CO_PDO.h

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#ifndef CO_PDO_H
#define CO_PDO_H
 
#include "301/CO_driver.h"
#include "301/CO_SDOserver.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_SYNC.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | \
                       CO_CONFIG_TPDO_ENABLE | \
                       CO_CONFIG_PDO_SYNC_ENABLE)
#endif
 
#if ((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct{
    uint8_t             maxSubIndex;    
    uint32_t            COB_IDUsedByRPDO;
    uint8_t             transmissionType;
}CO_RPDOCommPar_t;
 
 
typedef struct{
    uint8_t             numberOfMappedObjects;
    uint32_t            mappedObject1;
    uint32_t            mappedObject2;  
    uint32_t            mappedObject3;  
    uint32_t            mappedObject4;  
    uint32_t            mappedObject5;  
    uint32_t            mappedObject6;  
    uint32_t            mappedObject7;  
    uint32_t            mappedObject8;  
}CO_RPDOMapPar_t;
 
 
typedef struct{
    uint8_t             maxSubIndex;    
    uint32_t            COB_IDUsedByTPDO;
    uint8_t             transmissionType;
    uint16_t            inhibitTime;
    uint8_t             compatibilityEntry;
    uint16_t            eventTimer;
    uint8_t             SYNCStartValue;
}CO_TPDOCommPar_t;
 
 
typedef struct{
    uint8_t             numberOfMappedObjects;
    uint32_t            mappedObject1;
    uint32_t            mappedObject2;  
    uint32_t            mappedObject3;  
    uint32_t            mappedObject4;  
    uint32_t            mappedObject5;  
    uint32_t            mappedObject6;  
    uint32_t            mappedObject7;  
    uint32_t            mappedObject8;  
}CO_TPDOMapPar_t;
 
 
typedef struct{
    CO_EM_t            *em;             
    CO_SDO_t           *SDO;            
    const CO_RPDOCommPar_t *RPDOCommPar;
    const CO_RPDOMapPar_t  *RPDOMapPar; 
    CO_NMT_internalState_t *operatingState; 
    uint8_t             nodeId;         
    uint16_t            defaultCOB_ID;  
    uint8_t             restrictionFlags;
    bool_t              valid;
    uint8_t             dataLength;
    uint8_t            *mapPointer[8];
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
    CO_SYNC_t          *SYNC;           
    bool_t              synchronous;
    volatile void      *CANrxNew[2];
    uint8_t             CANrxData[2][8];
#else
    volatile void      *CANrxNew[1];
    uint8_t             CANrxData[1][8];
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void              (*pFunctSignalPre)(void *object);
    void               *functSignalObjectPre;
#endif
    CO_CANmodule_t     *CANdevRx;       
    uint16_t            CANdevRxIdx;    
}CO_RPDO_t;
 
 
typedef struct{
    CO_EM_t            *em;             
    CO_SDO_t           *SDO;            
    const CO_TPDOCommPar_t *TPDOCommPar;
    const CO_TPDOMapPar_t  *TPDOMapPar; 
    CO_NMT_internalState_t *operatingState; 
    uint8_t             nodeId;         
    uint16_t            defaultCOB_ID;  
    uint8_t             restrictionFlags;
    bool_t              valid;          
    uint8_t             dataLength;
    uint8_t             sendRequest;
    uint8_t            *mapPointer[8];
    uint32_t            inhibitTimer;
    uint32_t            eventTimer;
    uint8_t             sendIfCOSFlags;
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
 
    uint8_t             syncCounter;
    CO_SYNC_t          *SYNC;           
#endif
    CO_CANmodule_t     *CANdevTx;       
    CO_CANtx_t         *CANtxBuff;      
    uint16_t            CANdevTxIdx;    
}CO_TPDO_t;
 
 
CO_ReturnError_t CO_RPDO_init(
        CO_RPDO_t              *RPDO,
        CO_EM_t                *em,
        CO_SDO_t               *SDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
        CO_SYNC_t              *SYNC,
#endif
        CO_NMT_internalState_t *operatingState,
        uint8_t                 nodeId,
        uint16_t                defaultCOB_ID,
        uint8_t                 restrictionFlags,
        const CO_RPDOCommPar_t *RPDOCommPar,
        const CO_RPDOMapPar_t  *RPDOMapPar,
        uint16_t                idx_RPDOCommPar,
        uint16_t                idx_RPDOMapPar,
        CO_CANmodule_t         *CANdevRx,
        uint16_t                CANdevRxIdx);
 
 
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
void CO_RPDO_initCallbackPre(
        CO_RPDO_t              *RPDO,
        void                   *object,
        void                  (*pFunctSignalPre)(void *object));
#endif
 
 
CO_ReturnError_t CO_TPDO_init(
        CO_TPDO_t              *TPDO,
        CO_EM_t                *em,
        CO_SDO_t               *SDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
        CO_SYNC_t              *SYNC,
#endif
        CO_NMT_internalState_t *operatingState,
        uint8_t                 nodeId,
        uint16_t                defaultCOB_ID,
        uint8_t                 restrictionFlags,
        const CO_TPDOCommPar_t *TPDOCommPar,
        const CO_TPDOMapPar_t  *TPDOMapPar,
        uint16_t                idx_TPDOCommPar,
        uint16_t                idx_TPDOMapPar,
        CO_CANmodule_t         *CANdevTx,
        uint16_t                CANdevTxIdx);
 
 
uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO);
 
 
CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO);
 
 
void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas);
 
 
void CO_TPDO_process(
        CO_TPDO_t              *TPDO,
        bool_t                  syncWas,
        uint32_t                timeDifference_us,
        uint32_t               *timerNext_us);
 /* CO_PDO */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* (CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE) */
 
#endif /* CO_PDO_H */