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 & 0x7FF;
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, UNS16 RPDOIndex )
107 UNS16 offset = d->firstIndex->PDO_RCV;
108 UNS16 lastIndex = d->lastIndex->PDO_RCV;
110 /* Sending the request only if the cobid have been found on the PDO
112 /* part dictionary */
114 MSG_WAR(0x3930, "sendPDOrequest RPDO Index : ",RPDOIndex);
116 if (offset && RPDOIndex >= 0x1400){
117 offset += RPDOIndex - 0x1400;
118 if (offset <= lastIndex) {
120 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
122 MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
124 Message pdo = {*pwCobId, REQUEST, 0};
125 return canSend(d->canHandle,&pdo);
128 MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
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 */
287 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
288 /* If PDO is to be sampled and send on RTR, do it*/
289 if ( (*pTransmissionType == TRANS_RTR)) {
292 /* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */
293 }else if ((*pTransmissionType == TRANS_RTR_SYNC )) {
294 if(d->PDO_status[numPdo].transmit_type_parameter & PDO_RTR_SYNC_READY){
295 /*Data ready, just send*/
296 canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
299 /* if SYNC did never occur, force emission with current data */
300 /* DS301 do not tell what to do in such a case...*/
301 MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id.w);
306 (*pTransmissionType == TRANS_EVENT_PROFILE) ||
307 (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {
308 /* Zap all timers and inhibit flag */
309 d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
310 d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
311 d->PDO_status[numPdo].transmit_type_parameter &= ~PDO_INHIBITED;
312 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
313 PDOEventTimerAlarm(d, numPdo);
316 /* The requested PDO is not to send on request. So, does
318 MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
322 case state5:/* build and send requested PDO */
325 if( buildPDO(d, numPdo, &pdo))
327 MSG_ERR(0x1948, " Couldn't build TPDO n°", numPdo);
330 canSend(d->canHandle,&pdo);
333 }/* end switch status */
335 }/* end if Requete */
344 ** @param SrcByteIndex
345 ** @param SrcBitIndex
346 ** @param SrcBigEndian
347 ** @param DestByteIndex
348 ** @param DestBitIndex
349 ** @param DestBigEndian
351 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
353 /* This loop copy as many bits that it can each time, crossing*/
354 /* successively bytes*/
355 // boundaries from LSB to MSB.
358 /* Bit missalignement between src and dest*/
359 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
361 /* We can now get src and align it to dest*/
362 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
364 /* Compute the nb of bit we will be able to copy*/
365 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex : 8 - SrcBitIndex );
366 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
368 /* Create a mask that will serve in:*/
369 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
372 UNS8 Filtered = Aligned & ~Mask;
374 /* - and erase bits where we write, preserve where we don't*/
375 *DestByteIndex &= Mask;
378 *DestByteIndex |= Filtered ;
380 /*Compute next time cursors for src*/
381 if((SrcBitIndex += BitsToCopy)>7)/* cross boundary ?*/
383 SrcBitIndex = 0;/* First bit*/
384 SrcByteIndex += (SrcBigEndian ? -1 : 1);/* Next byte*/
388 /*Compute next time cursors for dest*/
389 if((DestBitIndex += BitsToCopy)>7)
391 DestBitIndex = 0;/* First bit*/
392 DestByteIndex += (DestBigEndian ? -1 : 1);/* Next byte*/
395 /*And decrement counter.*/
396 NbBits -= BitsToCopy;
408 UNS8 sendPDOevent( CO_Data* d)
410 /* Calls _sendPDOevent specifying it is not a sync event */
411 return _sendPDOevent(d, 0);
415 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
417 /* This is needed to avoid deletion of re-attribuated timer */
418 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
419 /* force emission of PDO by artificially changing last emitted*/
420 d->PDO_status[pdoNum].last_message.cob_id.w = 0;
421 _sendPDOevent( d, 0 ); /* not a Sync Event*/
424 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
426 /* This is needed to avoid deletion of re-attribuated timer */
427 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
428 /* Remove inhibit flag */
429 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
430 _sendPDOevent( d, 0 ); /* not a Sync Event*/
437 ** @param isSyncEvent
442 UNS8 _sendPDOevent( CO_Data* d, UNS8 isSyncEvent )
444 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
445 UNS8* pTransmissionType = NULL;
446 UNS8 status = state3;
447 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
448 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
449 UNS16 lastIndex = d->lastIndex->PDO_TRS;
451 /* study all PDO stored in the objects dictionary */
453 Message pdo = Message_Initializer;
454 while( offsetObjdict <= lastIndex) {
457 if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/
458 /* check if TPDO is not valid */
459 *(UNS32*)d->objdict[offsetObjdict].pSubindex[0].pObject & 0x8000) {
460 MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
465 /* get the PDO transmission type */
466 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;
