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"
31 ** @author Edouard TISSERANT and Francis DUPIN
32 ** @date Tue Jun 5 09:32:32 2007
43 ** @param TPDO_com TPDO communication parameters OD entry
44 ** @param TPDO_map TPDO mapping parameters OD entry
49 UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
51 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
52 const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
56 const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
58 pdo->cob_id = UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF);
59 pdo->rtr = NOT_A_REQUEST;
61 MSG_WAR (0x3009, " PDO CobId is : ",
62 *(UNS32 *) TPDO_com->pSubindex[1].pObject);
63 MSG_WAR (0x300D, " Number of objects mapped : ", *pMappingCount);
67 UNS8 dataType; /* Unused */
68 UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; /* temporary space to hold bits */
70 /* pointer fo the var which holds the mapping parameter of an mapping entry */
71 UNS32 *pMappingParameter =
72 (UNS32 *) TPDO_map->pSubindex[prp_j + 1].pObject;
73 UNS16 index = (UNS16) ((*pMappingParameter) >> 16);
74 UNS32 Size = (UNS32) (*pMappingParameter & (UNS32) 0x000000FF); /* Size in bits */
76 /* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
77 if (Size && ((offset + Size) <= 64))
79 UNS32 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
81 (UNS8) (((*pMappingParameter) >> (UNS8) 8) & (UNS32) 0x000000FF);
83 MSG_WAR (0x300F, " got mapping parameter : ", *pMappingParameter);
84 MSG_WAR (0x3050, " at index : ", TPDO_map->index);
85 MSG_WAR (0x3051, " sub-index : ", prp_j + 1);
87 if (getODentry (d, index, subIndex, tmp, &ByteSize, &dataType, 0) !=
91 " Couldn't find mapped variable at index-subindex-size : ",
92 (UNS16) (*pMappingParameter));
95 /* copy bit per bit in little endian */
96 CopyBits (Size, ((UNS8 *) tmp), 0, 0,
97 (UNS8 *) & pdo->data[offset >> 3], offset % 8, 0);
103 while (prp_j < *pMappingCount);
105 pdo->len = 1 + ((offset - 1) >> 3);
107 MSG_WAR (0x3015, " End scan mapped variable", 0);
121 sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
124 UNS16 offset = d->firstIndex->PDO_RCV;
125 UNS16 lastIndex = d->lastIndex->PDO_RCV;
127 /* Sending the request only if the cobid have been found on the PDO
129 /* part dictionary */
131 MSG_WAR (0x3930, "sendPDOrequest RPDO Index : ", RPDOIndex);
133 if (offset && RPDOIndex >= 0x1400)
135 offset += RPDOIndex - 0x1400;
136 if (offset <= lastIndex)
139 pwCobId = d->objdict[offset].pSubindex[1].pObject;
141 MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
144 pdo.cob_id = UNS16_LE(*pwCobId);
147 return canSend (d->canHandle, &pdo);
151 MSG_ERR (0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
165 proceedPDO (CO_Data * d, Message * m)
168 UNS8 numMap; /* Number of the mapped varable */
169 UNS8 *pMappingCount = NULL; /* count of mapped objects... */
170 /* pointer to the var which is mapped to a pdo... */
171 /* void * pMappedAppObject = NULL; */
172 /* pointer fo the var which holds the mapping parameter of an
174 UNS32 *pMappingParameter = NULL;
175 UNS8 *pTransmissionType = NULL; /* pointer to the transmission
177 UNS32 *pwCobId = NULL;
187 MSG_WAR (0x3935, "proceedPDO, cobID : ", (UNS16_LE(m->cob_id) & 0x7ff));
191 if ((*m).rtr == NOT_A_REQUEST)
192 { /* The PDO received is not a
