src/pdo.c File Reference

#include "pdo.h"
#include "objacces.h"
#include "canfestival.h"
#include "sysdep.h"

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Functions
UNS8	buildPDO (CO_Data *d, UNS8 numPdo, Message *pdo)
	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).
UNS8	sendPDOrequest (CO_Data *d, UNS16 RPDOIndex)
	Transmit a PDO request frame on the network to the slave.
UNS8	proceedPDO (CO_Data *d, Message *m)
	Compute a PDO frame reception bus_id is hardware dependant.
void	CopyBits (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
UNS8	sendPDOevent (CO_Data *d)
	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.
void	PDOEventTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Set timer for PDO event.
void	PDOInhibitTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Inhibit timer for PDO event.
UNS8	_sendPDOevent (CO_Data *d, UNS8 isSyncEvent)
	Function iterates on all TPDO and look TPDO transmit type and content change before sending it.
UNS32	TPDO_Communication_Parameter_Callback (CO_Data *d, const indextable *OD_entry, UNS8 bSubindex)
void	PDOInit (CO_Data *d)
	Initialize PDO feature.
void	PDOStop (CO_Data *d)
	Stop PDO feature.

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Detailed Description

Author:

Edouard TISSERANT and Francis DUPIN

Date:

Tue Jun 5 09:32:32 2007

Definition in file pdo.c.

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Function Documentation

UNS8 buildPDO	(	CO_Data *	d,
		UNS8	numPdo,
		Message *	pdo
	)

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).

Parameters:

	d
	TPDO_com	TPDO communication parameters OD entry
	TPDO_map	TPDO mapping parameters OD entry

Returns:

Definition at line 49 of file pdo.c.

References Message::cob_id, CopyBits(), Message::data, struct_CO_Data::firstIndex, getODentry, Message::len, struct_CO_Data::objdict, and Message::rtr.

Referenced by _sendPDOevent(), and proceedPDO().

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void CopyBits	(	UNS8	NbBits,
		UNS8 *	SrcByteIndex,
		UNS8	SrcBitIndex,
		UNS8	SrcBigEndian,
		UNS8 *	DestByteIndex,
		UNS8	DestBitIndex,
		UNS8	DestBigEndian
	)

Parameters:

	NbBits
	SrcByteIndex
	SrcBitIndex
	SrcBigEndian
	DestByteIndex
	DestBitIndex
	DestBigEndian

Definition at line 426 of file pdo.c.

Referenced by buildPDO(), and proceedPDO().

void PDOInit

(

CO_Data *

d

)

Initialize PDO feature.

Parameters:

*d

Pointer on a CAN object data structure

Definition at line 760 of file pdo.c.

References _sendPDOevent(), struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, scanIndexOD(), and TPDO_Communication_Parameter_Callback().

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void PDOStop

(

CO_Data *

d

)

Stop PDO feature.

Parameters:

*d

Pointer on a CAN object data structure

Definition at line 794 of file pdo.c.

References Message::cob_id, DelAlarm(), struct_s_PDO_status::event_timer, struct_CO_Data::firstIndex, struct_s_PDO_status::inhibit_timer, struct_s_PDO_status::last_message, struct_CO_Data::lastIndex, struct_CO_Data::PDO_status, and struct_s_PDO_status::transmit_type_parameter.

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UNS8 proceedPDO	(	CO_Data *	d,
		Message *	m
	)

Compute a PDO frame reception bus_id is hardware dependant.

Parameters:

	d
	m

Returns:

Definition at line 165 of file pdo.c.

References buildPDO(), struct_CO_Data::canHandle, Message::cob_id, CopyBits(), Message::data, DelAlarm(), struct_s_PDO_status::event_timer, struct_CO_Data::firstIndex, struct_s_PDO_status::inhibit_timer, struct_s_PDO_status::last_message, struct_CO_Data::lastIndex, Message::len, struct_CO_Data::objdict, struct_CO_Data::PDO_status, PDOEventTimerAlarm(), setODentry, and struct_s_PDO_status::transmit_type_parameter.

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UNS8 sendPDOevent

(

CO_Data *

d

)

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.

Parameters:

d

Returns:

Definition at line 490 of file pdo.c.

References _sendPDOevent().

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UNS32 TPDO_Communication_Parameter_Callback	(	CO_Data *	d,
		const indextable *	OD_entry,
		UNS8	bSubindex
	)

Parameters:

	d
	OD_entry
	bSubindex

Returns:

always 0

Definition at line 727 of file pdo.c.

References struct_CO_Data::CurrentCommunicationState, DelAlarm(), struct_s_PDO_status::event_timer, struct_CO_Data::firstIndex, struct_s_PDO_status::inhibit_timer, struct_CO_Data::objdict, struct_CO_Data::PDO_status, PDOEventTimerAlarm(), and struct_s_PDO_status::transmit_type_parameter.

Referenced by PDOInit().

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