2 This file is part of CanFestival, a library implementing CanOpen
5 Copyright (C): Edouard TISSERANT and Francis DUPIN
7 See COPYING file for copyrights details.
9 This library is free software; you can redistribute it and/or
10 modify it under the terms of the GNU Lesser General Public
11 License as published by the Free Software Foundation; either
12 version 2.1 of the License, or (at your option) any later version.
14 This library is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 Lesser General Public License for more details.
19 You should have received a copy of the GNU Lesser General Public
20 License along with this library; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
26 #include "canfestival.h"
30 ** @author Edouard TISSERANT and Francis DUPIN
31 ** @date Tue Jun 5 09:32:32 2007
42 ** @param TPDO_com TPDO communication parameters OD entry
43 ** @param TPDO_map TPDO mapping parameters OD entry
48 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo)
50 const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
51 const indextable* TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
55 const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;
57 pdo->cob_id = *(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF;
58 pdo->rtr = NOT_A_REQUEST;
60 MSG_WAR(0x3009, " PDO CobId is : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);
61 MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount );
64 UNS8 dataType; /* Unused */
65 UNS8 tmp[]= {0,0,0,0,0,0,0,0}; /* temporary space to hold bits */
67 /* pointer fo the var which holds the mapping parameter of an mapping entry */
68 UNS32* pMappingParameter = (UNS32*) TPDO_map->pSubindex[prp_j + 1].pObject;
69 UNS16 index = (UNS16)((*pMappingParameter) >> 16);
70 UNS8 Size = (UNS8)(*pMappingParameter); /* Size in bits */
72 /* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
73 if(Size && ((offset + Size) <= 64)) {
74 UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
75 UNS8 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
77 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
78 MSG_WAR(0x3050, " at index : ", TPDO_map->index);
79 MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
81 if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){
82 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
85 /* copy bit per bit in little endian*/
86 CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);
91 }while( prp_j < *pMappingCount );
93 pdo->len = 1 + ((offset - 1) >> 3);
95 MSG_WAR(0x3015, " End scan mapped variable", 0);
108 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex )
111 UNS16 offset = d->firstIndex->PDO_RCV;
112 UNS16 lastIndex = d->lastIndex->PDO_RCV;
114 /* Sending the request only if the cobid have been found on the PDO
116 /* part dictionary */
118 MSG_WAR(0x3930, "sendPDOrequest RPDO Index : ",RPDOIndex);
120 if (offset && RPDOIndex >= 0x1400){
121 offset += RPDOIndex - 0x1400;
122 if (offset <= lastIndex) {
124 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
126 MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
129 pdo.cob_id = *pwCobId;
132 return canSend(d->canHandle,&pdo);
136 MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
149 UNS8 proceedPDO(CO_Data* d, Message *m)
152 UNS8 numMap; /* Number of the mapped varable */
153 UNS8 * pMappingCount = NULL; /* count of mapped objects... */
154 /* pointer to the var which is mapped to a pdo... */
155 /* void * pMappedAppObject = NULL; */
156 /* pointer fo the var which holds the mapping parameter of an
158 UNS32 * pMappingParameter = NULL;
159 UNS8 * pTransmissionType = NULL; /* pointer to the transmission
161 UNS32 * pwCobId = NULL;
171 MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id & 0x7ff));
175 if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
178 offsetObjdict = d->firstIndex->PDO_RCV;
179 lastIndex = d->lastIndex->PDO_RCV;
181 /* study of all the PDO stored in the dictionary */
183 while (offsetObjdict <= lastIndex) {
188 /* get CobId of the dictionary correspondant to the received
190 pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
191 /* check the CobId coherance */
192 /*pwCobId is the cobId read in the dictionary at the state 3
194 if ( *pwCobId == (*m).cob_id ){
195 /* The cobId is recognized */
197 MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
201 /* cobId received does not match with those write in the
209 case state4:/* Get Mapped Objects Number */
210 /* The cobId of the message received has been found in the
212 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
213 lastIndex = d->lastIndex->PDO_RCV_MAP;
214 pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
216 while (numMap < *pMappingCount) {
217 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
219 pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
220 if (pMappingParameter == NULL) {
221 MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
224 /* Get the addresse of the mapped variable. */
225 /* detail of *pMappingParameter : */
226 /* The 16 hight bits contains the index, the medium 8 bits
227 contains the subindex, */
228 /* and the lower 8 bits contains the size of the mapped
231 Size = (UNS8)(*pMappingParameter);
233 /* set variable only if Size != 0 and Size is lower than remaining bits in the PDO */
234 if(Size && ((offset + Size) <= (m->len << 3))) {
235 /* copy bit per bit in little endian */
236 CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
238 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
241 objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