195 offsetObjdict = d->firstIndex->PDO_RCV;
196 lastIndex = d->lastIndex->PDO_RCV;
198 /* study of all the PDO stored in the dictionary */
200 while (offsetObjdict <= lastIndex)
207 /* get CobId of the dictionary correspondant to the received
210 d->objdict[offsetObjdict].pSubindex[1].pObject;
211 /* check the CobId coherance */
212 /*pwCobId is the cobId read in the dictionary at the state 3
214 if (*pwCobId == UNS16_LE(m->cob_id))
216 /* The cobId is recognized */
218 MSG_WAR (0x3936, "cobId found at index ",
224 /* cobId received does not match with those write in the
232 case state4: /* Get Mapped Objects Number */
233 /* The cobId of the message received has been found in the
235 offsetObjdict = d->firstIndex->PDO_RCV_MAP;
236 lastIndex = d->lastIndex->PDO_RCV_MAP;
238 (UNS8 *) (d->objdict + offsetObjdict +
239 numPdo)->pSubindex[0].pObject;
241 while (numMap < *pMappingCount)
243 UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
246 (UNS32 *) (d->objdict + offsetObjdict +
247 numPdo)->pSubindex[numMap + 1].pObject;
248 if (pMappingParameter == NULL)
250 MSG_ERR (0x1937, "Couldn't get mapping parameter : ",
254 /* Get the addresse of the mapped variable. */
255 /* detail of *pMappingParameter : */
256 /* The 16 hight bits contains the index, the medium 8 bits
257 contains the subindex, */
258 /* and the lower 8 bits contains the size of the mapped
261 Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF);
263 /* set variable only if Size != 0 and
264 * Size is lower than remaining bits in the PDO */
265 if (Size && ((offset + Size) <= (m->len << 3)))
267 /* copy bit per bit in little endian */
268 CopyBits (Size, (UNS8 *) & m->data[offset >> 3],
269 offset % 8, 0, ((UNS8 *) tmp), 0, 0);
270 /*1->8 => 1 ; 9->16 =>2, ... */
271 ByteSize = (UNS32)(1 + ((Size - 1) >> 3));
274 setODentry (d, (UNS16) ((*pMappingParameter) >> 16),
275 (UNS8) (((*pMappingParameter) >> 8) &
276 0xFF), tmp, &ByteSize, 0);
278 if (objDict != OD_SUCCESSFUL)
281 "error accessing to the mapped var : ",
283 MSG_WAR (0x2939, " Mapped at index : ",
284 (*pMappingParameter) >> 16);
285 MSG_WAR (0x2940, " subindex : ",
286 ((*pMappingParameter) >> 8) & 0xFF);
291 "Variable updated by PDO cobid : ",
292 UNS16_LE(m->cob_id));
293 MSG_WAR (0x3943, " Mapped at index : ",
294 (*pMappingParameter) >> 16);
295 MSG_WAR (0x3944, " subindex : ",
296 ((*pMappingParameter) >> 8) & 0xFF);
300 } /* end loop while on mapped variables */
304 } /* end switch status */
306 } /* end if Donnees */
307 else if ((*m).rtr == REQUEST)
309 MSG_WAR (0x3946, "Receive a PDO request cobId : ", UNS16_LE(m->cob_id));
311 offsetObjdict = d->firstIndex->PDO_TRS;
312 lastIndex = d->lastIndex->PDO_TRS;
314 while (offsetObjdict <= lastIndex)
316 /* study of all PDO stored in the objects dictionary */
321 case state1: /* check the CobId */
322 /* get CobId of the dictionary which match to the received PDO
326 offsetObjdict)->pSubindex[1].pObject;
327 if (*pwCobId == UNS16_LE(m->cob_id))
341 case state4: /* check transmission type */
343 (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
344 /* If PDO is to be sampled and send on RTR, do it */
345 if ((*pTransmissionType == TRANS_RTR))
350 /* RTR_SYNC means data prepared at SYNC, transmitted on RTR */
351 else if ((*pTransmissionType == TRANS_RTR_SYNC))
353 if (d->PDO_status[numPdo].
