ds401.c

00001 /*
00002 This file is part of CanFestival, a library implementing CanOpen Stack.
00003 
00004 Copyright (C): Andreas GLAUSER
00005 
00006 See COPYING file for copyrights details.
00007 
00008 This library is free software; you can redistribute it and/or
00009 modify it under the terms of the GNU Lesser General Public
00010 License as published by the Free Software Foundation; either
00011 version 2.1 of the License, or (at your option) any later version.
00012 
00013 This library is distributed in the hope that it will be useful,
00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 Lesser General Public License for more details.
00017 
00018 You should have received a copy of the GNU Lesser General Public
00019 License along with this library; if not, write to the Free Software
00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021 */
00022 
00023 // DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
00024 
00025 // Includes for the Canfestival
00026 #include "ds401.h"
00027 
00028 unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
00029 {
00030   unsigned char loops, i, input, transmission = 0;
00031 
00032   loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
00033 
00034   for (i=0; i < loops; i++)
00035   {
00036     input = *newInput ^ Polarity_Input_8_Bit[i];
00037     if (Read_Inputs_8_Bit[i] != input)
00038     {
00039       if (Global_Interrupt_Enable_Digital)
00040       {
00041         if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input)) 
00042      || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
00043      || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
00044        transmission = 1;
00045       }
00046       // update object dict
00047       Read_Inputs_8_Bit[i] = input;
00048     }
00049     newInput++;
00050   }
00051   if (transmission)
00052   {
00053   /* force emission of PDO by artificially changing last emitted*/
00054     d->PDO_status[0].last_message.cob_id = 0;
00055     sendPDOevent(d);
00056   }
00057 
00058   return 1;
00059 }
00060 
00061 unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
00062 {
00063   unsigned char loops, i, error, type;
00064   /* fixed warning due to data size mismatch - not much of an issue since the 
00065         data is last on the stack unless another function was called... */
00066   //unsigned char varsize = 1;
00067   uint32_t varsize = 1;
00068 
00069   loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
00070 
00071   for (i=0; i < loops; i++)
00072   {
00073     /* warning because varsize is 8bits and the parameter is a pointer (32bit) 
00074         used for address to return a value */
00075     getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
00076     if ((getState(d) == Stopped) || (error != 0))   // node stopped or error
00077     {
00078       Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
00079       Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
00080     }
00081     *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
00082     newOutput++;
00083   }
00084   return 1;
00085 }
00086 
00087 unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
00088 {
00089   return 0;
00090 }
00091 
00092 unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
00093 {
00094   return 0;
00095 }
00096 
00097 
00098