Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

framework/include/pdo.h@7:537bae5a6fc6, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:48:14 2012 +0000
Revision:
7:537bae5a6fc6
Parent:
0:9dd7c6129683 
Pushing the project into the new repo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1 /*
sam_grove 0:9dd7c6129683 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:9dd7c6129683 3
sam_grove 0:9dd7c6129683 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 5
sam_grove 0:9dd7c6129683 6 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 7
sam_grove 0:9dd7c6129683 8 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 10 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 12
sam_grove 0:9dd7c6129683 13 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 16 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 17
sam_grove 0:9dd7c6129683 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 19 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:9dd7c6129683 21 */
sam_grove 0:9dd7c6129683 22
sam_grove 0:9dd7c6129683 23 /** @defgroup pdo Process Data Object (PDO)
sam_grove 0:9dd7c6129683 24 * PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
sam_grove 0:9dd7c6129683 25 * It is an uncomfirmed communication service without protocol overhead.
sam_grove 0:9dd7c6129683 26 * @ingroup comobj
sam_grove 0:9dd7c6129683 27 */
sam_grove 0:9dd7c6129683 28
sam_grove 0:9dd7c6129683 29 #ifndef __pdo_h__
sam_grove 0:9dd7c6129683 30 #define __pdo_h__
sam_grove 0:9dd7c6129683 31
sam_grove 0:9dd7c6129683 32 #include <applicfg.h>
sam_grove 0:9dd7c6129683 33 #include <def.h>
sam_grove 0:9dd7c6129683 34
sam_grove 0:9dd7c6129683 35 #include "canopen_can.h"
sam_grove 0:9dd7c6129683 36
sam_grove 0:9dd7c6129683 37 typedef struct struct_s_PDO_status s_PDO_status;
sam_grove 0:9dd7c6129683 38
sam_grove 0:9dd7c6129683 39 #include "data.h"
sam_grove 0:9dd7c6129683 40
sam_grove 0:9dd7c6129683 41 #ifdef __cplusplus
sam_grove 0:9dd7c6129683 42 extern "C"{
sam_grove 0:9dd7c6129683 43 #endif
sam_grove 0:9dd7c6129683 44
sam_grove 0:9dd7c6129683 45 /* Status of the TPDO : */
sam_grove 0:9dd7c6129683 46 #define PDO_INHIBITED 0x01
sam_grove 0:9dd7c6129683 47 #define PDO_RTR_SYNC_READY 0x01
sam_grove 0:9dd7c6129683 48
sam_grove 0:9dd7c6129683 49 /** The PDO structure */
sam_grove 0:9dd7c6129683 50 struct struct_s_PDO_status {
sam_grove 0:9dd7c6129683 51 UNS8 transmit_type_parameter;
sam_grove 0:9dd7c6129683 52 TIMER_HANDLE event_timer;
sam_grove 0:9dd7c6129683 53 TIMER_HANDLE inhibit_timer;
sam_grove 0:9dd7c6129683 54 Message last_message;
sam_grove 0:9dd7c6129683 55 };
sam_grove 0:9dd7c6129683 56
sam_grove 0:9dd7c6129683 57 #define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
sam_grove 0:9dd7c6129683 58
sam_grove 0:9dd7c6129683 59 /** definitions of the different types of PDOs' transmission
sam_grove 0:9dd7c6129683 60 *
sam_grove 0:9dd7c6129683 61 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
sam_grove 0:9dd7c6129683 62 */
sam_grove 0:9dd7c6129683 63 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
sam_grove 0:9dd7c6129683 64 #define TRANS_SYNC_ACYCLIC 0 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:9dd7c6129683 65 #define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:9dd7c6129683 66 #define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:9dd7c6129683 67 #define TRANS_RTR_SYNC 252 /* Transmission on request */
sam_grove 0:9dd7c6129683 68 #define TRANS_RTR 253 /* Transmission on request */
sam_grove 0:9dd7c6129683 69 #define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
sam_grove 0:9dd7c6129683 70 #define TRANS_EVENT_PROFILE 255 /* Transmission on event */
sam_grove 0:9dd7c6129683 71
sam_grove 0:9dd7c6129683 72 /**
sam_grove 0:9dd7c6129683 73 * @brief Copy all the data to transmit in process_var
sam_grove 0:9dd7c6129683 74 * Prepare the PDO defined at index to be sent
sam_grove 0:9dd7c6129683 75 * *pwCobId : returns the value of the cobid. (subindex 1)
sam_grove 0:9dd7c6129683 76 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 77 * @param numPdo The PDO number
sam_grove 0:9dd7c6129683 78 * @param *pdo Pointer on a CAN message structure
sam_grove 0:9dd7c6129683 79 * @return 0 or 0xFF if error.
