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.w = *(UNS32*)TPDO_com->pSubindex[1].pObject;
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 */
71 UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
72 UNS8 subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
74 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter);
75 MSG_WAR(0x3050, " at index : ", TPDO_map->index);
76 MSG_WAR(0x3051, " sub-index : ", prp_j + 1);
78 if( getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 ) != OD_SUCCESSFUL ){
79 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
82 /* copy bit per bit in little endian*/
83 CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&pdo->data[offset>>3], offset%8, 0);
87 }while( prp_j < *pMappingCount );
89 pdo->len = 1 + ((offset - 1) >> 3);
91 MSG_WAR(0x3015, " End scan mapped variable", 0);
104 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
111 MSG_WAR(0x3930, "sendPDOrequest ",0);
112 /* Sending the request only if the cobid have been found on the PDO
114 /* part dictionary */
115 offset = d->firstIndex->PDO_RCV;
116 lastIndex = d->lastIndex->PDO_RCV;
118 while (offset <= lastIndex) {
120 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
122 if ( *pwCobId == cobId ) {
123 Message pdo = {*pwCobId, REQUEST, 0};
124 return canSend(d->canHandle,&pdo);
128 MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId);
141 UNS8 proceedPDO(CO_Data* d, Message *m)
144 UNS8 numMap; /* Number of the mapped varable */
146 UNS8 * pMappingCount = NULL; /* count of mapped objects... */
147 /* pointer to the var which is mapped to a pdo... */
148 /* void * pMappedAppObject = NULL; */
149 /* pointer fo the var which holds the mapping parameter of an
151 UNS32 * pMappingParameter = NULL;
152 UNS8 * pTransmissionType = NULL; /* pointer to the transmission
154 UNS32 * pwCobId = NULL;
165 MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
169 if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
172 offsetObjdict = d->firstIndex->PDO_RCV;
173 lastIndex = d->lastIndex->PDO_RCV;
175 /* study of all the PDO stored in the dictionary */
177 while (offsetObjdict <= lastIndex) {
182 /* get CobId of the dictionary correspondant to the received
184 pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
185 /* check the CobId coherance */
186 /*pwCobId is the cobId read in the dictionary at the state 3
188 if ( *pwCobId == (*m).cob_id.w ){
189 /* The cobId is recognized */
191 MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
195 /* cobId received does not match with those write in the
203 case state4:/* Get Mapped Objects Number */
204 /* The cobId of the message received has been found in the
206 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
207 lastIndex = d->lastIndex->PDO_RCV_MAP;
208 pMappingCount = (UNS8*) (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
210 while (numMap < *pMappingCount) {
211 UNS8 tmp[]= {0,0,0,0,0,0,0,0};
213 pMappingParameter = (UNS32*) (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
214 if (pMappingParameter == NULL) {
215 MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1);
218 /* Get the addresse of the mapped variable. */
219 /* detail of *pMappingParameter : */
220 /* The 16 hight bits contains the index, the medium 8 bits
221 contains the subindex, */
222 /* and the lower 8 bits contains the size of the mapped
225 Size = (UNS8)(*pMappingParameter);
227 /* copy bit per bit in little endian */
228 CopyBits(Size, (UNS8*)&m->data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
230 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 =>
233 objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
234 (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
237 if(objDict != OD_SUCCESSFUL) {
238 MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);
239 MSG_WAR(0x2939, " Mapped at index : ", (*pMappingParameter) >> 16);
240 MSG_WAR(0x2940, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
244 MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
245 MSG_WAR(0x3943, " Mapped at index : ", (*pMappingParameter) >> 16);
246 MSG_WAR(0x3944, " subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
247 /* MSG_WAR(0x3945, " data : ",*((UNS32*)pMappedAppObject)); */
250 /*TODO : check that offset is not not greater that message size (in bit) */
251 } /* end loop while on mapped variables */
257 }/* end switch status*/
259 }/* end if Donnees */
260 else if ((*m).rtr == REQUEST ){
261 MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
263 offsetObjdict = d->firstIndex->PDO_TRS;
264 lastIndex = d->lastIndex->PDO_TRS;
265 if(offsetObjdict) while( offsetObjdict <= lastIndex ){
266 /* study of all PDO stored in the objects dictionary */
270 case state1:/* check the CobId */
271 /* get CobId of the dictionary which match to the received PDO
273 pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
274 if ( *pwCobId == (*m).cob_id.w ) {
286 case state4:/* check transmission type (after request?) */
287 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
288 if ( (*pTransmissionType == TRANS_RTR) ||
289 (*pTransmissionType == TRANS_RTR_SYNC )) {
293 (*pTransmissionType == TRANS_EVENT_PROFILE) ||
294 (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
295 /* Zap all timers and inhibit flag */
296 d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
297 d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
298 d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
299 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
300 PDOEventTimerAlarm(d, numPdo);
303 /* The requested PDO is not to send on request. So, does
305 MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
309 case state5:/* build and send requested PDO */
312 if( buildPDO(d, numPdo, &pdo))
314 MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
315 //return 0xFF; /*No real reason to stop...*/
317 canSend(d->canHandle,&pdo);
320 }/* end switch status */
322 }/* end if Requete */
331 ** @param SrcByteIndex
332 ** @param SrcBitIndex
333 ** @param SrcBigEndian
334 ** @param DestByteIndex
335 ** @param DestBitIndex
336 ** @param DestBigEndian
338 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
340 /* This loop copy as many bits that it can each time, crossing*/
341 /* successively bytes*/
342 // boundaries from LSB to MSB.
