Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/** @defgroup pdo Process Data Object (PDO)
+ * PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
+ * It is an uncomfirmed communication service without protocol overhead.
+ * @ingroup comobj
+ */
+
#ifndef __pdo_h__
#define __pdo_h__
#include <applicfg.h>
#include <def.h>
-/* The process_var structure
- Used to store the PDO before the transmission or the reception.
-*/
-typedef struct struct_s_process_var {
- UNS8 count; /* Size of data. Ex : for a PDO of 6 bytes of data, count = 6 */
- /* WARNING s_process_var.data is subject to ENDIANISATION
- * (with respect to CANOPEN_BIG_ENDIAN)
- */
- UNS8 data[PDO_MAX_LEN];
-}s_process_var;
+#include "can.h"
+
+typedef struct struct_s_PDO_status s_PDO_status;
#include "data.h"
-/** The PDO structure */
-typedef struct struct_s_PDO {
- UNS32 cobId; /* COB-ID */
- UNS8 len; /* Number of data transmitted (in data[]) */
- UNS8 data[8]; /* Contain the data */
-}s_PDO;
-
-/** Transmit a PDO data frame on the bus bus_id
- * pdo is a structure which contains the pdo to transmit
- * bus_id is hardware dependant
- * return canSend(bus_id,&m) or 0xFF if error
- * request can take the value REQUEST or NOT_A_REQUEST
- */
-UNS8 sendPDO (CO_Data* d, s_PDO pdo, UNS8 request);
+/* Status of the TPDO : */
+#define PDO_INHIBITED 0x01
+#define PDO_RTR_SYNC_READY 0x01
-/** Prepare a PDO frame transmission,
- * whose different parameters are stored in process_var table,
- * to the slave.
- * bus_id is hardware dependant
- * call the function sendPDO
- * return the result of the function sendPDO or 0xFF if error
+/** The PDO structure */
+struct struct_s_PDO_status {
+ UNS8 transmit_type_parameter;
+ TIMER_HANDLE event_timer;
+ TIMER_HANDLE inhibit_timer;
+ Message last_message;
+};
+
+#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
+
+/** definitions of the different types of PDOs' transmission
+ *
+ * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
*/
-UNS8 PDOmGR (CO_Data* d, UNS32 cobId);
-
-/** Prepare the PDO defined at index to be sent by PDOmGR
- * Copy all the data to transmit in process_var
+#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
+#define TRANS_SYNC_ACYCLIC 0 /* Trans after reception of n SYNC. n = 1 to 240 */
+#define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
+#define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
+#define TRANS_RTR_SYNC 252 /* Transmission on request */
+#define TRANS_RTR 253 /* Transmission on request */
+#define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
+#define TRANS_EVENT_PROFILE 255 /* Transmission on event */
+
+/**
+ * @brief Copy all the data to transmit in process_var
+ * Prepare the PDO defined at index to be sent
* *pwCobId : returns the value of the cobid. (subindex 1)
- * Return 0 or 0xFF if error.
+ * @param *d Pointer on a CAN object data structure
+ * @param numPdo The PDO number
+ * @param *pdo Pointer on a CAN message structure
+ * @return 0 or 0xFF if error.
*/
-UNS8 buildPDO (CO_Data* d, UNS16 index);
+UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
-/** Transmit a PDO request frame on the bus bus_id
+/**
+ * @ingroup pdo
+ * @brief Transmit a PDO request frame on the bus bus_id
* to the slave.
* bus_id is hardware dependant
- * Returns 0xFF if error, other in success.
+ * @param *d Pointer on a CAN object data structure
+ * @param RPDOIndex Index of the receive PDO
+ * @return 0xFF if error, other in success.
*/
-UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId);
+UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
-/** Compute a PDO frame reception
+/**
+ * @brief Compute a PDO frame reception
* bus_id is hardware dependant
- * return 0xFF if error, else return 0
+ * @param *d Pointer on a CAN object data structure
+ * @param *m Pointer on a CAN message structure
+ * @return 0xFF if error, else return 0
*/
UNS8 proceedPDO (CO_Data* d, Message *m);
-/* used by the application to send a variable by PDO.
- * Check in which PDO the variable is mapped, and send the PDO.
- * of course, the others variables mapped in the PDO are also sent !
- * ( ie when a specific event occured)
- * bus_id is hardware dependant
- * variable is a pointer to the variable which has to be sent. Must be
- * defined in the object dictionary
- * return 0xFF if error, else return 0
+/**
+ * @brief Used by the application to signal changes in process data
+ * that could be mapped to some TPDO.
+ * This do not necessarily imply PDO emission.
+ * Function iterates on all TPDO and look TPDO transmit
+ * type and content change before sending it.
+ * @param *d Pointer on a CAN object data structure
+ */
+UNS8 sendPDOevent (CO_Data* d);
+
+/**
+ * @ingroup pdo
+ * @brief Function iterates on all TPDO and look TPDO transmit
+ * type and content change before sending it.
+ * @param *d Pointer on a CAN object data structure
+ * @param isSyncEvent
+ */
+UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
+
+/**
+ * @brief Initialize PDO feature
+ * @param *d Pointer on a CAN object data structure
+ */
+void PDOInit(CO_Data* d);
+
+/**
+ * @brief Stop PDO feature
+ * @param *d Pointer on a CAN object data structure
+ */
+void PDOStop(CO_Data* d);
+
+/**
+ * @ingroup pdo
+ * @brief Set timer for PDO event
+ * @param *d Pointer on a CAN object data structure
+ * @param pdoNum The PDO number
+ */
+void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
+
+/**
+ * @ingroup pdo
+ * @brief Inhibit timer for PDO event
+ * @param *d Pointer on a CAN object data structure
+ * @param pdoNum The PDO number
*/
-UNS8 sendPDOevent (CO_Data* d, void * variable);
+void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
+/* copy bit per bit in little endian */
+void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
#endif
projects / CanFestival-3.git / blobdiff