467 MSG_WAR(0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
469 /* check if transmission type is SYNCRONOUS */
470 /* The message is transmited every n SYNC with n=TransmissionType */
472 (*pTransmissionType >= TRANS_SYNC_MIN) &&
473 (*pTransmissionType <= TRANS_SYNC_MAX) &&
474 (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) {
475 /*Reset count of SYNC*/
476 d->PDO_status[pdoNum].transmit_type_parameter = 0;
477 MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
478 pdo = (Message)Message_Initializer;
479 if(buildPDO(d, pdoNum, &pdo))
481 MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum);
486 /* If transmission RTR, with data sampled on SYNC */
487 }else if( isSyncEvent &&
488 (*pTransmissionType == TRANS_RTR_SYNC)) {
489 if(buildPDO(d, pdoNum, &d->PDO_status[pdoNum].last_message))
491 MSG_ERR(0x1966, " Couldn't build TPDO number : ", pdoNum);
492 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_RTR_SYNC_READY;
494 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY;
498 /* If transmission on Event and not inhibited, check for changes */
499 }else if((*pTransmissionType == TRANS_EVENT_PROFILE ||
500 *pTransmissionType == TRANS_EVENT_SPECIFIC )&&
501 !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) {
502 MSG_WAR(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType);
503 pdo = (Message)Message_Initializer;
504 if(buildPDO(d, pdoNum, &pdo))
506 MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum);
511 /*Compare new and old PDO*/
512 if(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.cob_id.w &&
513 d->PDO_status[pdoNum].last_message.len == pdo.len &&
514 *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
515 /* No changes -> go to next pdo*/
518 MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum);
519 /* Changes detected -> transmit message */
522 /* Start both event_timer and inhibit_timer*/
523 DelAlarm(d->PDO_status[pdoNum].event_timer);
524 d->PDO_status[pdoNum].event_timer = SetAlarm(d, pdoNum, &PDOEventTimerAlarm, MS_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject), 0);
526 DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
527 d->PDO_status[pdoNum].inhibit_timer = SetAlarm(d, pdoNum, &PDOInhibitTimerAlarm, US_TO_TIMEVAL(*(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);
529 /* and inhibit TPDO */
530 d->PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;
533 MSG_WAR(0x306C, " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ", *pTransmissionType);
537 case state5: /*Send the pdo*/
538 /*store_as_last_message*/
539 d->PDO_status[pdoNum].last_message = pdo;
540 MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id.w);
541 MSG_WAR(0x396E, " Nb octets : ", pdo.len);
543 canSend(d->canHandle,&pdo);
546 case state11: /*Go to next TPDO*/
550 MSG_WAR(0x3970, "next pdo index : ", pdoNum);
555 MSG_ERR(0x1972,"Unknown state has been reached : %d",status);
557 }/* end switch case */
573 UNS32 TPDO_Communication_Parameter_Callback(CO_Data* d, const indextable * OD_entry, UNS8 bSubindex)
575 /* If PDO are actives */
576 if(d->CurrentCommunicationState.csPDO) switch(bSubindex)
578 case 2: /* Changed transmition type */
579 case 3: /* Changed inhibit time */
580 case 5: /* Changed event time */
582 UNS8 pTransmissionType = *(UNS8*) OD_entry->pSubindex[2].pObject;
583 const indextable* TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
584 UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
586 /* Zap all timers and inhibit flag */
587 d->PDO_status[numPdo].event_timer = DelAlarm(d->PDO_status[numPdo].event_timer);
588 d->PDO_status[numPdo].inhibit_timer = DelAlarm(d->PDO_status[numPdo].inhibit_timer);
589 d->PDO_status[numPdo].transmit_type_parameter = 0;
590 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
591 PDOEventTimerAlarm(d, numPdo);
595 default: /* other subindex are ignored*/
601 void PDOInit(CO_Data* d)
603 /* For each TPDO mapping parameters */
604 UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
606 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
607 UNS16 lastIndex = d->lastIndex->PDO_TRS;
608 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
609 /* Assign callbacks to sensible TPDO mapping subindexes */
611 ODCallback_t *CallbackList;
612 /* Find callback list */
613 scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
614 if(errorCode == OD_SUCCESSFUL && CallbackList)
616 /*Assign callbacks to corresponding subindex*/
617 /* Transmission type */
618 CallbackList[2] = &TPDO_Communication_Parameter_Callback;
620 CallbackList[3] = &TPDO_Communication_Parameter_Callback;
622 CallbackList[5] = &TPDO_Communication_Parameter_Callback;
628 /* Trigger a non-sync event */
629 _sendPDOevent( d, 0 );
632 void PDOStop(CO_Data* d)
634 /* For each TPDO mapping parameters */
635 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
636 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
637 UNS16 lastIndex = d->lastIndex->PDO_TRS;
638 if(offsetObjdict) while( offsetObjdict <= lastIndex) {
639 /* Delete TPDO timers */
640 d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
641 d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
642 /* Reset transmit type parameter */
643 d->PDO_status[pdoNum].transmit_type_parameter = 0;
644 d->PDO_status[pdoNum].last_message.cob_id.w = 0;