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"
31 ** @author Edouard TISSERANT and Francis DUPIN
32 ** @date Tue Jun 5 09:32:32 2007
43 ** @param TPDO_com TPDO communication parameters OD entry
44 ** @param TPDO_map TPDO mapping parameters OD entry
50 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
52 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
53 const indextable *TPDO_map =
54 d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
58 const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
60 pdo->cob_id = UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF);
61 pdo->rtr = NOT_A_REQUEST;
63 MSG_WAR (0x3009, " PDO CobId is : ",
64 *(UNS32 *) TPDO_com->pSubindex[1].pObject);
65 MSG_WAR (0x300D, " Number of objects mapped : ", *pMappingCount);
69 UNS8 dataType; /* Unused */
70 UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; /* temporary space to hold bits */
72 /* pointer fo the var which holds the mapping parameter of an mapping entry */
73 UNS32 *pMappingParameter =
74 (UNS32 *) TPDO_map->pSubindex[prp_j + 1].pObject;
75 UNS16 index = (UNS16) ((*pMappingParameter) >> 16);
76 UNS8 Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF); /* Size in bits */
78 /* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
79 if (Size && ((offset + Size) <= 64))
81 UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
83 (UNS8) (((*pMappingParameter) >> (UNS8) 8) & (UNS32) 0x000000FF);
85 MSG_WAR (0x300F, " got mapping parameter : ", *pMappingParameter);
86 MSG_WAR (0x3050, " at index : ", TPDO_map->index);
87 MSG_WAR (0x3051, " sub-index : ", prp_j + 1);
89 if (getODentry (d, index, subIndex, tmp, &ByteSize, &dataType, 0) !=
93 " Couldn't find mapped variable at index-subindex-size : ",
94 (UNS16) (*pMappingParameter));
97 /* copy bit per bit in little endian */
98 CopyBits (Size, ((UNS8 *) tmp), 0, 0,
99 (UNS8 *) & pdo->data[offset >> 3], offset % 8, 0);
105 while (prp_j < *pMappingCount);
107 pdo->len = 1 + ((offset - 1) >> 3);
109 MSG_WAR (0x3015, " End scan mapped variable", 0);
123 sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
126 UNS16 offset = d->firstIndex->PDO_RCV;
127 UNS16 lastIndex = d->lastIndex->PDO_RCV;
129 /* Sending the request only if the cobid have been found on the PDO
131 /* part dictionary */
133 MSG_WAR (0x3930, "sendPDOrequest RPDO Index : ", RPDOIndex);
135 if (offset && RPDOIndex >= 0x1400)
137 offset += RPDOIndex - 0x1400;
138 if (offset <= lastIndex)
141 pwCobId = d->objdict[offset].pSubindex[1].pObject;
143 MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
146 pdo.cob_id = UNS16_LE(*pwCobId);
149 return canSend (d->canHandle, &pdo);
153 MSG_ERR (0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
167 proceedPDO (CO_Data * d, Message * m)
170 UNS8 numMap; /* Number of the mapped varable */
171 UNS8 *pMappingCount = NULL; /* count of mapped objects... */
172 /* pointer to the var which is mapped to a pdo... */
173 /* void * pMappedAppObject = NULL; */
174 /* pointer fo the var which holds the mapping parameter of an
176 UNS32 *pMappingParameter = NULL;
177 UNS8 *pTransmissionType = NULL; /* pointer to the transmission
179 UNS32 *pwCobId = NULL;
189 MSG_WAR (0x3935, "proceedPDO, cobID : ", (UNS16_LE(m->cob_id) & 0x7ff));
193 if ((*m).rtr == NOT_A_REQUEST)
194 { /* The PDO received is not a
197 offsetObjdict = d->firstIndex->PDO_RCV;
198 lastIndex = d->lastIndex->PDO_RCV;
200 /* study of all the PDO stored in the dictionary */
202 while (offsetObjdict <= lastIndex)
209 /* get CobId of the dictionary correspondant to the received
212 d->objdict[offsetObjdict].pSubindex[1].pObject;
213 /* check the CobId coherance */
214 /*pwCobId is the cobId read in the dictionary at the state 3
216 if (*pwCobId == UNS16_LE(m->cob_id))
218 /* The cobId is recognized */
220 MSG_WAR (0x3936, "cobId found at index ",
226 /* cobId received does not match with those write in the
234 case state4: /* Get Mapped Objects Number */
235 /* The cobId of the message received has been found in the
237 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
238 lastIndex = d->lastIndex->PDO_RCV_MAP;
240 (UNS8 *) (d->objdict + offsetObjdict +
241 numPdo)->pSubindex[0].pObject;
