627 lines
39 KiB
HTML
Executable File
627 lines
39 KiB
HTML
Executable File
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<div class="headertitle">
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<div class="title">PDO<div class="ingroups"><a class="el" href="group__CO__CANopen__301.html">CANopen_301</a></div></div> </div>
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Files</h2></td></tr>
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<tr class="memitem:CO__PDO_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="CO__PDO_8h.html">CO_PDO.h</a></td></tr>
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<tr class="memdesc:CO__PDO_8h"><td class="mdescLeft"> </td><td class="mdescRight">CANopen Process Data Object protocol. <br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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Data Structures</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDOCommPar__t.html">CO_RPDOCommPar_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">RPDO communication parameter. <a href="structCO__RPDOCommPar__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDOMapPar__t.html">CO_RPDOMapPar_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">RPDO mapping parameter. <a href="structCO__RPDOMapPar__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDOCommPar__t.html">CO_TPDOCommPar_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">TPDO communication parameter. <a href="structCO__TPDOCommPar__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDOMapPar__t.html">CO_TPDOMapPar_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">TPDO mapping parameter. <a href="structCO__TPDOMapPar__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">RPDO object. <a href="structCO__RPDO__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">TPDO object. <a href="structCO__TPDO__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga92c484ada2ad240c1b8c891c88d56901"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga92c484ada2ad240c1b8c891c88d56901">CO_RPDO_init</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, <a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, CO_SDO_t *SDO, <a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> *SYNC, <a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *operatingState, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> defaultCOB_ID, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> restrictionFlags, const <a class="el" href="structCO__RPDOCommPar__t.html">CO_RPDOCommPar_t</a> *RPDOCommPar, const <a class="el" href="structCO__RPDOMapPar__t.html">CO_RPDOMapPar_t</a> *RPDOMapPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_RPDOCommPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_RPDOMapPar, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevRx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevRxIdx)</td></tr>
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<tr class="memdesc:ga92c484ada2ad240c1b8c891c88d56901"><td class="mdescLeft"> </td><td class="mdescRight">Initialize RPDO object. <a href="group__CO__PDO.html#ga92c484ada2ad240c1b8c891c88d56901">More...</a><br /></td></tr>
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<tr class="separator:ga92c484ada2ad240c1b8c891c88d56901"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga34532746ccf88ccfa835716e89369478"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga34532746ccf88ccfa835716e89369478">CO_RPDO_initCallbackPre</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, void *object, void(*pFunctSignalPre)(void *object))</td></tr>
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<tr class="memdesc:ga34532746ccf88ccfa835716e89369478"><td class="mdescLeft"> </td><td class="mdescRight">Initialize RPDO callback function. <a href="group__CO__PDO.html#ga34532746ccf88ccfa835716e89369478">More...</a><br /></td></tr>
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<tr class="separator:ga34532746ccf88ccfa835716e89369478"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8fb100744dc91f84b236c55ee37200a1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga8fb100744dc91f84b236c55ee37200a1">CO_TPDO_init</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO, <a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, CO_SDO_t *SDO, <a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> *SYNC, <a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *operatingState, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> defaultCOB_ID, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> restrictionFlags, const <a class="el" href="structCO__TPDOCommPar__t.html">CO_TPDOCommPar_t</a> *TPDOCommPar, const <a class="el" href="structCO__TPDOMapPar__t.html">CO_TPDOMapPar_t</a> *TPDOMapPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_TPDOCommPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_TPDOMapPar, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevTx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevTxIdx)</td></tr>
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<tr class="memdesc:ga8fb100744dc91f84b236c55ee37200a1"><td class="mdescLeft"> </td><td class="mdescRight">Initialize TPDO object. <a href="group__CO__PDO.html#ga8fb100744dc91f84b236c55ee37200a1">More...</a><br /></td></tr>
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<tr class="separator:ga8fb100744dc91f84b236c55ee37200a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafec3eb12b93146a3706cbf03d3770a8d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#gafec3eb12b93146a3706cbf03d3770a8d">CO_TPDOisCOS</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO)</td></tr>
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<tr class="memdesc:gafec3eb12b93146a3706cbf03d3770a8d"><td class="mdescLeft"> </td><td class="mdescRight">Verify Change of State of the PDO. <a href="group__CO__PDO.html#gafec3eb12b93146a3706cbf03d3770a8d">More...</a><br /></td></tr>
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<tr class="separator:gafec3eb12b93146a3706cbf03d3770a8d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga9b2c8692f74f6a6a389ef88bf9c682a5">CO_TPDOsend</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO)</td></tr>
