Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_slavenode

Can_open_slavenode

Dependencies:   mbed

source/ds401.c@6:bc64031ac849, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:43:05 2012 +0000
Revision:
6:bc64031ac849
Parent:
0:6219434a0cb5 
Change a typecast in can_mbed.cpp from unit8_t * to char * to fit the CANMessage constructor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Andreas GLAUSER
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 21 */
sam_grove 0:6219434a0cb5 22
sam_grove 0:6219434a0cb5 23 // DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
sam_grove 0:6219434a0cb5 24
sam_grove 0:6219434a0cb5 25 // Includes for the Canfestival
sam_grove 0:6219434a0cb5 26 #include "ds401.h"
sam_grove 0:6219434a0cb5 27
sam_grove 0:6219434a0cb5 28 unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
sam_grove 0:6219434a0cb5 29 {
sam_grove 0:6219434a0cb5 30 unsigned char loops, i, input, transmission = 0;
sam_grove 0:6219434a0cb5 31
sam_grove 0:6219434a0cb5 32 loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
sam_grove 0:6219434a0cb5 33
sam_grove 0:6219434a0cb5 34 for (i=0; i < loops; i++)
sam_grove 0:6219434a0cb5 35 {
sam_grove 0:6219434a0cb5 36 input = *newInput ^ Polarity_Input_8_Bit[i];
sam_grove 0:6219434a0cb5 37 if (Read_Inputs_8_Bit[i] != input)
sam_grove 0:6219434a0cb5 38 {
sam_grove 0:6219434a0cb5 39 if (Global_Interrupt_Enable_Digital)
sam_grove 0:6219434a0cb5 40 {
sam_grove 0:6219434a0cb5 41 if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input))
sam_grove 0:6219434a0cb5 42 || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
sam_grove 0:6219434a0cb5 43 || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
sam_grove 0:6219434a0cb5 44 transmission = 1;
sam_grove 0:6219434a0cb5 45 }
sam_grove 0:6219434a0cb5 46 // update object dict
sam_grove 0:6219434a0cb5 47 Read_Inputs_8_Bit[i] = input;
sam_grove 0:6219434a0cb5 48 }
sam_grove 0:6219434a0cb5 49 newInput++;
sam_grove 0:6219434a0cb5 50 }
sam_grove 0:6219434a0cb5 51 if (transmission)
sam_grove 0:6219434a0cb5 52 {
sam_grove 0:6219434a0cb5 53 /* force emission of PDO by artificially changing last emitted*/
sam_grove 0:6219434a0cb5 54 d->PDO_status[0].last_message.cob_id = 0;
sam_grove 0:6219434a0cb5 55 sendPDOevent(d);
sam_grove 0:6219434a0cb5 56 }
sam_grove 0:6219434a0cb5 57
sam_grove 0:6219434a0cb5 58 return 1;
sam_grove 0:6219434a0cb5 59 }
sam_grove 0:6219434a0cb5 60
sam_grove 0:6219434a0cb5 61 unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
sam_grove 0:6219434a0cb5 62 {
sam_grove 0:6219434a0cb5 63 unsigned char loops, i, error, type;
sam_grove 0:6219434a0cb5 64 /* fixed warning due to data size mismatch - not much of an issue since the
sam_grove 0:6219434a0cb5 65 data is last on the stack unless another function was called... */
sam_grove 0:6219434a0cb5 66 //unsigned char varsize = 1;
sam_grove 0:6219434a0cb5 67 uint32_t varsize = 1;
sam_grove 0:6219434a0cb5 68
sam_grove 0:6219434a0cb5 69 loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
sam_grove 0:6219434a0cb5 70
sam_grove 0:6219434a0cb5 71 for (i=0; i < loops; i++)
sam_grove 0:6219434a0cb5 72 {
sam_grove 0:6219434a0cb5 73 /* warning because varsize is 8bits and the parameter is a pointer (32bit)
sam_grove 0:6219434a0cb5 74 used for address to return a value */
sam_grove 0:6219434a0cb5 75 getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
sam_grove 0:6219434a0cb5 76 if ((getState(d) == Stopped) || (error != 0)) // node stopped or error
sam_grove 0:6219434a0cb5 77 {
sam_grove 0:6219434a0cb5 78 Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
sam_grove 0:6219434a0cb5 79 Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
sam_grove 0:6219434a0cb5 80 }
sam_grove 0:6219434a0cb5 81 *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
sam_grove 0:6219434a0cb5 82 newOutput++;
sam_grove 0:6219434a0cb5 83 }
sam_grove 0:6219434a0cb5 84 return 1;
sam_grove 0:6219434a0cb5 85 }
sam_grove 0:6219434a0cb5 86
sam_grove 0:6219434a0cb5 87 unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
sam_grove 0:6219434a0cb5 88 {
sam_grove 0:6219434a0cb5 89 return 0;
sam_grove 0:6219434a0cb5 90 }
sam_grove 0:6219434a0cb5 91
sam_grove 0:6219434a0cb5 92 unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
sam_grove 0:6219434a0cb5 93 {
sam_grove 0:6219434a0cb5 94 return 0;
sam_grove 0:6219434a0cb5 95 }
sam_grove 0:6219434a0cb5 96
sam_grove 0:6219434a0cb5 97
sam_grove 0:6219434a0cb5 98