pdo.h

This library is Copyright (c) Raphael Zulliger <[e-mail]>. It is licensed under the GNU L

/***************************************************************************
                          pdo.h  -  description
                             -------------------
    begin                : Fri May 17 2002
    copyright            : (C) 2002 by Raphael Zulliger
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library is Copyright (c) Raphael Zulliger <[e-mail]>.       *
 *   It is licensed under the GNU Library General Public License (LGPL).   *
 *                                                                         *
 ***************************************************************************/


/** \file
 *  \brief Responsible for PDO transfers (rx and tx)
 *
 *  This file contains functions for receiving and transmitting PDOs.
 *  \warning Only PDOs with transfertype 255 (submit/receive on change)
 *          are implemeted at the moment.
 */

#ifndef __pdo_h__
#define __pdo_h__

#include <canop.h>
#include <def.h>
#include <objdict.h>

/** this struct is only for the receiving transfer-table. it is needed because of the different mapping
 *  parameter for one pdo. this means: one pdo (up to 64bit) can mapp the value on different variables
 *  e.g.: the value of bit 1 is for bit 1 of the variable UINT8 led1; and the value of bit 14 is for the
 *  variable UINT8 led12; */
typedef struct td_s_variable_mapping
{
    /** pointer to the object of the corresponding variable for this mapping entry
     */
    void* pObject;
    /** value for the variable defined with pObject
     */
    BYTE  value;
    /** size of BITs!!! to write
     */
    BYTE  size;
} s_variable_mapping;


/** Struct to store received PDOs.
 */
typedef struct td_s_pdo_receive_transfer_table
{
    /** transmission type of the PDO: only transmissiontype 255 (0xFF) is supported yet.
     */
    BYTE           		transmissionType;
    /** if this entry has been processed or not. TRUE = already processed.
     */
    BOOL                processed;
    /** count of used PDO mapping parameters
     */
    BYTE           		count;
    /** mapping parameters for this PDO
     */
    s_variable_mapping  mappingEntry[MAPPING_PARAMETER_COUNT];
} s_pdo_receive_transfer_table;



/** Sends PDO (if any data has changed) to other CANopen devices. Only transmissiontype
 *  255 (0xFF) is supported yet. This function has to be called every time a PDO has
 *  changed and should be sent to foreign nodes. So you should either call this
 *  function in interrupt service routines, which modifies PDOs or in the while-loop
 *  in the operational( )-function (in file app.c)
 */
void processSendPDO( void );

/** This function should be called in every while-loop of the operational( )-function
 *  (file app.c). It is responsible to analyse incoming PDO messages. Therefore it
 *  sets local variables to the received values if there are some rx-PDOs defined.
 *  only transmissiontype 255 (0xFF) is supported yet.
 *  \param canopenMessage contains the CAN-Message that has arrived.
 */
void processReceivedPDO( s_rx_buffer_message* canopenMessage );

/** sends a PDO message to the CANopen device with the id bID and the data
 *  defined by the m
 *  \param bID ID of the PDO (not ID of the CANopen device!)
 *  \param pcData Pointer to the BYTE array (maximum length 8 Byte)
 *  \param bLength Length of the data (count of valid fields of the pbData array)
 *  \param bRemoteReceive TRUE for asking a device to send us this pdo, FALSE
 *                        for sending a PDO to an other CANopen device
 */
void sendPDO( const WORD wID, const BYTE* pbData, const BYTE bLength, const BOOL bRemoteReceive );



/** At the moment the SlaveLib can only handle PDOs with transmissiontype 255. 
 *  It sends PDOs and stores the values in the struct called TxPDOTransferTable.
 *  Therefore, if the next time processSendPDO is called, it checkes wheter the values
 *  have changed since last sending of a PDO or not. If the lether is the case,
 *  no data are sent. For some programs it is useful to always send a message due
 *  to several reasons. Therefore this function sets the previous stored data to invalid,
 *  so the function processSendPDO sends the new data (that may contain the same data
 *  as sent before) out to the CAN-Bus.
 *  \param bPDONr the number of the PDO. (normally 1..4, maybe also greater than 4)
 *  \return TRUE if successful, false if the operation failed.
 */
BOOL resetTxPDOData( BYTE bPDONr );

#endif // __pdo_h__