sam_grove 0:9dd7c6129683 80 */
sam_grove 0:9dd7c6129683 81 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
sam_grove 0:9dd7c6129683 82
sam_grove 0:9dd7c6129683 83 /**
sam_grove 0:9dd7c6129683 84 * @ingroup pdo
sam_grove 0:9dd7c6129683 85 * @brief Transmit a PDO request frame on the network to the slave.
sam_grove 0:9dd7c6129683 86 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 87 * @param RPDOIndex Index of the receive PDO
sam_grove 0:9dd7c6129683 88 * @return
sam_grove 0:9dd7c6129683 89 * - CanFestival file descriptor is returned upon success.
sam_grove 0:9dd7c6129683 90 * - 0xFF is returned if RPDO Index is not found.
sam_grove 0:9dd7c6129683 91
sam_grove 0:9dd7c6129683 92 * @return 0xFF if error, other in success.
sam_grove 0:9dd7c6129683 93 */
sam_grove 0:9dd7c6129683 94 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
sam_grove 0:9dd7c6129683 95
sam_grove 0:9dd7c6129683 96 /**
sam_grove 0:9dd7c6129683 97 * @brief Compute a PDO frame reception
sam_grove 0:9dd7c6129683 98 * bus_id is hardware dependant
sam_grove 0:9dd7c6129683 99 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 100 * @param *m Pointer on a CAN message structure
sam_grove 0:9dd7c6129683 101 * @return 0xFF if error, else return 0
sam_grove 0:9dd7c6129683 102 */
sam_grove 0:9dd7c6129683 103 UNS8 proceedPDO (CO_Data* d, Message *m);
sam_grove 0:9dd7c6129683 104
sam_grove 0:9dd7c6129683 105 /**
sam_grove 0:9dd7c6129683 106 * @brief Used by the application to signal changes in process data
sam_grove 0:9dd7c6129683 107 * that could be mapped to some TPDO.
sam_grove 0:9dd7c6129683 108 * This do not necessarily imply PDO emission.
sam_grove 0:9dd7c6129683 109 * Function iterates on all TPDO and look TPDO transmit
sam_grove 0:9dd7c6129683 110 * type and content change before sending it.
sam_grove 0:9dd7c6129683 111 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 112 */
sam_grove 0:9dd7c6129683 113 UNS8 sendPDOevent (CO_Data* d);
sam_grove 0:9dd7c6129683 114 UNS8 sendOnePDOevent (CO_Data* d, UNS8 pdoNum);
sam_grove 0:9dd7c6129683 115
sam_grove 0:9dd7c6129683 116 /**
sam_grove 0:9dd7c6129683 117 * @ingroup pdo
sam_grove 0:9dd7c6129683 118 * @brief Function iterates on all TPDO and look TPDO transmit
sam_grove 0:9dd7c6129683 119 * type and content change before sending it.
sam_grove 0:9dd7c6129683 120 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 121 * @param isSyncEvent
sam_grove 0:9dd7c6129683 122 */
sam_grove 0:9dd7c6129683 123 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
sam_grove 0:9dd7c6129683 124
sam_grove 0:9dd7c6129683 125 /**
sam_grove 0:9dd7c6129683 126 * @brief Initialize PDO feature
sam_grove 0:9dd7c6129683 127 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 128 */
sam_grove 0:9dd7c6129683 129 void PDOInit(CO_Data* d);
sam_grove 0:9dd7c6129683 130
sam_grove 0:9dd7c6129683 131 /**
sam_grove 0:9dd7c6129683 132 * @brief Stop PDO feature
sam_grove 0:9dd7c6129683 133 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 134 */
sam_grove 0:9dd7c6129683 135 void PDOStop(CO_Data* d);
sam_grove 0:9dd7c6129683 136
sam_grove 0:9dd7c6129683 137 /**
sam_grove 0:9dd7c6129683 138 * @ingroup pdo
sam_grove 0:9dd7c6129683 139 * @brief Set timer for PDO event
sam_grove 0:9dd7c6129683 140 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 141 * @param pdoNum The PDO number
sam_grove 0:9dd7c6129683 142 */
sam_grove 0:9dd7c6129683 143 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
sam_grove 0:9dd7c6129683 144
sam_grove 0:9dd7c6129683 145 /**
sam_grove 0:9dd7c6129683 146 * @ingroup pdo
sam_grove 0:9dd7c6129683 147 * @brief Inhibit timer for PDO event
sam_grove 0:9dd7c6129683 148 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 149 * @param pdoNum The PDO number
sam_grove 0:9dd7c6129683 150 */
sam_grove 0:9dd7c6129683 151 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
sam_grove 0:9dd7c6129683 152
sam_grove 0:9dd7c6129683 153 /* copy bit per bit in little endian */
sam_grove 0:9dd7c6129683 154 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
sam_grove 0:9dd7c6129683 155
sam_grove 0:9dd7c6129683 156 #ifdef __cplusplus
sam_grove 0:9dd7c6129683 157 }
sam_grove 0:9dd7c6129683 158 #endif
sam_grove 0:9dd7c6129683 159 #endif