242 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
245 if(objDict != OD_SUCCESSFUL) {
246 MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
247 MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
248 MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
252 MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id);
253 MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16);
254 MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
255 /* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
259 } /* end loop while on mapped variables */
265 }/* end switch status*/
267 }/* end if Donnees */
268 else if ((*m).rtr == REQUEST ){
269 MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id);
271 offsetObjdict = d->firstIndex->PDO_TRS;
272 lastIndex = d->lastIndex->PDO_TRS;
273 if(offsetObjdict) while( offsetObjdict <= lastIndex ){
274 /* study of all PDO stored in the objects dictionary */
278 case state1:/* check the CobId */
279 /* get CobId of the dictionary which match to the received PDO
281 pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
282 if ( *pwCobId == (*m).cob_id ) {
294 case state4:/* check transmission type */
295 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
296 /* If PDO is to be sampled and send on RTR, do it*/
297 if ( (*pTransmissionType == TRANS_RTR)) {
300 /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
301 }else if ((*pTransmissionType == TRANS_RTR_SYNC )) {
302 if(d->PDO_status[numPdo].transmit_type_parameter & PDO_RTR_SYNC_READY){
303 /*Data ready, just send*/
304 canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
307 /* if SYNC did never occur, force emission with current data */
308 /* DS301 do not tell what to do in such a case...*/
309 MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id);
314 (*pTransmissionType == TRANS_EVENT_PROFILE) ||
315 (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
316 /* Zap all timers and inhibit flag */
317 d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
318 d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
319 d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
320 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
321 PDOEventTimerAlarm(d, numPdo);
324 /* The requested PDO is not to send on request. So, does
326 MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id);
330 case state5:/* build and send requested PDO */
333 if( buildPDO(d, numPdo, &pdo))
335 MSG_ERR(0x1948, " Couldn't build TPDO n°", numPdo);
338 canSend(d->canHandle,&pdo);
341 }/* end switch status */
343 }/* end if Requete */
352 ** @param SrcByteIndex
353 ** @param SrcBitIndex
354 ** @param SrcBigEndian
355 ** @param DestByteIndex
356 ** @param DestBitIndex
357 ** @param DestBigEndian
359 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
361 /* This loop copy as many bits that it can each time, crossing*/
362 /* successively bytes*/
363 // boundaries from LSB to MSB.
366 /* Bit missalignement between src and dest*/
367 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
369 /* We can now get src and align it to dest*/
370 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
372 /* Compute the nb of bit we will be able to copy*/
373 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
374 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
376 /* Create a mask that will serve in:*/
377 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
380 UNS8 Filtered = Aligned & ~Mask;
382 /* - and erase bits where we write, preserve where we don't*/
383 *DestByteIndex &= Mask;
386 *DestByteIndex |= Filtered ;
388 /*Compute next time cursors for src*/
389 if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
391 SrcBitIndex = 0;/* First bit*/
392 SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
396 /*Compute next time cursors for dest*/
397 if((DestBitIndex += BitsToCopy)>7)
399 DestBitIndex = 0;/* First bit*/
400 DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
403 /*And decrement counter.*/
404 NbBits -= BitsToCopy;
416 UNS8 sendPDOevent( CO_Data* d)
418 /* Calls _sendPDOevent specifying it is not a sync event */
419 return _sendPDOevent(d, 0);
423 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
425 /* This is needed to avoid deletion of re-attribuated timer */
426 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
427 /* force emission of PDO by artificially changing last emitted*/
428 d->PDO_status[pdoNum].last_message.cob_id = 0;
429 _sendPDOevent( d, 0 ); /* not a Sync Event*/
432 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
434 /* This is needed to avoid deletion of re-attribuated timer */
435 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
436 /* Remove inhibit flag */
437 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
438 _sendPDOevent( d, 0 ); /* not a Sync Event*/
445 ** @param isSyncEvent
450 UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
452 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
453 UNS8* pTransmissionType = NULL;
454 UNS8 status = state3;
455 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
456 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
457 UNS16 lastIndex = d->lastIndex->PDO_TRS;
459 /* study all PDO stored in the objects dictionary */
461 Message pdo = Message_Initializer;
462 while( offsetObjdict <= lastIndex) {
465 if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/
466 /* check if TPDO is not valid */
467 *(UNS32*)d->objdict[offsetObjdict].pSubindex[1].pObject & 0x80000000) {
468 MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
