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 */
70 * @brief Copy all the data to transmit in process_var
71 * Prepare the PDO defined at index to be sent
72 * *pwCobId : returns the value of the cobid. (subindex 1)
73 * @param *d Pointer on a CAN object data structure
74 * @param numPdo The PDO number
75 * @param *pdo Pointer on a CAN message structure
76 * @return 0 or 0xFF if error.
78 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
82 * @brief Transmit a PDO request frame on the bus bus_id
84 * bus_id is hardware dependant
85 * @param *d Pointer on a CAN object data structure
86 * @param RPDOIndex Index of the receive PDO
87 * @return 0xFF if error, other in success.
89 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
92 * @brief Compute a PDO frame reception
93 * bus_id is hardware dependant
94 * @param *d Pointer on a CAN object data structure
95 * @param *m Pointer on a CAN message structure
96 * @return 0xFF if error, else return 0
98 UNS8 proceedPDO (CO_Data* d, Message *m);
102 * @brief Used by the application to signal changes in process data
103 * that could be mapped to some TPDO.
104 * This do not necessarily imply PDO emission.
105 * Function iterates on all TPDO and look TPDO transmit
106 * type and content change before sending it.
107 * @param *d Pointer on a CAN object data structure
109 UNS8 sendPDOevent (CO_Data* d);
113 * @brief Function iterates on all TPDO and look TPDO transmit
114 * type and content change before sending it.
115 * @param *d Pointer on a CAN object data structure
118 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
122 * @brief Initialize PDO feature
123 * @param *d Pointer on a CAN object data structure
125 void PDOInit(CO_Data* d);
129 * @brief Stop PDO feature
130 * @param *d Pointer on a CAN object data structure
132 void PDOStop(CO_Data* d);
136 * @brief Set timer for PDO event
137 * @param *d Pointer on a CAN object data structure
138 * @param pdoNum The PDO number
140 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
144 * @brief Inhibit timer for PDO event
145 * @param *d Pointer on a CAN object data structure
146 * @param pdoNum The PDO number
148 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
150 /* copy bit per bit in little endian */
151 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);