243 while (numMap < *pMappingCount)
245 UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
248 (UNS32 *) (d->objdict + offsetObjdict +
249 numPdo)->pSubindex[numMap + 1].pObject;
250 if (pMappingParameter == NULL)
252 MSG_ERR (0x1937, "Couldn't get mapping parameter : ",
256 /* Get the addresse of the mapped variable. */
257 /* detail of *pMappingParameter : */
258 /* The 16 hight bits contains the index, the medium 8 bits
259 contains the subindex, */
260 /* and the lower 8 bits contains the size of the mapped
263 Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF);
265 /* set variable only if Size != 0 and Size is lower than remaining bits in the PDO */
266 if (Size && ((offset + Size) <= (m->len << 3)))
268 /* copy bit per bit in little endian */
269 CopyBits (Size, (UNS8 *) & m->data[offset >> 3],
270 offset % 8, 0, ((UNS8 *) tmp), 0, 0);
272 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
276 setODentry (d, (UNS16) ((*pMappingParameter) >> 16),
277 (UNS8) (((*pMappingParameter) >> 8) &
278 0xFF), tmp, &ByteSize, 0);
280 if (objDict != OD_SUCCESSFUL)
283 "error accessing to the mapped var : ",
285 MSG_WAR (0x2939, " Mapped at index : ",
286 (*pMappingParameter) >> 16);
287 MSG_WAR (0x2940, " subindex : ",
288 ((*pMappingParameter) >> 8) & 0xFF);
293 "Variable updated with value received by PDO cobid : ",
294 UNS16_LE(m->cob_id));
295 MSG_WAR (0x3943, " Mapped at index : ",
296 (*pMappingParameter) >> 16);
297 MSG_WAR (0x3944, " subindex : ",
298 ((*pMappingParameter) >> 8) & 0xFF);
299 /* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
303 } /* end loop while on mapped variables */
307 } /* end switch status */
309 } /* end if Donnees */
310 else if ((*m).rtr == REQUEST)
312 MSG_WAR (0x3946, "Receive a PDO request cobId : ", UNS16_LE(m->cob_id));
314 offsetObjdict = d->firstIndex->PDO_TRS;
315 lastIndex = d->lastIndex->PDO_TRS;
317 while (offsetObjdict <= lastIndex)
319 /* study of all PDO stored in the objects dictionary */
324 case state1: /* check the CobId */
325 /* get CobId of the dictionary which match to the received PDO
329 offsetObjdict)->pSubindex[1].pObject;
330 if (*pwCobId == UNS16_LE(m->cob_id))
344 case state4: /* check transmission type */
346 (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
347 /* If PDO is to be sampled and send on RTR, do it */
348 if ((*pTransmissionType == TRANS_RTR))
352 /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
354 else if ((*pTransmissionType == TRANS_RTR_SYNC))
356 if (d->PDO_status[numPdo].
357 transmit_type_parameter & PDO_RTR_SYNC_READY)
359 /*Data ready, just send */
360 canSend (d->canHandle,
361 &d->PDO_status[numPdo].last_message);
366 /* if SYNC did never occur, force emission with current data */
367 /* DS301 do not tell what to do in such a case... */
369 "Not ready RTR_SYNC TPDO send current data : ",
370 UNS16_LE(m->cob_id));
375 else if ((*pTransmissionType == TRANS_EVENT_PROFILE) ||
376 (*pTransmissionType == TRANS_EVENT_SPECIFIC))
378 /* Zap all timers and inhibit flag */
379 d->PDO_status[numPdo].event_timer =
380 DelAlarm (d->PDO_status[numPdo].event_timer);
381 d->PDO_status[numPdo].inhibit_timer =
382 DelAlarm (d->PDO_status[numPdo].inhibit_timer);
383 d->PDO_status[numPdo].transmit_type_parameter &=
385 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
386 PDOEventTimerAlarm (d, numPdo);
391 /* The requested PDO is not to send on request. So, does
393 MSG_WAR (0x2947, "PDO is not to send on request : ",
394 UNS16_LE(m->cob_id));
398 case state5: /* build and send requested PDO */
401 if (buildPDO (d, numPdo, &pdo))
403 MSG_ERR (0x1948, " Couldn't build TPDO n�", numPdo);
406 canSend (d->canHandle, &pdo);
409 } /* end switch status */
411 } /* end if Requete */
420 ** @param SrcByteIndex
421 ** @param SrcBitIndex
422 ** @param SrcBigEndian
423 ** @param DestByteIndex
424 ** @param DestBitIndex
425 ** @param DestBigEndian
428 CopyBits (UNS8 NbBits, UNS8 * SrcByteIndex, UNS8 SrcBitIndex,
429 UNS8 SrcBigEndian, UNS8 * DestByteIndex, UNS8 DestBitIndex,
432 /* This loop copy as many bits that it can each time, crossing */
433 /* successively bytes */
434 // boundaries from LSB to MSB.
