastIndex = d->lastIndex->PDO_TRS; + if (!d->CurrentCommunicationState.csPDO) + { + return 0; + } + + /* study all PDO stored in the objects dictionary */ if (offsetObjdict) { @@ -606,78 +698,13 @@ /* If transmission on Event and not inhibited, check for changes */ } else - if ((isSyncEvent - && (*pTransmissionType == TRANS_SYNC_ACYCLIC)) - || - ((*pTransmissionType == TRANS_EVENT_PROFILE - || *pTransmissionType == TRANS_EVENT_SPECIFIC) - && !(d->PDO_status[pdoNum]. - transmit_type_parameter & PDO_INHIBITED))) + if ( (isSyncEvent && (*pTransmissionType == TRANS_SYNC_ACYCLIC)) + || + (!isSyncEvent && (*pTransmissionType == TRANS_EVENT_PROFILE || *pTransmissionType == TRANS_EVENT_SPECIFIC) + && !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED))) { - MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", - *pTransmissionType); - memset(&pdo, 0, sizeof(pdo)); - /*{ - Message msg_init = Message_Initializer; - pdo = msg_init; - }*/ - if (buildPDO (d, pdoNum, &pdo)) - { - MSG_ERR (0x3907, " Couldn't build TPDO number : ", - pdoNum); - status = state11; - break; - } - - /*Compare new and old PDO */ - if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id - && d->PDO_status[pdoNum].last_message.len == pdo.len - && memcmp(d->PDO_status[pdoNum].last_message.data, - pdo.data, 8) == 0 - ) - { - /* No changes -> go to next pdo */ - status = state11; - } - else - { - - TIMEVAL EventTimerDuration; - TIMEVAL InhibitTimerDuration; - - MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum); - /* Changes detected -> transmit message */ - EventTimerDuration = - *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5]. - pObject; - InhibitTimerDuration = - *(UNS16 *) d->objdict[offsetObjdict].pSubindex[3]. - pObject; - - status = state5; - - /* Start both event_timer and inhibit_timer */ - if (EventTimerDuration) - { - DelAlarm (d->PDO_status[pdoNum].event_timer); - d->PDO_status[pdoNum].event_timer = - SetAlarm (d, pdoNum, &PDOEventTimerAlarm, - MS_TO_TIMEVAL (EventTimerDuration), 0); - } - - if (InhibitTimerDuration) - { - DelAlarm (d->PDO_status[pdoNum].inhibit_timer); - d->PDO_status[pdoNum].inhibit_timer = - SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm, - US_TO_TIMEVAL (InhibitTimerDuration * - 100), 0); - /* and inhibit TPDO */ - d->PDO_status[pdoNum].transmit_type_parameter |= - PDO_INHIBITED; - } - - } + sendOnePDOevent(d, pdoNum); + status = state11; } else { @@ -688,12 +715,7 @@ } break; case state5: /*Send the pdo */ - /*store_as_last_message */ - d->PDO_status[pdoNum].last_message = pdo; - MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id)); - MSG_WAR (0x396E, " Nb octets : ", pdo.len); - - canSend (d->canHandle, &pdo); + sendPdo(d, pdoNum, &pdo); status = state11; break; case state11: /*Go to next TPDO */ diff -r fc3399727a06 -r e9fce24923fc src/symbols.c --- a/src/symbols.c Wed Oct 28 13:46:53 2009 +0100 +++ b/src/symbols.c Wed Oct 28 13:49:00 2009 +0100 @@ -62,6 +62,7 @@ EXPORT_SYMBOL (sendPDOrequest); EXPORT_SYMBOL (proceedPDO); EXPORT_SYMBOL (sendPDOevent); +EXPORT_SYMBOL (sendOnePDOevent); EXPORT_SYMBOL (_sendPDOevent); EXPORT_SYMBOL (PDOInit); EXPORT_SYMBOL (PDOStop);