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<tr class="memdesc:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="mdescLeft"> </td><td class="mdescRight">Send TPDO message. <a href="group__CO__PDO.html#ga9b2c8692f74f6a6a389ef88bf9c682a5">More...</a><br /></td></tr>
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<tr class="separator:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66">CO_RPDO_process</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> syncWas)</td></tr>
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<tr class="memdesc:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="mdescLeft"> </td><td class="mdescRight">Process received PDO messages. <a href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66">More...</a><br /></td></tr>
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<tr class="separator:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b">CO_TPDO_process</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> syncWas, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> timeDifference_us, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> *timerNext_us)</td></tr>
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<tr class="memdesc:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="mdescLeft"> </td><td class="mdescRight">Process transmitting PDO messages. <a href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b">More...</a><br /></td></tr>
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<tr class="separator:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>CANopen Process Data Object protocol.</p>
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<p>Process data objects are used for real-time data transfer with no protocol overhead.</p>
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<p>TPDO with specific identifier is transmitted by one device and recieved by zero or more devices as RPDO. PDO communication parameters(COB-ID, transmission type, etc.) are in Object Dictionary at index 0x1400+ and 0x1800+. PDO mapping parameters (size and contents of the PDO) are in Object Dictionary at index 0x1600+ and 0x1A00+.</p>
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<p>Features of the PDO as implemented here, in CANopenNode:</p><ul>
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<li>Dynamic PDO mapping.</li>
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<li>Map granularity of one byte.</li>
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<li>After RPDO is received from CAN bus, its data are copied to buffer. Function <a class="el" href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66" title="Process received PDO messages.">CO_RPDO_process()</a> (called by application) copies data to mapped objects in Object Dictionary. Synchronous RPDOs are processed AFTER reception of the next SYNC message.</li>
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<li>Function <a class="el" href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b" title="Process transmitting PDO messages.">CO_TPDO_process()</a> (called by application) sends TPDO if necessary. There are possible different transmission types, including automatic detection of Change of State of specific variable. </li>
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</ul>
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<h2 class="groupheader">Function Documentation</h2>
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<a id="ga92c484ada2ad240c1b8c891c88d56901"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga92c484ada2ad240c1b8c891c88d56901">◆ </a></span>CO_RPDO_init()</h2>
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<div class="memitem">
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<div class="memproto">
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<td class="memname"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_RPDO_init </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> * </td>
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<td class="paramname"><em>RPDO</em>, </td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">CO_SDO_t * </td>
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<td class="paramname"><em>SDO</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> * </td>
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<td class="paramname"><em>SYNC</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> * </td>
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<td class="paramname"><em>operatingState</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
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<td class="paramname"><em>nodeId</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>defaultCOB_ID</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
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<td class="paramname"><em>restrictionFlags</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structCO__RPDOCommPar__t.html">CO_RPDOCommPar_t</a> * </td>
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<td class="paramname"><em>RPDOCommPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structCO__RPDOMapPar__t.html">CO_RPDOMapPar_t</a> * </td>
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<td class="paramname"><em>RPDOMapPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>idx_RPDOCommPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>idx_RPDOMapPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
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<td class="paramname"><em>CANdevRx</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>CANdevRxIdx</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Initialize RPDO object. </p>
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<p>Function must be called in the communication reset section.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">RPDO</td><td>This object will be initialized. </td></tr>
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<tr><td class="paramname">em</td><td>Emergency object. </td></tr>
