2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Edouard TISSERANT and Francis DUPIN
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
23 /** @defgroup pdo Process Data Object (PDO)
24 * PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
25 * It is an uncomfirmed communication service without protocol overhead.
37 typedef struct struct_s_PDO_status s_PDO_status;
41 /* Status of the TPDO : */
42 #define PDO_INHIBITED 0x01
43 #define PDO_RTR_SYNC_READY 0x01
45 /** The PDO structure */
46 struct struct_s_PDO_status {
47 UNS8 transmit_type_parameter;
48 TIMER_HANDLE event_timer;
49 TIMER_HANDLE inhibit_timer;
53 #define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
55 /** definitions of the different types of PDOs' transmission
57 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
59 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
60 #define TRANS_SYNC_ACYCLIC 0 /* Trans after reception of n SYNC. n = 1 to 240 */
61 #define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
62 #define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
63 #define TRANS_RTR_SYNC 252 /* Transmission on request */
64 #define TRANS_RTR 253 /* Transmission on request */
65 #define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
66 #define TRANS_EVENT_PROFILE 255 /* Transmission on event */
69 * @brief Copy all the data to transmit in process_var
70 * Prepare the PDO defined at index to be sent
71 * *pwCobId : returns the value of the cobid. (subindex 1)
72 * @param *d Pointer on a CAN object data structure
73 * @param numPdo The PDO number
74 * @param *pdo Pointer on a CAN message structure
75 * @return 0 or 0xFF if error.
77 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
81 * @brief Transmit a PDO request frame on the bus bus_id
83 * bus_id is hardware dependant
84 * @param *d Pointer on a CAN object data structure
85 * @param RPDOIndex Index of the receive PDO
86 * @return 0xFF if error, other in success.
88 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
91 * @brief Compute a PDO frame reception
92 * bus_id is hardware dependant
93 * @param *d Pointer on a CAN object data structure
94 * @param *m Pointer on a CAN message structure
95 * @return 0xFF if error, else return 0
97 UNS8 proceedPDO (CO_Data* d, Message *m);
100 * @brief Used by the application to signal changes in process data
101 * that could be mapped to some TPDO.
102 * This do not necessarily imply PDO emission.
103 * Function iterates on all TPDO and look TPDO transmit
104 * type and content change before sending it.
105 * @param *d Pointer on a CAN object data structure
107 UNS8 sendPDOevent (CO_Data* d);
111 * @brief Function iterates on all TPDO and look TPDO transmit
112 * type and content change before sending it.
113 * @param *d Pointer on a CAN object data structure
116 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
119 * @brief Initialize PDO feature
120 * @param *d Pointer on a CAN object data structure
122 void PDOInit(CO_Data* d);
125 * @brief Stop PDO feature
126 * @param *d Pointer on a CAN object data structure
128 void PDOStop(CO_Data* d);
132 * @brief Set timer for PDO event
133 * @param *d Pointer on a CAN object data structure
134 * @param pdoNum The PDO number
136 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
140 * @brief Inhibit timer for PDO event
141 * @param *d Pointer on a CAN object data structure
142 * @param pdoNum The PDO number
144 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
146 /* copy bit per bit in little endian */
147 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);