354 transmit_type_parameter & PDO_RTR_SYNC_READY)
356 /*Data ready, just send */
357 canSend (d->canHandle,
358 &d->PDO_status[numPdo].last_message);
363 /* if SYNC did never occur, transmit current data */
364 /* DS301 do not tell what to do in such a case... */
366 "Not ready RTR_SYNC TPDO send current data : ",
367 UNS16_LE(m->cob_id));
372 else if ((*pTransmissionType == TRANS_EVENT_PROFILE) ||
373 (*pTransmissionType == TRANS_EVENT_SPECIFIC))
375 /* Zap all timers and inhibit flag */
376 d->PDO_status[numPdo].event_timer =
377 DelAlarm (d->PDO_status[numPdo].event_timer);
378 d->PDO_status[numPdo].inhibit_timer =
379 DelAlarm (d->PDO_status[numPdo].inhibit_timer);
380 d->PDO_status[numPdo].transmit_type_parameter &=
382 /* Call PDOEventTimerAlarm for this TPDO,
383 * this will trigger emission et reset timers */
384 PDOEventTimerAlarm (d, numPdo);
389 /* The requested PDO is not to send on request. So, does
391 MSG_WAR (0x2947, "PDO is not to send on request : ",
392 UNS16_LE(m->cob_id));
396 case state5: /* build and send requested PDO */
399 if (buildPDO (d, numPdo, &pdo))
401 MSG_ERR (0x1948, " Couldn't build TPDO n�", numPdo);
404 canSend (d->canHandle, &pdo);
407 } /* end switch status */
409 } /* end if Requete */
418 ** @param SrcByteIndex
419 ** @param SrcBitIndex
420 ** @param SrcBigEndian
421 ** @param DestByteIndex
422 ** @param DestBitIndex
423 ** @param DestBigEndian
426 CopyBits (UNS8 NbBits, UNS8 * SrcByteIndex, UNS8 SrcBitIndex,
427 UNS8 SrcBigEndian, UNS8 * DestByteIndex, UNS8 DestBitIndex,
430 /* This loop copy as many bits that it can each time, crossing */
431 /* successively bytes */
432 // boundaries from LSB to MSB.
435 /* Bit missalignement between src and dest */
436 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
438 /* We can now get src and align it to dest */
440 Vect > 0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
442 /* Compute the nb of bit we will be able to copy */
443 UNS8 BoudaryLimit = (Vect > 0 ? 8 - DestBitIndex : 8 - SrcBitIndex);
444 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
446 /* Create a mask that will serve in: */
448 ((0xff << (DestBitIndex + BitsToCopy)) |
449 (0xff >> (8 - DestBitIndex)));
451 /* - Filtering src */
452 UNS8 Filtered = Aligned & ~Mask;
454 /* - and erase bits where we write, preserve where we don't */
455 *DestByteIndex &= Mask;
458 *DestByteIndex |= Filtered;
460 /*Compute next time cursors for src */
461 if ((SrcBitIndex += BitsToCopy) > 7) /* cross boundary ? */
463 SrcBitIndex = 0; /* First bit */
464 SrcByteIndex += (SrcBigEndian ? -1 : 1); /* Next byte */
468 /*Compute next time cursors for dest */
469 if ((DestBitIndex += BitsToCopy) > 7)
471 DestBitIndex = 0; /* First bit */
472 DestByteIndex += (DestBigEndian ? -1 : 1); /* Next byte */
475 /*And decrement counter. */
476 NbBits -= BitsToCopy;
490 sendPDOevent (CO_Data * d)
492 /* Calls _sendPDOevent specifying it is not a sync event */
493 return _sendPDOevent (d, 0);
498 PDOEventTimerAlarm (CO_Data * d, UNS32 pdoNum)
500 /* This is needed to avoid deletion of re-attribuated timer */
501 d->PDO_status[pdoNum].event_timer = TIMER_NONE;
502 /* force emission of PDO by artificially changing last emitted */
503 d->PDO_status[pdoNum].last_message.cob_id = 0;
504 _sendPDOevent (d, 0); /* not a Sync Event */
508 PDOInhibitTimerAlarm (CO_Data * d, UNS32 pdoNum)
510 /* This is needed to avoid deletion of re-attribuated timer */
511 d->PDO_status[pdoNum].inhibit_timer = TIMER_NONE;
512 /* Remove inhibit flag */
513 d->PDO_status[pdoNum].transmit_type_parameter &= ~PDO_INHIBITED;
514 _sendPDOevent (d, 0); /* not a Sync Event */
521 ** @param isSyncEvent
527 _sendPDOevent (CO_Data * d, UNS8 isSyncEvent)
529 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
530 UNS8 *pTransmissionType = NULL;
531 UNS8 status = state3;
532 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
533 UNS16 offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
534 UNS16 lastIndex = d->lastIndex->PDO_TRS;
536 /* study all PDO stored in the objects dictionary */
539 Message pdo;/* = Message_Initializer;*/
540 memset(&pdo, 0, sizeof(pdo));
541 while (offsetObjdict <= lastIndex)
546 if ( /* bSubCount always 5 with objdictedit -> check disabled */
547 /*d->objdict[offsetObjdict].bSubCount < 5 ||*/
548 /* check if TPDO is not valid */
549 *(UNS32 *) d->objdict[offsetObjdict].pSubindex[1].
