SYNC and PDO producer/consumer

Specified in standard CiA 301 More...

Collaboration diagram for SYNC and PDO producer/consumer:

Macros
#define	CO_CONFIG_SYNC
	Configuration of SYNC.
#define	CO_CONFIG_PDO
	Configuration of PDO.

Detailed Description

Specified in standard CiA 301

Macro Definition Documentation

CO_CONFIG_SYNC

#define CO_CONFIG_SYNC

Value:

    (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE                           \
     | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)

Configuration of SYNC.

Possible flags, can be ORed:

• CO_CONFIG_SYNC_ENABLE - Enable SYNC object and SYNC consumer.
• CO_CONFIG_SYNC_PRODUCER - Enable SYNC producer.
• CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing received SYNC CAN message. Callback is configured by CO_SYNC_initCallbackPre().
• CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable inside CO_SYNC_process().
• CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SYNC.

CO_CONFIG_PDO

#define CO_CONFIG_PDO

Value:

    (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE       \
     | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE                  \
     | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)

Configuration of PDO.

Possible flags, can be ORed:

• CO_CONFIG_RPDO_ENABLE - Enable receive PDO objects.
• CO_CONFIG_TPDO_ENABLE - Enable transmit PDO objects.
• CO_CONFIG_RPDO_TIMERS_ENABLE - Enable RPDO timers: RPDO timeout monitoring with event timer.
• CO_CONFIG_TPDO_TIMERS_ENABLE - Enable TPDO timers: TPDO inhibit and event timers.
• CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC in PDO objects.
• CO_CONFIG_PDO_OD_IO_ACCESS - For OD variables mapped to PDO use read/write function access with OD_IO_t. This option enables much more flexibility for application program, but consumes some additional memory and processor resources. If this option is not enabled, then data from OD variables are fetched directly from memory allocated by Object dictionary.
• CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing received RPDO CAN message. Callback is configured by CO_RPDO_initCallbackPre().
• CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable inside CO_TPDO_process().
• CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of PDO.