CO_GTWA_t Struct Reference

CANopen Gateway-ascii object. More...

#include <CO_gateway_ascii.h>

Collaboration diagram for CO_GTWA_t:

Data Fields
size_t(*	readCallback )(void *object, const char *buf, size_t count, uint8_t *connectionOK)
	Pointer to external function for reading response from Gateway-ascii object.
void *	readCallbackObject
	Pointer to object, which will be used inside readCallback, from CO_GTWA_init()
uint32_t	sequence
	Sequence number of the command.
int32_t	net_default
	Default CANopen Net number is undefined (-1) at startup.
int16_t	node_default
	Default CANopen Node ID number is undefined (-1) at startup.
uint16_t	net
	Current CANopen Net number.
uint8_t	node
	Current CANopen Node ID.
CO_fifo_t	commFifo
	CO_fifo_t object for command (not pointer)
uint8_t	commBuf [CO_CONFIG_GTWA_COMM_BUF_SIZE+1]
	Command buffer of usable size CO_CONFIG_GTWA_COMM_BUF_SIZE.
char	respBuf [CO_GTWA_RESP_BUF_SIZE]
	Response buffer of usable size CO_GTWA_RESP_BUF_SIZE.
size_t	respBufCount
	Actual size of data in respBuf.
size_t	respBufOffset
	If only part of data has been successfully written into external application (with readCallback()), then Gateway-ascii object will stay in current state.
bool_t	respHold
	See respBufOffset above.
uint32_t	timeDifference_us_cumulative
	Sum of time difference from CO_GTWA_process() in case of respHold.
CO_GTWA_state_t	state
	Current state of the gateway object.
uint32_t	stateTimeoutTmr
	Timeout timer for the current state.
CO_SDOclient_t *	SDO_C
	SDO client object from CO_GTWA_init()
uint16_t	SDOtimeoutTime
	Timeout time for SDO transfer in milliseconds, if no response.
bool_t	SDOblockTransferEnable
	SDO block transfer enabled?
bool_t	SDOdataCopyStatus
	Indicate status of data copy from / to SDO buffer.
const CO_GTWA_dataType_t *	SDOdataType
	Data type of variable in current SDO communication.
CO_NMT_t *	NMT
	NMT object from CO_GTWA_init()
CO_LSSmaster_t *	LSSmaster
	LSSmaster object from CO_GTWA_init()
CO_LSS_address_t	lssAddress
	128 bit number, uniquely identifying each node
uint8_t	lssNID
	LSS Node-ID parameter.
uint16_t	lssBitrate
	LSS bitrate parameter.
uint8_t	lssInquireCs
	LSS inquire parameter.
CO_LSSmaster_fastscan_t	lssFastscan
	LSS fastscan parameter.
uint8_t	lssSubState
	LSS allnodes sub state parameter.
uint8_t	lssNodeCount
	LSS allnodes node count parameter.
bool_t	lssStore
	LSS allnodes store parameter.
uint16_t	lssTimeout_ms
	LSS allnodes timeout parameter.
uint8_t	logBuf [CO_CONFIG_GTWA_LOG_BUF_SIZE+1]
	Message log buffer of usable size CO_CONFIG_GTWA_LOG_BUF_SIZE.
CO_fifo_t	logFifo
	CO_fifo_t object for message log (not pointer)
const char *	helpString
	Offset, when printing help text.
CO_LEDs_t *	LEDs
	CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init()

Detailed Description

CANopen Gateway-ascii object.

Field Documentation

readCallback

size_t(* CO_GTWA_t::readCallback) (void *object, const char *buf, size_t count, uint8_t *connectionOK)

Pointer to external function for reading response from Gateway-ascii object.

Pointer is initialized in CO_GTWA_initRead().

Parameters

	object	Void pointer to custom object
	buf	Buffer from which data can be read
	count	Count of bytes available inside buffer
[out]	connectionOK	different than 0 indicates connection is OK.

Returns

Count of bytes actually transferred.

respBufOffset

size_t CO_GTWA_t::respBufOffset

If only part of data has been successfully written into external application (with readCallback()), then Gateway-ascii object will stay in current state.

This situation is indicated with respHold variable and respBufOffset indicates offset to untransferred data inside respBuf.

SDOdataCopyStatus

bool_t CO_GTWA_t::SDOdataCopyStatus

Indicate status of data copy from / to SDO buffer.

If reading, true indicates, that response has started. If writing, true indicates, that SDO buffer contains only part of data and more data will follow.

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The documentation for this struct was generated from the following file:

• 309/CO_gateway_ascii.h