iomodule.cpp

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/***************************************************************************/
/**
  Update the locally stored value of one of the 8-bit digital output blocks 
  associated with this PDO.
  @param id The output block ID to be updatad.
  @param value The new value for the output block.
  @return true if the value was updated, 
  false if the block isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::DigOutPDO::Update( uint8 id, uint8 value  )
{
   ++id;

   for( int i=0; i<mapCt; i++ )
   {
      if( out[i].GetSub() == id )
      {
	 out[i].Write( value );
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  Update the locally stored value of one bit in this PDO.
  @param id The output ID to be updatad.
  @param value The new value for the output.
  @return true if the value was updated, 
  false if the output isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::DigOutPDO::UpdateBit( uint16 id, bool value )
{
   uint8 block = 1 + (id>>3);
   uint8 mask  = 1 << (id&3);

   for( int i=0; i<mapCt; i++ )
   {
      if( out[i].GetSub() == block )
      {
	 uint8 v = out[i].Read();

	 if( value ) v |=  mask;
	 else        v &= ~mask;

	 out[i].Write( v );
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  Transmit this PDO.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *IOModule::DigOutPDO::Transmit( void )
{
   return RPDO::Transmit( io->GetCanOpen() );
}

/***************************************************************************/
/**
  Initialize an analog output PDO object.
  @param io Pointer to the I/O module to which this PDO is assigned.
  @param cobID The CAN ID for this PDO message.
  @param ct The number of outputs to be mapped (1 to 4)
  @param id An array of ct output ID numbers.  These will be mapped
  (in order) to the PDO.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *IOModule::AlgOutPDO::Init( class IOModule *io, uint32 cobID, uint8 ct, uint8 id[] )
{
   if( ct < 1 || ct > 4 )
      return &IOError::BadIOCount;

   this->io = io;

   const Error *err = RPDO::Init( cobID );

   if( !err ) err = SetType( 255 );

   for( uint8 i=0; i<ct; i++ )
   {
      if( !err ) err = out[i].Init( IOOBJID_AOUT_16_VALUE, id[i]+1 );
      if( !err ) err = AddVar( out[i] );
   }

   return err;
}

/***************************************************************************/
/**
  Update the locally stored value of one of the 16-bit analog outputs
  associated with this PDO.

  @param id The output block ID to be updatad.
  @param value The new value for the output block.
  @return true if the value was updated, 
  false if the block isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::AlgOutPDO::Update( uint8 id, int16 value )
{
   ++id;

   for( int i=0; i<mapCt; i++ )
   {
      if( out[i].GetSub() == id )
      {
	 out[i].Write( value );
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  Transmit this PDO.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *IOModule::AlgOutPDO::Transmit( void )
{
   return RPDO::Transmit( io->GetCanOpen() );
}

/***************************************************************************/
/**
  Initialize a digital input PDO object.
  @param io Pointer to the I/O module to which this PDO is assigned.
  @param cobID The CAN ID for this PDO message.
  @param ct The number of input blocks to be mapped (1 to 8)
  @param id An array of ct input block ID numbers.  These will be mapped
  (in order) to the PDO.
  @param event The event bit to post when a PDO message is received.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *IOModule::DigInPDO::Init( class IOModule *io, uint32 cobID, uint8 ct, 
                                       uint8 id[], IOMODULE_EVENTS event )
{
   if( ct < 1 || ct > 8 )
      return &IOError::BadIOCount;

   this->io = io;
   eventMask = event;

   const Error *err = TPDO::Init( io->GetCanOpen(), cobID );

   if( !err ) err = SetType( 255 );

   for( uint8 i=0; i<ct; i++ )
   {
      if( !err ) err = in[i].Init( IOOBJID_DIN_8_VALUE, id[i]+1 );
      if( !err ) err = AddVar( in[i] );
   }

   if( !err ) err = EnableReceiver();

   return err;
}

/***************************************************************************/
/**
  Read the specified input bank from the PDO's cached data.  The value returned
  will be the last value received via PDO for this input bank.
  @param id The input block ID to be checked.
  @param value The input value for the block will be returned here.
  @return true if the value was returned,
  false if the block isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::DigInPDO::GetInVal( uint8 id, uint8 &value )
{
   ++id;

   for( int i=0; i<mapCt; i++ )
   {
      if( in[i].GetSub() == id )
      {
	 value = in[i].Read();
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  Update the locally stored value of one bit in this PDO.
  @param id The output ID to be updatad.
  @param value The new value for the output.
  @return true if the value was updated, 
  false if the output isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::DigInPDO::GetBitVal( uint16 id, bool &value )
{
   uint8 block = 1 + (id>>3);
   uint8 mask  = 1 << (id&3);

   for( int i=0; i<mapCt; i++ )
   {
      if( in[i].GetSub() == block )
      {
	 value = (in[i].Read() & mask) == mask;
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  New transmit PDO received.  This method is called by the CANopen reader thread
  when a new PDO message is received.  It causes this PDO object to post it's 
  event to the IOModule object's event map.  This will cause any waiting threads
  to wake up.
  */
/***************************************************************************/
void IOModule::DigInPDO::Received( void )
{
   io->PostIOEvent( eventMask );
}

/***************************************************************************/
/**
  Initialize a analog input PDO object.
  @param io Pointer to the I/O module to which this PDO is assigned.
  @param cobID The CAN ID for this PDO message.
  @param ct The number of inputs to be mapped (1 to 4)
  @param id An array of ct input ID numbers.  These will be mapped
  (in order) to the PDO.
  @param event The event bit to post when a PDO message is received.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *IOModule::AlgInPDO::Init( class IOModule *io, uint32 cobID, uint8 ct, 
                                       uint8 id[], IOMODULE_EVENTS event )
{
   if( ct < 1 || ct > 4 )
      return &IOError::BadIOCount;

   this->io = io;
   eventMask = event;

   const Error *err = TPDO::Init( io->GetCanOpen(), cobID );

   if( !err ) err = SetType( 255 );

   for( uint8 i=0; i<ct; i++ )
   {
      if( !err ) err = in[i].Init( IOOBJID_AIN_16_VALUE, id[i]+1 );
      if( !err ) err = AddVar( in[i] );
   }

   if( !err ) err = EnableReceiver();

   return err;
}

/***************************************************************************/
/**
  Read the specified input from the PDO's cached data.  The value returned
  will be the last value received via PDO for this input bank.
  @param id The input ID to be checked.
  @param value The input value will be returned here.  If the input is not 
  mapped to this PDO, then this will not be changed.
  @return true if the value was returned,
  false if the input isn't mapped to this PDO.
  */
/***************************************************************************/
bool IOModule::AlgInPDO::GetInVal( uint8 id, int16 &value )
{
   ++id;

   for( int i=0; i<mapCt; i++ )
   {
      if( in[i].GetSub() == id )
      {
	 value = in[i].Read();
	 return true;
      }
   }

   return false;
}

/***************************************************************************/
/**
  New transmit PDO received.  This method is called by the CANopen reader thread
  when a new PDO message is received.  It causes this PDO object to post it's 
  event to the IOModule object's event map.  This will cause any waiting threads
  to wake up.
  */
/***************************************************************************/
void IOModule::AlgInPDO::Received( void )
{
   io->PostIOEvent( eventMask );
}
#endif