550 pObject & 0x80000000)
552 MSG_WAR (0x3960, "Not a valid PDO ", 0x1800 + pdoNum);
557 /* get the PDO transmission type */
559 (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject;
560 MSG_WAR (0x3962, "Reading PDO at index : ", 0x1800 + pdoNum);
562 /* check if transmission type is SYNCRONOUS */
563 /* message transmited every n SYNC with n=TransmissionType */
565 (*pTransmissionType >= TRANS_SYNC_MIN) &&
566 (*pTransmissionType <= TRANS_SYNC_MAX) &&
567 (++d->PDO_status[pdoNum].transmit_type_parameter ==
570 /*Reset count of SYNC */
571 d->PDO_status[pdoNum].transmit_type_parameter = 0;
572 MSG_WAR (0x3964, " PDO is on SYNCHRO. Trans type : ",
574 memset(&pdo, 0, sizeof(pdo));
576 Message msg_init = Message_Initializer;
579 if (buildPDO (d, pdoNum, &pdo))
581 MSG_ERR (0x1906, " Couldn't build TPDO number : ",
587 /* If transmission RTR, with data sampled on SYNC */
589 else if (isSyncEvent && (*pTransmissionType == TRANS_RTR_SYNC))
592 (d, pdoNum, &d->PDO_status[pdoNum].last_message))
594 MSG_ERR (0x1966, " Couldn't build TPDO number : ",
596 d->PDO_status[pdoNum].transmit_type_parameter &=
601 d->PDO_status[pdoNum].transmit_type_parameter |=
606 /* If transmission on Event and not inhibited, check for changes */
610 && (*pTransmissionType == TRANS_SYNC_ACYCLIC))
612 ((*pTransmissionType == TRANS_EVENT_PROFILE
613 || *pTransmissionType == TRANS_EVENT_SPECIFIC)
614 && !(d->PDO_status[pdoNum].
615 transmit_type_parameter & PDO_INHIBITED)))
617 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ",
619 memset(&pdo, 0, sizeof(pdo));
621 Message msg_init = Message_Initializer;
624 if (buildPDO (d, pdoNum, &pdo))
626 MSG_ERR (0x3907, " Couldn't build TPDO number : ",
632 /*Compare new and old PDO */
633 if (d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id
634 && d->PDO_status[pdoNum].last_message.len == pdo.len
635 && memcmp(d->PDO_status[pdoNum].last_message.data,
639 /* No changes -> go to next pdo */
645 TIMEVAL EventTimerDuration;
646 TIMEVAL InhibitTimerDuration;
648 MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
649 /* Changes detected -> transmit message */
651 *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
653 InhibitTimerDuration =
654 *(UNS16 *) d->objdict[offsetObjdict].pSubindex[3].
