Luis Silvio Cordova Rivadeneira
/
Can_open_slavenode
Can_open_slavenode
source/ds401.c
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/* This file is part of CanFestival, a library implementing CanOpen Stack. Copyright (C): Andreas GLAUSER See COPYING file for copyrights details. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ // DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules" // Includes for the Canfestival #include "ds401.h" unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size) { unsigned char loops, i, input, transmission = 0; loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size; for (i=0; i < loops; i++) { input = *newInput ^ Polarity_Input_8_Bit[i]; if (Read_Inputs_8_Bit[i] != input) { if (Global_Interrupt_Enable_Digital) { if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input)) || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input) || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input)) transmission = 1; } // update object dict Read_Inputs_8_Bit[i] = input; } newInput++; } if (transmission) { /* force emission of PDO by artificially changing last emitted*/ d->PDO_status[0].last_message.cob_id = 0; sendPDOevent(d); } return 1; } unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size) { unsigned char loops, i, error, type; /* fixed warning due to data size mismatch - not much of an issue since the data is last on the stack unless another function was called... */ //unsigned char varsize = 1; uint32_t varsize = 1; loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size; for (i=0; i < loops; i++) { /* warning because varsize is 8bits and the parameter is a pointer (32bit) used for address to return a value */ getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO); if ((getState(d) == Stopped) || (error != 0)) // node stopped or error { Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]); Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]); } *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i]; newOutput++; } return 1; } unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size) { return 0; } unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size) { return 0; }