CO_SDOserver_t Struct Reference

SDO server object. More...

#include <CO_SDOserver.h>

Collaboration diagram for CO_SDOserver_t:

Data Fields
CO_CANmodule_t *	CANdevTx
	From CO_SDOserver_init()
CO_CANtx_t *	CANtxBuff
	CAN transmit buffer inside CANdevTx for CAN tx message.
OD_t *	OD
	From CO_SDOserver_init()
uint8_t	nodeId
	From CO_SDOserver_init()
bool_t	valid
	If true, SDO channel is valid.
volatile CO_SDO_state_t	state
	Internal state of the SDO server.
OD_IO_t	OD_IO
	Object dictionary interface for current object.
uint16_t	index
	Index of the current object in Object Dictionary.
uint8_t	subIndex
	Subindex of the current object in Object Dictionary.
volatile void *	CANrxNew
	Indicates, if new SDO message received from CAN bus.
uint8_t	CANrxData [8]
	8 data bytes of the received message
CO_CANmodule_t *	CANdevRx
	From CO_SDOserver_init()
uint16_t	CANdevRxIdx
	From CO_SDOserver_init()
uint16_t	CANdevTxIdx
	From CO_SDOserver_init()
uint32_t	COB_IDClientToServer
	Copy of CANopen COB_ID Client -> Server, meaning of the specific bits:
uint32_t	COB_IDServerToClient
	Copy of CANopen COB_ID Server -> Client, similar as above.
OD_extension_t	OD_1200_extension
	Extension for OD object.
OD_size_t	sizeInd
	Size of data, which will be transferred.
OD_size_t	sizeTran
	Size of data which is actually transferred.
uint8_t	toggle
	Toggle bit toggled in each segment in segmented transfer.
bool_t	finished
	If true, then: data transfer is finished (by download) or read from OD variable is finished (by upload)
uint32_t	SDOtimeoutTime_us
	Maximum timeout time between request and response in microseconds.
uint32_t	timeoutTimer
	Timeout timer for SDO communication.
uint8_t	buf [CO_CONFIG_SDO_SRV_BUFFER_SIZE+1U]
	Interim data buffer for segmented or block transfer + byte for '\0'.
OD_size_t	bufOffsetWr
	Offset of next free data byte available for write in the buffer.
OD_size_t	bufOffsetRd
	Offset of first data available for read in the buffer.
uint32_t	block_SDOtimeoutTime_us
	Timeout time for SDO sub-block download, half of SDOtimeoutTime_us.
uint32_t	block_timeoutTimer
	Timeout timer for SDO sub-block download.
uint8_t	block_seqno
	Sequence number of segment in block, 1..127.
uint8_t	block_blksize
	Number of segments per block, 1..127.
uint8_t	block_noData
	Number of bytes in last segment that do not contain data.
bool_t	block_crcEnabled
	Client CRC support in block transfer.
uint16_t	block_crc
	Calculated CRC checksum.
void(*	pFunctSignalPre )(void *object)
	From CO_SDOserver_initCallbackPre() or NULL.
void *	functSignalObjectPre
	From CO_SDOserver_initCallbackPre() or NULL.

Detailed Description

SDO server object.

Field Documentation

CANrxNew

volatile void* CO_SDOserver_t::CANrxNew

Indicates, if new SDO message received from CAN bus.

It is not cleared, until received message is completely processed.

COB_IDClientToServer

uint32_t CO_SDOserver_t::COB_IDClientToServer

Copy of CANopen COB_ID Client -> Server, meaning of the specific bits:

• Bit 0...10: 11-bit CAN identifier.
• Bit 11..30: reserved, must be 0.
• Bit 31: if 1, SDO client object is not used.

sizeInd

OD_size_t CO_SDOserver_t::sizeInd

Size of data, which will be transferred.

It is optionally indicated by client in case of download or by server in case of upload.

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

• 301/CO_SDOserver.h