659 /* Start both event_timer and inhibit_timer */
660 if (EventTimerDuration)
662 DelAlarm (d->PDO_status[pdoNum].event_timer);
663 d->PDO_status[pdoNum].event_timer =
664 SetAlarm (d, pdoNum, &PDOEventTimerAlarm,
665 MS_TO_TIMEVAL (EventTimerDuration), 0);
668 if (InhibitTimerDuration)
670 DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
671 d->PDO_status[pdoNum].inhibit_timer =
672 SetAlarm (d, pdoNum, &PDOInhibitTimerAlarm,
673 US_TO_TIMEVAL (InhibitTimerDuration *
675 /* and inhibit TPDO */
676 d->PDO_status[pdoNum].transmit_type_parameter |=
685 " PDO is not on EVENT or synchro or not at this SYNC. Trans type : ",
690 case state5: /*Send the pdo */
691 /*store_as_last_message */
692 d->PDO_status[pdoNum].last_message = pdo;
693 MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
694 MSG_WAR (0x396E, " Nb octets : ", pdo.len);
696 canSend (d->canHandle, &pdo);
699 case state11: /*Go to next TPDO */
703 MSG_WAR (0x3970, "next pdo index : ", pdoNum);
708 MSG_ERR (0x1972, "Unknown state has been reached : %d", status);
710 } /* end switch case */
727 TPDO_Communication_Parameter_Callback (CO_Data * d,
728 const indextable * OD_entry,
731 /* If PDO are actives */
732 if (d->CurrentCommunicationState.csPDO)
735 case 2: /* Changed transmition type */
736 case 3: /* Changed inhibit time */
737 case 5: /* Changed event time */
739 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS;
740 UNS8 numPdo = OD_entry - TPDO_com; /* number of the actual processed pdo-nr. */
742 /* Zap all timers and inhibit flag */
743 d->PDO_status[numPdo].event_timer =
744 DelAlarm (d->PDO_status[numPdo].event_timer);
745 d->PDO_status[numPdo].inhibit_timer =
746 DelAlarm (d->PDO_status[numPdo].inhibit_timer);
747 d->PDO_status[numPdo].transmit_type_parameter = 0;
748 /* Call PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */
749 PDOEventTimerAlarm (d, numPdo);
753 default: /* other subindex are ignored */
760 PDOInit (CO_Data * d)
762 /* For each TPDO mapping parameters */
763 UNS16 pdoIndex = 0x1800; /* OD index of TDPO */
765 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
766 UNS16 lastIndex = d->lastIndex->PDO_TRS;
768 while (offsetObjdict <= lastIndex)
770 /* Assign callbacks to sensible TPDO mapping subindexes */
772 ODCallback_t *CallbackList;
773 /* Find callback list */
774 scanIndexOD (d, pdoIndex, &errorCode, &CallbackList);
775 if (errorCode == OD_SUCCESSFUL && CallbackList)
777 /*Assign callbacks to corresponding subindex */
778 /* Transmission type */
779 CallbackList[2] = &TPDO_Communication_Parameter_Callback;
781 CallbackList[3] = &TPDO_Communication_Parameter_Callback;
783 CallbackList[5] = &TPDO_Communication_Parameter_Callback;
789 /* Trigger a non-sync event */
790 _sendPDOevent (d, 0);
794 PDOStop (CO_Data * d)
796 /* For each TPDO mapping parameters */
797 UNS8 pdoNum = 0x00; /* number of the actual processed pdo-nr. */
798 UNS16 offsetObjdict = d->firstIndex->PDO_TRS;
799 UNS16 lastIndex = d->lastIndex->PDO_TRS;
801 while (offsetObjdict <= lastIndex)
803 /* Delete TPDO timers */
804 d->PDO_status[pdoNum].event_timer =
805 DelAlarm (d->PDO_status[pdoNum].event_timer);
806 d->PDO_status[pdoNum].inhibit_timer =
807 DelAlarm (d->PDO_status[pdoNum].inhibit_timer);
808 /* Reset transmit type parameter */
809 d->PDO_status[pdoNum].transmit_type_parameter = 0;
810 d->PDO_status[pdoNum].last_message.cob_id = 0;