CO_PDO_common_t Struct Reference

PDO object, common properties. More...

#include <CO_PDO.h>

Collaboration diagram for CO_PDO_common_t:

Data Fields
CO_EM_t *	em
	From CO_xPDO_init()
CO_CANmodule_t *	CANdev
	From CO_xPDO_init()
bool_t	valid
	True, if PDO is enabled and valid.
CO_PDO_size_t	dataLength
	Data length of the received PDO message.
uint8_t	mappedObjectsCount
	Number of mapped objects in PDO.
OD_IO_t	OD_IO [CO_PDO_MAX_MAPPED_ENTRIES]
	Object dictionary interface for all mapped entries.
bool_t	isRPDO
	True for RPDO, false for TPDO.
OD_t *	OD
	From CO_xPDO_init()
uint16_t	CANdevIdx
	From CO_xPDO_init()
uint16_t	preDefinedCanId
	From CO_xPDO_init()
uint16_t	configuredCanId
	Currently configured CAN identifier.
OD_extension_t	OD_communicationParam_ext
	Extension for OD object.
OD_extension_t	OD_mappingParam_extension
	Extension for OD object.

Detailed Description

PDO object, common properties.

Field Documentation

dataLength

CO_PDO_size_t CO_PDO_common_t::dataLength

Data length of the received PDO message.

Calculated from mapping

OD_IO

OD_IO_t CO_PDO_common_t::OD_IO[CO_PDO_MAX_MAPPED_ENTRIES]

Object dictionary interface for all mapped entries.

OD_IO.dataOffset has special usage with PDO. It stores information about mappedLength of the variable. mappedLength can be less or equal to the OD_IO.dataLength. mappedLength greater than OD_IO.dataLength indicates erroneous mapping. OD_IO.dataOffset is set to 0 before read/write function call and after the call OD_IO.dataOffset is set back to mappedLength.

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

• 301/CO_PDO.h