Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/pdo.h@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

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): Edouard TISSERANT and Francis DUPIN
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 /** @defgroup pdo Process Data Object (PDO)
sam_grove 0:6219434a0cb5 24 * PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
sam_grove 0:6219434a0cb5 25 * It is an uncomfirmed communication service without protocol overhead.
sam_grove 0:6219434a0cb5 26 * @ingroup comobj
sam_grove 0:6219434a0cb5 27 */
sam_grove 0:6219434a0cb5 28
sam_grove 0:6219434a0cb5 29 #ifndef __pdo_h__
sam_grove 0:6219434a0cb5 30 #define __pdo_h__
sam_grove 0:6219434a0cb5 31
sam_grove 0:6219434a0cb5 32 #include <applicfg.h>
sam_grove 0:6219434a0cb5 33 #include <def.h>
sam_grove 0:6219434a0cb5 34
sam_grove 0:6219434a0cb5 35 #include "canopen_can.h"
sam_grove 0:6219434a0cb5 36
sam_grove 0:6219434a0cb5 37 typedef struct struct_s_PDO_status s_PDO_status;
sam_grove 0:6219434a0cb5 38
sam_grove 0:6219434a0cb5 39 #include "data.h"
sam_grove 0:6219434a0cb5 40
sam_grove 0:6219434a0cb5 41 #ifdef __cplusplus
sam_grove 0:6219434a0cb5 42 extern "C"{
sam_grove 0:6219434a0cb5 43 #endif
sam_grove 0:6219434a0cb5 44
sam_grove 0:6219434a0cb5 45 /* Status of the TPDO : */
sam_grove 0:6219434a0cb5 46 #define PDO_INHIBITED 0x01
sam_grove 0:6219434a0cb5 47 #define PDO_RTR_SYNC_READY 0x01
sam_grove 0:6219434a0cb5 48
sam_grove 0:6219434a0cb5 49 /** The PDO structure */
sam_grove 0:6219434a0cb5 50 struct struct_s_PDO_status {
sam_grove 0:6219434a0cb5 51 UNS8 transmit_type_parameter;
sam_grove 0:6219434a0cb5 52 TIMER_HANDLE event_timer;
sam_grove 0:6219434a0cb5 53 TIMER_HANDLE inhibit_timer;
sam_grove 0:6219434a0cb5 54 Message last_message;
sam_grove 0:6219434a0cb5 55 };
sam_grove 0:6219434a0cb5 56
sam_grove 0:6219434a0cb5 57 #define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
sam_grove 0:6219434a0cb5 58
sam_grove 0:6219434a0cb5 59 /** definitions of the different types of PDOs' transmission
sam_grove 0:6219434a0cb5 60 *
sam_grove 0:6219434a0cb5 61 * SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
sam_grove 0:6219434a0cb5 62 */
sam_grove 0:6219434a0cb5 63 #define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
sam_grove 0:6219434a0cb5 64 #define TRANS_SYNC_ACYCLIC 0 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:6219434a0cb5 65 #define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:6219434a0cb5 66 #define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
sam_grove 0:6219434a0cb5 67 #define TRANS_RTR_SYNC 252 /* Transmission on request */
sam_grove 0:6219434a0cb5 68 #define TRANS_RTR 253 /* Transmission on request */
sam_grove 0:6219434a0cb5 69 #define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
sam_grove 0:6219434a0cb5 70 #define TRANS_EVENT_PROFILE 255 /* Transmission on event */
sam_grove 0:6219434a0cb5 71
sam_grove 0:6219434a0cb5 72 /**
sam_grove 0:6219434a0cb5 73 * @brief Copy all the data to transmit in process_var
sam_grove 0:6219434a0cb5 74 * Prepare the PDO defined at index to be sent
sam_grove 0:6219434a0cb5 75 * *pwCobId : returns the value of the cobid. (subindex 1)
sam_grove 0:6219434a0cb5 76 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 77 * @param numPdo The PDO number
sam_grove 0:6219434a0cb5 78 * @param *pdo Pointer on a CAN message structure
sam_grove 0:6219434a0cb5 79 * @return 0 or 0xFF if error.
sam_grove 0:6219434a0cb5 80 */
sam_grove 0:6219434a0cb5 81 UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
sam_grove 0:6219434a0cb5 82
sam_grove 0:6219434a0cb5 83 /**
sam_grove 0:6219434a0cb5 84 * @ingroup pdo
sam_grove 0:6219434a0cb5 85 * @brief Transmit a PDO request frame on the network to the slave.