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<tr><td class="paramname">SDO</td><td>SDO server object. </td></tr>
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<tr><td class="paramname">SYNC</td><td>void pointer to SYNC object or NULL. </td></tr>
|
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<tr><td class="paramname">operatingState</td><td>Pointer to variable indicating CANopen device NMT internal state. </td></tr>
|
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<tr><td class="paramname">nodeId</td><td>CANopen Node ID of this device. If default COB_ID is used, value will be added. </td></tr>
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<tr><td class="paramname">defaultCOB_ID</td><td>Default COB ID for this PDO (without NodeId). See <a class="el" href="group__CO__driver.html#ga01dd35ae53fd2209ceccabdc8bf8dd06" title="Default CANopen identifiers.">CO_Default_CAN_ID_t</a> </td></tr>
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<tr><td class="paramname">restrictionFlags</td><td>Flag bits indicates, how PDO communication and mapping parameters are handled:<ul>
|
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<li>Bit1: If true, communication parameters are writeable only in pre-operational NMT state.</li>
|
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<li>Bit2: If true, mapping parameters are writeable only in pre-operational NMT state.</li>
|
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<li>Bit3: If true, communication parameters are read-only.</li>
|
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<li>Bit4: If true, mapping parameters are read-only. </li>
|
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</ul>
|
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</td></tr>
|
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<tr><td class="paramname">RPDOCommPar</td><td>Pointer to <em>RPDO communication parameter</em> record from Object dictionary (index 0x1400+). </td></tr>
|
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<tr><td class="paramname">RPDOMapPar</td><td>Pointer to <em>RPDO mapping parameter</em> record from Object dictionary (index 0x1600+). </td></tr>
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<tr><td class="paramname">idx_RPDOCommPar</td><td>Index in Object Dictionary. </td></tr>
|
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<tr><td class="paramname">idx_RPDOMapPar</td><td>Index in Object Dictionary. </td></tr>
|
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<tr><td class="paramname">CANdevRx</td><td>CAN device for PDO reception. </td></tr>
|
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<tr><td class="paramname">CANdevRxIdx</td><td>Index of receive buffer in the above CAN device.</td></tr>
|
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</table>
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</dd>
|
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</dl>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532" title="Return values of some CANopen functions.">CO_ReturnError_t</a>: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT. </dd></dl>
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</div>
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</div>
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<a id="ga34532746ccf88ccfa835716e89369478"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga34532746ccf88ccfa835716e89369478">◆ </a></span>CO_RPDO_initCallbackPre()</h2>
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<td class="memname">void CO_RPDO_initCallbackPre </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> * </td>
|
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<td class="paramname"><em>RPDO</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void * </td>
|
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<td class="paramname"><em>object</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void(*)(void *object) </td>
|
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<td class="paramname"><em>pFunctSignalPre</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Initialize RPDO callback function. </p>
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<p>Function initializes optional callback function, which should immediately start processing of <a class="el" href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66" title="Process received PDO messages.">CO_RPDO_process()</a> function. Callback is called after RPDO message is received from the CAN bus.</p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">RPDO</td><td>This object. </td></tr>
|
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<tr><td class="paramname">object</td><td>Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL </td></tr>
|
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<tr><td class="paramname">pFunctSignalPre</td><td>Pointer to the callback function. Not called if NULL. </td></tr>
|
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</table>
|
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga8fb100744dc91f84b236c55ee37200a1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga8fb100744dc91f84b236c55ee37200a1">◆ </a></span>CO_TPDO_init()</h2>
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<div class="memproto">
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<td class="memname"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_TPDO_init </td>
|
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<td>(</td>
|
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<td class="paramtype"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> * </td>
|
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<td class="paramname"><em>TPDO</em>, </td>
|
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</tr>
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<tr>
|
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<td class="paramkey"></td>
|
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<td></td>
|
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
|
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<td class="paramname"><em>em</em>, </td>
|
