pdo.h

/*
 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 "CO_can.h"

typedef struct struct_s_PDO_status s_PDO_status;

#include "data.h"

/* Handler for RxPDO event timers : empty function that user can overload */
// void _RxPDO_EventTimers_Handler(UNS32 pdoNum);
/* 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;UNS8 event_trigger;
};

#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer, 0}

/** 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(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(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(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();
UNS8 sendOnePDOevent(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(UNS8 isSyncEvent);

/** 
 * @brief Initialize PDO feature 
 * @param *d Pointer on a CAN object data structure
 */
void PDOInit();

/** 
 * @brief Stop PDO feature 
 * @param *d Pointer on a CAN object data structure
 */
void PDOStop();

/** 
 * @ingroup pdo
 * @brief Set timer for PDO event
 * @param *d Pointer on a CAN object data structure
 * @param pdoNum The PDO number
 */
void PDOEventTimerAlarm(UNS8 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(UNS8 pdoNum);

/* copy bit per bit in little endian */
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
#endif