sam_grove 0:6219434a0cb5 86 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 87 * @param RPDOIndex Index of the receive PDO
sam_grove 0:6219434a0cb5 88 * @return
sam_grove 0:6219434a0cb5 89 * - CanFestival file descriptor is returned upon success.
sam_grove 0:6219434a0cb5 90 * - 0xFF is returned if RPDO Index is not found.
sam_grove 0:6219434a0cb5 91
sam_grove 0:6219434a0cb5 92 * @return 0xFF if error, other in success.
sam_grove 0:6219434a0cb5 93 */
sam_grove 0:6219434a0cb5 94 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
sam_grove 0:6219434a0cb5 95
sam_grove 0:6219434a0cb5 96 /**
sam_grove 0:6219434a0cb5 97 * @brief Compute a PDO frame reception
sam_grove 0:6219434a0cb5 98 * bus_id is hardware dependant
sam_grove 0:6219434a0cb5 99 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 100 * @param *m Pointer on a CAN message structure
sam_grove 0:6219434a0cb5 101 * @return 0xFF if error, else return 0
sam_grove 0:6219434a0cb5 102 */
sam_grove 0:6219434a0cb5 103 UNS8 proceedPDO (CO_Data* d, Message *m);
sam_grove 0:6219434a0cb5 104
sam_grove 0:6219434a0cb5 105 /**
sam_grove 0:6219434a0cb5 106 * @brief Used by the application to signal changes in process data
sam_grove 0:6219434a0cb5 107 * that could be mapped to some TPDO.
sam_grove 0:6219434a0cb5 108 * This do not necessarily imply PDO emission.
sam_grove 0:6219434a0cb5 109 * Function iterates on all TPDO and look TPDO transmit
sam_grove 0:6219434a0cb5 110 * type and content change before sending it.
sam_grove 0:6219434a0cb5 111 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 112 */
sam_grove 0:6219434a0cb5 113 UNS8 sendPDOevent (CO_Data* d);
sam_grove 0:6219434a0cb5 114 UNS8 sendOnePDOevent (CO_Data* d, UNS8 pdoNum);
sam_grove 0:6219434a0cb5 115
sam_grove 0:6219434a0cb5 116 /**
sam_grove 0:6219434a0cb5 117 * @ingroup pdo
sam_grove 0:6219434a0cb5 118 * @brief Function iterates on all TPDO and look TPDO transmit
sam_grove 0:6219434a0cb5 119 * type and content change before sending it.
sam_grove 0:6219434a0cb5 120 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 121 * @param isSyncEvent
sam_grove 0:6219434a0cb5 122 */
sam_grove 0:6219434a0cb5 123 UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
sam_grove 0:6219434a0cb5 124
sam_grove 0:6219434a0cb5 125 /**
sam_grove 0:6219434a0cb5 126 * @brief Initialize PDO feature
sam_grove 0:6219434a0cb5 127 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 128 */
sam_grove 0:6219434a0cb5 129 void PDOInit(CO_Data* d);
sam_grove 0:6219434a0cb5 130
sam_grove 0:6219434a0cb5 131 /**
sam_grove 0:6219434a0cb5 132 * @brief Stop PDO feature
sam_grove 0:6219434a0cb5 133 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 134 */
sam_grove 0:6219434a0cb5 135 void PDOStop(CO_Data* d);
sam_grove 0:6219434a0cb5 136
sam_grove 0:6219434a0cb5 137 /**
sam_grove 0:6219434a0cb5 138 * @ingroup pdo
sam_grove 0:6219434a0cb5 139 * @brief Set timer for PDO event
sam_grove 0:6219434a0cb5 140 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 141 * @param pdoNum The PDO number
sam_grove 0:6219434a0cb5 142 */
sam_grove 0:6219434a0cb5 143 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
sam_grove 0:6219434a0cb5 144
sam_grove 0:6219434a0cb5 145 /**
sam_grove 0:6219434a0cb5 146 * @ingroup pdo
sam_grove 0:6219434a0cb5 147 * @brief Inhibit timer for PDO event
sam_grove 0:6219434a0cb5 148 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 149 * @param pdoNum The PDO number
sam_grove 0:6219434a0cb5 150 */
sam_grove 0:6219434a0cb5 151 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
sam_grove 0:6219434a0cb5 152
sam_grove 0:6219434a0cb5 153 /* copy bit per bit in little endian */
sam_grove 0:6219434a0cb5 154 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
sam_grove 0:6219434a0cb5 155
sam_grove 0:6219434a0cb5 156 #ifdef __cplusplus
sam_grove 0:6219434a0cb5 157 }
sam_grove 0:6219434a0cb5 158 #endif
sam_grove 0:6219434a0cb5 159 #endif