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</tr>
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<tr>
|
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">CO_SDO_t * </td>
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<td class="paramname"><em>SDO</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> * </td>
|
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<td class="paramname"><em>SYNC</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> * </td>
|
|
<td class="paramname"><em>operatingState</em>, </td>
|
|
</tr>
|
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<tr>
|
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<td class="paramkey"></td>
|
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<td></td>
|
|
<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
|
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<td class="paramname"><em>nodeId</em>, </td>
|
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</tr>
|
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<tr>
|
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<td class="paramkey"></td>
|
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<td></td>
|
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
|
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<td class="paramname"><em>defaultCOB_ID</em>, </td>
|
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</tr>
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<tr>
|
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
|
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<td class="paramname"><em>restrictionFlags</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structCO__TPDOCommPar__t.html">CO_TPDOCommPar_t</a> * </td>
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<td class="paramname"><em>TPDOCommPar</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structCO__TPDOMapPar__t.html">CO_TPDOMapPar_t</a> * </td>
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<td class="paramname"><em>TPDOMapPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
|
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<td class="paramname"><em>idx_TPDOCommPar</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
|
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<td class="paramname"><em>idx_TPDOMapPar</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
|
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<td class="paramname"><em>CANdevTx</em>, </td>
|
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
|
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<td class="paramname"><em>CANdevTxIdx</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Initialize TPDO object. </p>
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<p>Function must be called in the communication reset section.</p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">TPDO</td><td>This object will be initialized. </td></tr>
|
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<tr><td class="paramname">em</td><td>Emergency object. </td></tr>
|
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<tr><td class="paramname">SDO</td><td>SDO object. </td></tr>
|
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<tr><td class="paramname">SYNC</td><td>void pointer to SYNC object or NULL. </td></tr>
|
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<tr><td class="paramname">operatingState</td><td>Pointer to variable indicating CANopen device NMT internal state. </td></tr>
|
|
<tr><td class="paramname">nodeId</td><td>CANopen Node ID of this device. If default COB_ID is used, value will be added. </td></tr>
|
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<tr><td class="paramname">defaultCOB_ID</td><td>Default COB ID for this PDO (without NodeId). See <a class="el" href="group__CO__driver.html#ga01dd35ae53fd2209ceccabdc8bf8dd06" title="Default CANopen identifiers.">CO_Default_CAN_ID_t</a> </td></tr>
|
|
<tr><td class="paramname">restrictionFlags</td><td>Flag bits indicates, how PDO communication and mapping parameters are handled:<ul>
|
|
<li>Bit1: If true, communication parameters are writeable only in pre-operational NMT state.</li>
|
|
<li>Bit2: If true, mapping parameters are writeable only in pre-operational NMT state.</li>
|
|
<li>Bit3: If true, communication parameters are read-only.</li>
|
|
<li>Bit4: If true, mapping parameters are read-only. </li>
|
|
</ul>
|
|
</td></tr>
|
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<tr><td class="paramname">TPDOCommPar</td><td>Pointer to <em>TPDO communication parameter</em> record from Object dictionary (index 0x1400+). </td></tr>
|
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<tr><td class="paramname">TPDOMapPar</td><td>Pointer to <em>TPDO mapping parameter</em> record from Object dictionary (index 0x1600+). </td></tr>
|
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<tr><td class="paramname">idx_TPDOCommPar</td><td>Index in Object Dictionary. </td></tr>
|
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<tr><td class="paramname">idx_TPDOMapPar</td><td>Index in Object Dictionary. </td></tr>
|
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<tr><td class="paramname">CANdevTx</td><td>CAN device used for PDO transmission. </td></tr>
|
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<tr><td class="paramname">CANdevTxIdx</td><td>Index of transmit buffer in the above CAN device.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532" title="Return values of some CANopen functions.">CO_ReturnError_t</a>: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT. </dd></dl>
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</div>
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</div>
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<a id="gafec3eb12b93146a3706cbf03d3770a8d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#gafec3eb12b93146a3706cbf03d3770a8d">◆ </a></span>CO_TPDOisCOS()</h2>
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<td class="memname"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> CO_TPDOisCOS </td>
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<td>(</td>
|
