Diff: framework/include/pdo.h

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/include/pdo.h	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,159 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+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
+*/
+
+/** @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>
+
+#include "canopen_can.h"
+
+typedef struct struct_s_PDO_status s_PDO_status;
+
+#include "data.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+/* Status of the TPDO : */
+#define PDO_INHIBITED 0x01
+#define PDO_RTR_SYNC_READY 0x01
+
+/** 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.
+ */
+#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)
+ * @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, UNS8 numPdo, Message *pdo);
+
+/** 
+ * @ingroup pdo
+ * @brief Transmit a PDO request frame on the network to the slave.
+ * @param *d Pointer on a CAN object data structure
+ * @param RPDOIndex Index of the receive PDO
+ * @return
+ *       - CanFestival file descriptor is returned upon success.
+ *       - 0xFF is returned if RPDO Index is not found.
+ 
+ * @return 0xFF if error, other in success.
+ */
+UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
+
+/**
+ * @brief Compute a PDO frame reception
+ * bus_id is hardware dependant
+ * @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);
+
+/** 
+ * @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);
+UNS8 sendOnePDOevent (CO_Data* d, UNS8 pdoNum);
+
+/** 
+ * @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
+ */
+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);
+
+#ifdef __cplusplus
+}
+#endif
+#endif