437 /* Bit missalignement between src and dest */
438 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
440 /* We can now get src and align it to dest */
442 Vect > 0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
444 /* Compute the nb of bit we will be able to copy */
445 UNS8 BoudaryLimit = (Vect > 0 ? 8 - DestBitIndex : 8 - SrcBitIndex);
446 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
448 /* Create a mask that will serve in: */
450 ((0xff << (DestBitIndex + BitsToCopy)) |
451 (0xff >> (8 - DestBitIndex)));
453 /* - Filtering src */
454 UNS8 Filtered = Aligned & ~Mask;
456 /* - and erase bits where we write, preserve where we don't */
457 *DestByteIndex &= Mask;
460 *DestByteIndex |= Filtered;
462 /*Compute next time cursors for src */
463 if ((SrcBitIndex += BitsToCopy) > 7) /* cross boundary ? */
465 SrcBitIndex = 0; /* First bit */
466 SrcByteIndex += (SrcBigEndian ? -1 : 1); /* Next byte */
470 /*Compute next time cursors for dest */
471 if ((DestBitIndex += BitsToCopy) > 7)
473 DestBitIndex = 0; /* First bit */
474 DestByteIndex += (DestBigEndian ? -1 : 1); /* Next byte */
477 /*And decrement counter. */
478 NbBits -= BitsToCopy;
492 sendPDOevent (CO_Data * d)
494 /* Calls _sendPDOevent specifying it is not a sync event */
495 return _sendPDOevent (d, 0);
500 PDOEventTimerAlarm (CO_Data * d, UNS32 pdoNum)
502 /* This is needed to avoid deletion of re-attribuated timer */
503 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
504 /* force emission of PDO by artificially changing last emitted */
505 d->PDO_status[pdoNum].last_message.cob_id = 0;
506 _sendPDOevent (d, 0); /* not a Sync Event */
510 PDOInhibitTimerAlarm (CO_Data * d, UNS32 pdoNum)
512 /* This is needed to avoid deletion of re-attribuated timer */
513 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
514 /* Remove inhibit flag */
515 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
516 _sendPDOevent (d, 0); /* not a Sync Event */
523 ** @param isSyncEvent
529 _sendPDOevent (CO_Data * d, UNS8 isSyncEvent)
531 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
532 UNS8 *pTransmissionType = NULL;
533 UNS8 status = state3;
534 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
535 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
536 UNS16 lastIndex = d->lastIndex->PDO_TRS;
538 /* study all PDO stored in the objects dictionary */
541 Message pdo = Message_Initializer;
542 while (offsetObjdict <= lastIndex)
547 if ( /*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5) */
548 /* check if TPDO is not valid */
549 *(UNS32 *) d->objdict[offsetObjdict].pSubindex[1].
550 pObject & 0x80000000)
552 MSG_WAR (0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
557 /* get the PDO transmission type */
559 (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
560 MSG_WAR (0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
562 /* check if transmission type is SYNCRONOUS */
563 /* The message is transmited every n SYNC with n=TransmissionType */
565 (*pTransmissionType >= TRANS_SYNC_MIN) &&
566 (*pTransmissionType <= TRANS_SYNC_MAX) &&
567 (++d->PDO_status[pdoNum].transmit_type_parameter ==
570 /*Reset count of SYNC */
571 d->PDO_status[pdoNum].transmit_type_parameter = 0;
572 MSG_WAR (0x3964, " PDO is on SYNCHRO. Trans type : ",
575 Message msg_init = Message_Initializer;
578 if (buildPDO (d, pdoNum, &pdo))
580 MSG_ERR (0x1906, " Couldn't build TPDO number : ",
586 /* If transmission RTR, with data sampled on SYNC */
588 else if (isSyncEvent && (*pTransmissionType == TRANS_RTR_SYNC))
591 (d, pdoNum, &d->PDO_status[pdoNum].last_message))
593 MSG_ERR (0x1966, " Couldn't build TPDO number : ",
595 d->PDO_status[pdoNum].transmit_type_parameter &=
600 d->PDO_status[pdoNum].transmit_type_parameter |=
605 /* If transmission on Event and not inhibited, check for changes */
609 && (*pTransmissionType == TRANS_SYNC_ACYCLIC))
611 ((*pTransmissionType == TRANS_EVENT_PROFILE
612 || *pTransmissionType == TRANS_EVENT_SPECIFIC)
613 && !(d->PDO_status[pdoNum].