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<td class="paramtype"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> * </td>
|
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<td class="paramname"><em>TPDO</em></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Verify Change of State of the PDO. </p>
|
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<p>Function verifies if variable mapped to TPDO has changed its value. Verified are only variables, which has set attribute <em>CO_ODA_TPDO_DETECT_COS</em> in #CO_SDO_OD_attributes_t.</p>
|
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<p>Function may be called by application just before <a class="el" href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b" title="Process transmitting PDO messages.">CO_TPDO_process()</a> function, for example: <code>TPDOx->sendRequest = CO_TPDOisCOS(TPDOx); CO_TPDO_process(TPDOx, ....</code></p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">TPDO</td><td>TPDO object.</td></tr>
|
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</table>
|
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if COS was detected. </dd></dl>
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</div>
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</div>
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<a id="ga9b2c8692f74f6a6a389ef88bf9c682a5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga9b2c8692f74f6a6a389ef88bf9c682a5">◆ </a></span>CO_TPDOsend()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_TPDOsend </td>
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<td>(</td>
|
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<td class="paramtype"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> * </td>
|
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<td class="paramname"><em>TPDO</em></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Send TPDO message. </p>
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<p>Function prepares TPDO data from Object Dictionary variables. It should not be called by application, it is called from <a class="el" href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b" title="Process transmitting PDO messages.">CO_TPDO_process()</a>.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">TPDO</td><td>TPDO object.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Same as <a class="el" href="group__CO__driver.html#ga4664a9f5d547cb0605a9e929fb079f2e" title="Send CAN message.">CO_CANsend()</a>. </dd></dl>
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</div>
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</div>
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<a id="gad77bfd4c7f64e75e7ddee5c926477e66"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#gad77bfd4c7f64e75e7ddee5c926477e66">◆ </a></span>CO_RPDO_process()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">void CO_RPDO_process </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> * </td>
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<td class="paramname"><em>RPDO</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> </td>
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<td class="paramname"><em>syncWas</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Process received PDO messages. </p>
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<p>Function must be called cyclically in any NMT state. It copies data from RPDO to Object Dictionary variables if: new PDO receives and PDO is valid and NMT operating state is operational. It does not verify <em>transmission type</em>.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">RPDO</td><td>This object. </td></tr>
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<tr><td class="paramname">syncWas</td><td>True, if CANopen SYNC message was just received or transmitted. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga0bb0d1b09d37ca19e01d47d8d0004f6b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga0bb0d1b09d37ca19e01d47d8d0004f6b">◆ </a></span>CO_TPDO_process()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">void CO_TPDO_process </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> * </td>
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<td class="paramname"><em>TPDO</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> </td>
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<td class="paramname"><em>syncWas</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>timeDifference_us</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> * </td>
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<td class="paramname"><em>timerNext_us</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Process transmitting PDO messages. </p>
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<p>Function must be called cyclically in any NMT state. It prepares and sends TPDO if necessary. If Change of State needs to be detected, function <a class="el" href="group__CO__PDO.html#gafec3eb12b93146a3706cbf03d3770a8d" title="Verify Change of State of the PDO.">CO_TPDOisCOS()</a> must be called before.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramdir"></td><td class="paramname">TPDO</td><td>This object. </td></tr>
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<tr><td class="paramdir"></td><td class="paramname">syncWas</td><td>True, if CANopen SYNC message was just received or transmitted. </td></tr>
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<tr><td class="paramdir"></td><td class="paramname">timeDifference_us</td><td>Time difference from previous function call in [microseconds]. </td></tr>
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<tr><td class="paramdir">[out]</td><td class="paramname">timerNext_us</td><td>info to OS - see CO_process_SYNC_PDO(). </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<ul>
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<li class="footer">Generated on Thu Dec 24 2020 14:30:50 for CANopenNode by
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<a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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