CANopenNode
CANopen protocol stack
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Constants for common definitions. More...
Macros | |
#define | CO_CONFIG_FLAG_CALLBACK_PRE 0x1000 |
Enable custom callback after CAN receive. | |
#define | CO_CONFIG_FLAG_TIMERNEXT 0x2000 |
Enable calculation of timerNext_us variable. | |
#define | CO_CONFIG_FLAG_OD_DYNAMIC 0x4000 |
Enable dynamic behaviour of Object Dictionary variables. | |
#define | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0) |
This flag may be set globally for mainline objects to CO_CONFIG_FLAG_CALLBACK_PRE. | |
#define | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0) |
This flag may be set globally for Real-Time objects (SYNC, PDO) to CO_CONFIG_FLAG_CALLBACK_PRE. | |
#define | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0) |
This flag may be set globally to CO_CONFIG_FLAG_TIMERNEXT. | |
#define | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC |
This flag may be set globally to (0) | |
Constants for common definitions.
#define CO_CONFIG_FLAG_CALLBACK_PRE 0x1000 |
Enable custom callback after CAN receive.
Flag enables optional callback functions, which are part of some CANopenNode objects. Callbacks can optionally be registered by application, which configures threads in operating system. Callbacks are called after something has been preprocessed by higher priority thread and must be further processed by lower priority thread. For example when CAN message is received and preprocessed, callback should wake up mainline processing function. See also CO_process() function.
If callback functions are used, they must be initialized separately, after the object initialization.
This flag is common to multiple configuration macros.
#define CO_CONFIG_FLAG_TIMERNEXT 0x2000 |
Enable calculation of timerNext_us variable.
Calculation of the timerNext_us variable is useful for smooth operation on operating system. See also CO_process() function.
This flag is common to multiple configuration macros.
#define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000 |
Enable dynamic behaviour of Object Dictionary variables.
Some CANopen objects uses Object Dictionary variables as arguments to initialization functions, which are processed in communication reset section. If this flag is set, then writing to OD variable will reconfigure corresponding CANopen object also during CANopen normal operation.
This flag is common to multiple configuration macros.