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
31 typedef struct struct_s_PDO_status s_PDO_status;
35 /* Status of the TPDO : */
36 #define PDO_INHIBITED 0x01
38 /** The PDO structure */
39 struct struct_s_PDO_status {
40 UNS8 transmit_type_parameter;
41 TIMER_HANDLE event_timer;
42 TIMER_HANDLE inhibit_timer;
46 #define s_PDO_staus_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
48 /** definitions of the different types of PDOs' transmission
50 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
52 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
53 #define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
54 #define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
55 #define TRANS_RTR_SYNC 252 /* Transmission on request */
56 #define TRANS_RTR 253 /* Transmission on request */
57 #define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
58 #define TRANS_EVENT_PROFILE 255 /* Transmission on event */
60 /** Prepare the PDO defined at index to be sent
64 * Copy all the data to transmit in process_var
65 * *pwCobId : returns the value of the cobid. (subindex 1)
66 * Return 0 or 0xFF if error.
68 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
70 /** Transmit a PDO request frame on the bus bus_id
72 * bus_id is hardware dependant
73 * Returns 0xFF if error, other in success.
75 UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
77 /** Compute a PDO frame reception
78 * bus_id is hardware dependant
79 * return 0xFF if error, else return 0
81 UNS8 proceedPDO (CO_Data* d, Message *m);
83 /** Used by the application to signal changes in process data
84 * that could be mapped to some TPDO.
85 * This do not necessarily imply PDO emission.
86 * Function iterates on all TPDO and look TPDO transmit
87 * type and content change before sending it.
89 UNS8 sendPDOevent (CO_Data* d);
91 /** Function iterates on all TPDO and look TPDO transmit
92 * type and content change before sending it.
94 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
97 void PDOInit(CO_Data* d);
98 void PDOStop(CO_Data* d);
99 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
100 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
102 /* copy bit per bit in little endian */
103 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);