154 lines
4.6 KiB
C
154 lines
4.6 KiB
C
/*
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* co_pdo.h - contains defines for pdo services
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*
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* Copyright (c) 2012-2024 emotas embedded communication GmbH
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*
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*-------------------------------------------------------------------
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* $Id: co_pdo.h 54641 2024-07-12 06:47:38Z boe $
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*
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*-------------------------------------------------------------------
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*
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*
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*
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*/
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/**
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* \brief defines for pdo service
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*
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* \file co_pdo.h - contains defines for pdo service
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*/
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#ifndef CO_PDO_H
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#define CO_PDO_H 1
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# if defined(CO_PDO_TRANSMIT_CNT) || defined(CO_PDO_RECEIVE_CNT)
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#include <co_datatype.h>
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#ifndef CO_MAX_MAP_ENTRIES
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# define CO_MAX_MAP_ENTRIES 1
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#endif /* CO_MAX_MAP_ENTRIES */
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/**
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* PDO transmit mapping entry (one mapping entry)
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*/
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typedef struct {
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CO_CONST void *pVar; /**< pointer to variable */
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UNSIGNED8 len; /**< number of bytes for variable */
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BOOL_T numeric; /**< numeric flag for byte swapping */
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UNSIGNED32 val; /**< OD value */
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} PDO_TR_MAP_ENTRY_T;
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/**
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* PDO receive mapping entry (one mapping entry)
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*/
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typedef struct {
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void *pVar; /**< pointer to variable */
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UNSIGNED8 len; /**< number of bytes for variable */
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BOOL_T numeric; /**< numeric flag for byte swapping */
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UNSIGNED32 val; /**< OD value */
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#ifdef CO_NETWORK_ROUTING_CNT
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UNSIGNED16 routePdo[CO_MULTI_LINE_CNT]; /**< route to other network */
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#endif /* CO_NETWORK_ROUTING_CNT */
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} PDO_REC_MAP_ENTRY_T;
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/**
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* PDO mapping table (mapping entries for one transmit PDO) */
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typedef struct {
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UNSIGNED8 mapCnt; /**< number of mapping entries */
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PDO_TR_MAP_ENTRY_T mapEntry[CO_MAX_MAP_ENTRIES]; /**< Mapping entries */
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} PDO_TR_MAP_TABLE_T;
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/**
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* PDO mapping table (mapping entries for one receive PDO) */
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typedef struct {
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UNSIGNED8 mapCnt; /**< number of mapping entries */
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PDO_REC_MAP_ENTRY_T mapEntry[CO_MAX_MAP_ENTRIES]; /**< Mapping entries */
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} PDO_REC_MAP_TABLE_T;
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/** \brief PDO indication data structure
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*/
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typedef struct {
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UNSIGNED16 pdoNr; /**< pdo number */
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UNSIGNED8 transType; /**< transmission type */
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#ifdef CO_CAN_TIMESTAMP_SUPPORTED
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CO_CAN_TIMESTAMP_T timeStamp; /**< timestamp */
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#endif /* CO_CAN_TIMESTAMP_SUPPORTED */
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} CO_EVENT_PDO_PARA_T;
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/** \brief function pointer to PDO indication
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* \param pdoNr - PDO number
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*
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*/
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typedef void (* CO_EVENT_PDO_T)(CO_LINE_TYPE, UNSIGNED16); /*lint !e960 customer specific parameter names */
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/** \brief function pointer to PDO update indication
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* \param index
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* \param subindex
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*
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*/
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typedef void (* CO_EVENT_PDO_UPDATE_T)(CO_LINE_TYPE, UNSIGNED16, UNSIGNED8);
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/**
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* MPDO mapping event parameter */
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typedef struct {
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UNSIGNED16 pdoNr; /* PDO number */
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UNSIGNED16 index; /* Index */
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UNSIGNED8 subIndex; /* subIndex */
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UNSIGNED8 nodeId; /* nodeId at SAM mode */
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} CO_EVENT_MPDO_PARA_T;
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/** \brief function pointer to MPDO indication
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* \param pdoNr - PDO number
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* \param index - Index
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* \param subIndex - subIndex
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*
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*/
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typedef void (* CO_EVENT_MPDO_T)(CO_LINE_TYPE, UNSIGNED16, UNSIGNED16, UNSIGNED8); /*lint !e960 customer specific parameter names */
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/* function prototypes */
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EXTERN_DECL RET_T coPdoTransmitInit(CO_LINE_DECL, UNSIGNED16 pdoNr,
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UNSIGNED8 transType, UNSIGNED16 inhibit,
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UNSIGNED16 eventTime, UNSIGNED8 syncStartVal,
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CO_CONST PDO_TR_MAP_TABLE_T *mapTable);
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EXTERN_DECL RET_T coPdoReceiveInit(CO_LINE_DECL, UNSIGNED16 pdoNr,
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UNSIGNED8 transType, UNSIGNED16 inhibit, UNSIGNED16 eventTime,
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CO_CONST PDO_REC_MAP_TABLE_T *mapTable);
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EXTERN_DECL RET_T coPdoNetworkRouting(void);
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EXTERN_DECL RET_T coPdoReqNr(CO_LINE_DECL, UNSIGNED16 pdoNr, UNSIGNED8 flags);
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EXTERN_DECL RET_T coPdoReqObj(CO_LINE_DECL, UNSIGNED16 index,
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UNSIGNED8 subIndex, UNSIGNED8 flags);
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EXTERN_DECL BOOL_T coPdoObjIsMapped(CO_LINE_DECL, UNSIGNED16 pdoNr,
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UNSIGNED16 index, UNSIGNED8 subIndex);
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EXTERN_DECL UNSIGNED16 coPdoTrObjIsMapped(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED16 *pMapList, UNSIGNED16 mapListlen);
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EXTERN_DECL RET_T coMPdoReq(CO_LINE_DECL, UNSIGNED16 pdoNr, UNSIGNED8 dstNode,
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UNSIGNED16 index, UNSIGNED8 subIndex, UNSIGNED8 flags);
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EXTERN_DECL RET_T coMPdoGetSamInfo(CO_LINE_DECL, UNSIGNED16 *pRIndex,
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UNSIGNED8 *pRSubIndex, UNSIGNED8 *pRNodeId);
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#ifdef CO_CAN_TIMESTAMP_SUPPORTED
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EXTERN_DECL CO_CAN_TIMESTAMP_T coPdoGetTimestamp(CO_LINE_TYPE, UNSIGNED16 pdoNr);
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#endif /* CO_CAN_TIMESTAMP_SUPPORTED */
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EXTERN_DECL RET_T coEventRegister_PDO_SYNC(CO_EVENT_PDO_T pFunction);
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EXTERN_DECL RET_T coEventRegister_PDO_REC_EVENT(CO_EVENT_PDO_T pFunction);
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EXTERN_DECL RET_T coEventRegister_PDO(CO_EVENT_PDO_T pFunction);
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EXTERN_DECL RET_T coEventRegister_MPDO(CO_EVENT_MPDO_T pFunction);
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EXTERN_DECL RET_T coEventRegister_PDO_UPDATE(CO_EVENT_PDO_UPDATE_T pFunction);
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# endif /* defined(CO_PDO_TRANSMIT_CNT) || defined(CO_PDO_RECEIVE_CNT) */
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#endif /* CO_PDO_H */
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