345 /* Bit missalignement between src and dest*/
346 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
348 /* We can now get src and align it to dest*/
349 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
351 /* Compute the nb of bit we will be able to copy*/
352 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
353 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
355 /* Create a mask that will serve in:*/
356 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
359 UNS8 Filtered = Aligned & ~Mask;
361 /* - and erase bits where we write, preserve where we don't*/
362 *DestByteIndex &= Mask;
365 *DestByteIndex |= Filtered ;
367 /*Compute next time cursors for src*/
368 if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
370 SrcBitIndex = 0;/* First bit*/
371 SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
375 /*Compute next time cursors for dest*/
376 if((DestBitIndex += BitsToCopy)>7)
378 DestBitIndex = 0;/* First bit*/
379 DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
382 /*And decrement counter.*/
383 NbBits -= BitsToCopy;
395 UNS8 sendPDOevent( CO_Data* d)
397 /* Calls _sendPDOevent specifying it is not a sync event */
398 return _sendPDOevent(d, 0);
402 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
404 printf("EV PDOEventTimerAlarm : %d\n", pdoNum);
406 /* This is needed to avoid deletion of re-attribuated timer */
407 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
408 /* force emission of PDO by artificially changing last emitted*/
409 d->PDO_status[pdoNum].last_message.cob_id.w = 0;
410 _sendPDOevent( d, 0 ); /* not a Sync Event*/
413 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
415 printf("EV PDOInhibitTimerAlarm : %d\n", pdoNum);
417 /* This is needed to avoid deletion of re-attribuated timer */
418 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
419 /* Remove inhibit flag */
420 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
421 _sendPDOevent( d, 0 ); /* not a Sync Event*/
428 ** @param isSyncEvent
433 UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
435 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
436 UNS8* pTransmissionType = NULL;
437 UNS8 status = state3;
438 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
439 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
440 UNS16 lastIndex = d->lastIndex->PDO_TRS;
442 /* study all PDO stored in the objects dictionary */
444 Message clean = Message_Initializer;
445 Message pdo = Message_Initializer;
446 while( offsetObjdict <= lastIndex) {
448 case state3: /* get the PDO transmission type */
449 if (d->objdict[offsetObjdict].bSubCount <= 2) {
450 MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum);
453 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
454 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
456 /* check if transmission type is after (this) SYNC */
457 /* The message may not be transmited every SYNC but every n SYNC */
459 (*pTransmissionType >= TRANS_SYNC_MIN) &&
460 (*pTransmissionType <= TRANS_SYNC_MAX) &&
461 (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
462 d->PDO_status[pdoNum].transmit_type_parameter = 0;
463 MSG_WAR(0x3007, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
465 if(buildPDO(d, pdoNum, &pdo))
467 MSG_ERR(0x3006, " Couldn't build TPDO number : ", pdoNum);
473 /* If transmission on Event and not inhibited, check for changes */
474 else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
475 *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
476 !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
477 MSG_WAR(0x3008, " PDO is on EVENT. Trans type : ", *pTransmissionType);
479 if(buildPDO(d, pdoNum, &pdo))
481 MSG_ERR(0x3007, " Couldn't build TPDO number : ", pdoNum);
486 /*Compare new and old PDO*/
487 if(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.cob_id.w &&
488 d->PDO_status[pdoNum].last_message.len == pdo.len &&
489 *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
490 /* No changes -> go to next pdo*/
493 MSG_WAR(0x3008, "Changes TPDO number : ", pdoNum);
494 printf("EV Changes TPDO number : %d\n", pdoNum);
495 /* Changes detected -> transmit message */
498 /* Start both event_timer and inhibit_timer*/
499 DelAlarm(d->PDO_status[pdoNum].event_timer);
500 d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject), 0);
502 DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
503 d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);
505 /* and inhibit TPDO */
506 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
509 MSG_WAR(0x3009, " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
513 case state5: /*Send the pdo*/
514 /*store_as_last_message*/
515 d->PDO_status[pdoNum].last_message = pdo;
516 MSG_WAR(0x3901, "sendPDO cobId :", pdo.cob_id.w);
517 MSG_WAR(0x3902, " Nb octets : ", pdo.len);
519 for (i = 0 ; i < pdo.len ; i++) {
520 MSG_WAR(0x3903," data : ", pdo.data[i]);
523 canSend(d->canHandle,&pdo);
526 case state11: /*Go to next TPDO*/
530 MSG_WAR(0x3017, "next pdo index : ", pdoNum);
535 MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
537 }/* end switch case */
544 void PDOInit(CO_Data* d)
547 /* TODO: implement callbacks on 140xh
548 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
549 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
550 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
551 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
552 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
553 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
554 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
555 * XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx
558 _sendPDOevent(d, 0 );
561 void PDOStop(CO_Data* d)
563 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
564 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
565 UNS16 lastIndex = d->lastIndex->PDO_TRS;
566 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
567 d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
568 d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
569 d->PDO_status[pdoNum].transmit_type_parameter = 0;
570 d->PDO_status[pdoNum].last_message.cob_id.w = 0;