473 /* get the PDO transmission type */
474 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
475 MSG_WAR(0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
477 /* check if transmission type is SYNCRONOUS */
478 /* The message is transmited every n SYNC with n=TransmissionType */
480 (*pTransmissionType >= TRANS_SYNC_MIN) &&
481 (*pTransmissionType <= TRANS_SYNC_MAX) &&
482 (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
483 /*Reset count of SYNC*/
484 d->PDO_status[pdoNum].transmit_type_parameter = 0;
485 MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
487 Message msg_init = Message_Initializer;
490 if(buildPDO(d, pdoNum, &pdo))
492 MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum);
497 /* If transmission RTR, with data sampled on SYNC */
498 }else if( isSyncEvent &&
499 (*pTransmissionType == TRANS_RTR_SYNC)) {
500 if(buildPDO(d, pdoNum, &d->PDO_status[pdoNum].last_message))
502 MSG_ERR(0x1966, " Couldn't build TPDO number : ", pdoNum);
503 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY;
505 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY;
509 /* If transmission on Event and not inhibited, check for changes */
510 }else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
511 *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
512 !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
513 MSG_WAR(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType);
515 Message msg_init = Message_Initializer;
518 if(buildPDO(d, pdoNum, &pdo))
520 MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum);
525 /*Compare new and old PDO*/
526 if(d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id &&
527 d->PDO_status[pdoNum].last_message.len == pdo.len &&
529 *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
530 #else /* don't ALLOW_64BIT_OPS*/
531 *(UNS32*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS32*)(&pdo.data[0]) &&
532 *(UNS32*)(&d->PDO_status[pdoNum].last_message.data[4]) == *(UNS32*)(&pdo.data[4])){
534 /* No changes -> go to next pdo*/
538 UNS16 EventTimerDuration;
539 UNS16 InhibitTimerDuration;
541 MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum);
542 /* Changes detected -> transmit message */
543 EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject;
544 InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject;
548 /* Start both event_timer and inhibit_timer*/
549 if(EventTimerDuration){
550 DelAlarm(d->PDO_status[pdoNum].event_timer);
551 d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(EventTimerDuration), 0);
554 if(InhibitTimerDuration){
555 DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
556 d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(InhibitTimerDuration * 100), 0);
557 /* and inhibit TPDO */
558 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
563 MSG_WAR(0x306C, " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
567 case state5: /*Send the pdo*/
568 /*store_as_last_message*/
569 d->PDO_status[pdoNum].last_message = pdo;
570 MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id);
571 MSG_WAR(0x396E, " Nb octets : ", pdo.len);
573 canSend(d->canHandle,&pdo);
576 case state11: /*Go to next TPDO*/
580 MSG_WAR(0x3970, "next pdo index : ", pdoNum);
585 MSG_ERR(0x1972,"Unknown state has been reached : %d",status);
587 }/* end switch case */
603 UNS32 TPDO_Communication_Parameter_Callback(CO_Data* d, const indextable * OD_entry, UNS8 bSubindex)
605 /* If PDO are actives */
606 if(d->CurrentCommunicationState.csPDO) switch(bSubindex)
608 case 2: /* Changed transmition type */
609 case 3: /* Changed inhibit time */
610 case 5: /* Changed event time */
612 const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
613 UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
615 /* Zap all timers and inhibit flag */
616 d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
617 d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
618 d->PDO_status[numPdo].transmit_type_parameter = 0;
619 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
620 PDOEventTimerAlarm(d, numPdo);
624 default: /* other subindex are ignored*/
630 void PDOInit(CO_Data* d)
632 /* For each TPDO mapping parameters */
633 UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
635 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
636 UNS16 lastIndex = d->lastIndex->PDO_TRS;
637 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
638 /* Assign callbacks to sensible TPDO mapping subindexes */
640 ODCallback_t *CallbackList;
641 /* Find callback list */
642 scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
643 if(errorCode == OD_SUCCESSFUL && CallbackList)
645 /*Assign callbacks to corresponding subindex*/
646 /* Transmission type */
647 CallbackList[2] = &TPDO_Communication_Parameter_Callback;
649 CallbackList[3] = &TPDO_Communication_Parameter_Callback;
651 CallbackList[5] = &TPDO_Communication_Parameter_Callback;
657 /* Trigger a non-sync event */
658 _sendPDOevent( d, 0 );
661 void PDOStop(CO_Data* d)
663 /* For each TPDO mapping parameters */
664 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
665 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
666 UNS16 lastIndex = d->lastIndex->PDO_TRS;
667 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
668 /* Delete TPDO timers */
669 d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
670 d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
671 /* Reset transmit type parameter */
672 d->PDO_status[pdoNum].transmit_type_parameter = 0;
673 d->PDO_status[pdoNum].last_message.cob_id = 0;