CANopen Process Data Object protocol. More...

#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
#include "301/CO_SYNC.h"

Include dependency graph for CO_PDO.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	CO_PDO_common_t
	PDO object, common properties. More...

struct	CO_RPDO_t
	RPDO object. More...

struct	CO_TPDO_t
	TPDO object. More...

Macros
#define	CO_PDO_MAX_SIZE 8U
	Maximum size of PDO message, 8 for standard CAN.

#define	CO_PDO_MAX_MAPPED_ENTRIES 8U
	Maximum number of entries, which can be mapped to PDO, 8 for standard CAN, may be less to preserve RAM usage.

#define	CO_RPDO_DEFAULT_CANID_COUNT 4U
	Number of CANopen RPDO objects, which uses default CAN indentifiers.

#define	CO_TPDO_DEFAULT_CANID_COUNT 4U
	Number of CANopen TPDO objects, which uses default CAN indentifiers.

#define	CO_RPDO_CAN_BUFFERS_COUNT 2
	Number of buffers for received CAN message for RPDO.

Typedefs
typedef uint8_t	CO_PDO_size_t
	Variable of type CO_PDO_size_t contains data length in bytes of PDO.

Enumerations
enum	CO_PDO_transmissionTypes_t { CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC = 0U , CO_PDO_TRANSM_TYPE_SYNC_1 = 1U , CO_PDO_TRANSM_TYPE_SYNC_240 = 0xF0U , CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO = 0xFEU , CO_PDO_TRANSM_TYPE_SYNC_EVENT_HI = 0xFFU }
	PDO transmission Types. More...

Functions
CO_ReturnError_t	CO_RPDO_init (CO_RPDO_t RPDO, OD_t OD, CO_EM_t em, CO_SYNC_t SYNC, uint16_t preDefinedCanId, OD_entry_t OD_14xx_RPDOCommPar, OD_entry_t OD_16xx_RPDOMapPar, CO_CANmodule_t CANdevRx, uint16_t CANdevRxIdx, uint32_t errInfo)
	Initialize RPDO object.

void	CO_RPDO_initCallbackPre (CO_RPDO_t RPDO, void object, void(pFunctSignalPre)(void object))
	Initialize RPDO callback function.

void	CO_RPDO_process (CO_RPDO_t RPDO, uint32_t timeDifference_us, uint32_t timerNext_us, bool_t NMTisOperational, bool_t syncWas)
	Process received PDO messages.

CO_ReturnError_t	CO_TPDO_init (CO_TPDO_t TPDO, OD_t OD, CO_EM_t em, CO_SYNC_t SYNC, uint16_t preDefinedCanId, OD_entry_t OD_18xx_TPDOCommPar, OD_entry_t OD_1Axx_TPDOMapPar, CO_CANmodule_t CANdevTx, uint16_t CANdevTxIdx, uint32_t errInfo)
	Initialize TPDO object.

static void	CO_TPDOsendRequest (CO_TPDO_t *TPDO)
	Request transmission of TPDO message.

void	CO_TPDO_process (CO_TPDO_t TPDO, uint32_t timeDifference_us, uint32_t timerNext_us, bool_t NMTisOperational, bool_t syncWas)
	Process transmitting PDO messages.

Detailed Description

CANopen Process Data Object protocol.

Author: Janez Paternoster

This file is part of https://github.com/CANopenNode/CANopenNode, a CANopen Stack.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description