614 transmit_type_parameter & PDO_INHIBITED)))
616 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ",
619 Message msg_init = Message_Initializer;
622 if (buildPDO (d, pdoNum, &pdo))
624 MSG_ERR (0x3907, " Couldn't build TPDO number : ",
630 /*Compare new and old PDO */
631 if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id
632 && d->PDO_status[pdoNum].last_message.len == pdo.len &&
633 memcmp(d->PDO_status[pdoNum].last_message.data,
637 /* No changes -> go to next pdo */
643 UNS16 EventTimerDuration;
644 UNS16 InhibitTimerDuration;
646 MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
647 /* Changes detected -> transmit message */
649 *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
651 InhibitTimerDuration =
652 *(UNS16 *) d->objdict[offsetObjdict].pSubindex[3].
657 /* Start both event_timer and inhibit_timer */
658 if (EventTimerDuration)
660 DelAlarm (d->PDO_status[pdoNum].event_timer);
661 d->PDO_status[pdoNum].event_timer =
662 SetAlarm (d, pdoNum, &PDOEventTimerAlarm,
663 MS_TO_TIMEVAL (EventTimerDuration), 0);
666 if (InhibitTimerDuration)
668 DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
669 d->PDO_status[pdoNum].inhibit_timer =
670 SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm,
671 US_TO_TIMEVAL (InhibitTimerDuration *
673 /* and inhibit TPDO */
674 d->PDO_status[pdoNum].transmit_type_parameter |=
683 " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ",
688 case state5: /*Send the pdo */
689 /*store_as_last_message */
690 d->PDO_status[pdoNum].last_message = pdo;
691 MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
692 MSG_WAR (0x396E, " Nb octets : ", pdo.len);
694 canSend (d->canHandle, &pdo);
697 case state11: /*Go to next TPDO */
701 MSG_WAR (0x3970, "next pdo index : ", pdoNum);
706 MSG_ERR (0x1972, "Unknown state has been reached : %d", status);
708 } /* end switch case */
725 TPDO_Communication_Parameter_Callback (CO_Data * d,
726 const indextable * OD_entry,
729 /* If PDO are actives */
730 if (d->CurrentCommunicationState.csPDO)
733 case 2: /* Changed transmition type */
734 case 3: /* Changed inhibit time */
735 case 5: /* Changed event time */
737 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
738 UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
740 /* Zap all timers and inhibit flag */
741 d->PDO_status[numPdo].event_timer =
742 DelAlarm (d->PDO_status[numPdo].event_timer);
743 d->PDO_status[numPdo].inhibit_timer =
744 DelAlarm (d->PDO_status[numPdo].inhibit_timer);
745 d->PDO_status[numPdo].transmit_type_parameter = 0;
746 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
747 PDOEventTimerAlarm (d, numPdo);
751 default: /* other subindex are ignored */
758 PDOInit (CO_Data * d)
760 /* For each TPDO mapping parameters */
761 UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
763 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
764 UNS16 lastIndex = d->lastIndex->PDO_TRS;
766 while (offsetObjdict <= lastIndex)
768 /* Assign callbacks to sensible TPDO mapping subindexes */
770 ODCallback_t *CallbackList;
771 /* Find callback list */
772 scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
773 if (errorCode == OD_SUCCESSFUL && CallbackList)
775 /*Assign callbacks to corresponding subindex */
776 /* Transmission type */
777 CallbackList[2] = &TPDO_Communication_Parameter_Callback;
779 CallbackList[3] = &TPDO_Communication_Parameter_Callback;
781 CallbackList[5] = &TPDO_Communication_Parameter_Callback;
787 /* Trigger a non-sync event */
788 _sendPDOevent (d, 0);
792 PDOStop (CO_Data * d)
794 /* For each TPDO mapping parameters */
795 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
796 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
797 UNS16 lastIndex = d->lastIndex->PDO_TRS;
799 while (offsetObjdict <= lastIndex)
801 /* Delete TPDO timers */
802 d->PDO_status[pdoNum].event_timer =
803 DelAlarm (d->PDO_status[pdoNum].event_timer);
804 d->PDO_status[pdoNum].inhibit_timer =
805 DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
806 /* Reset transmit type parameter */
807 d->PDO_status[pdoNum].transmit_type_parameter = 0;
808 d->PDO_status[pdoNum].last_message.cob_id = 0;