CO_SRDO_t Struct Reference

SRDO object. More...

#include <CO_SRDO.h>

Collaboration diagram for CO_SRDO_t:

Data Fields
CO_SRDOGuard_t *	SRDOGuard
	From CO_SRDO_init()
OD_t *	OD
	From CO_SRDO_init()
CO_EM_t *	em
	From CO_SRDO_init()
uint16_t	defaultCOB_ID
	From CO_SRDO_init()
uint8_t	nodeId
	From CO_SRDO_init()
CO_CANmodule_t *	CANdevTx [2]
	From CO_SRDO_init()
uint16_t	CANdevTxIdx [2]
	From CO_SRDO_init()
CO_CANmodule_t *	CANdevRx [2]
	From CO_SRDO_init()
uint16_t	CANdevRxIdx [2]
	From CO_SRDO_init()
CO_SRDO_state_t	internalState
	Internal state of this SRDO.
bool_t	NMTisOperationalPrevious
	Copy of variable, internal usage.
uint8_t	informationDirection
	0 - SRDO is disabled; 1 - SRDO is producer (tx); 2 - SRDO is consumer (rx)
uint32_t	cycleTime_us
	Safety Cycle Time from object dictionary translated to microseconds.
uint32_t	validationTime_us
	Safety related validation time from object dictionary translated to microseconds.
uint32_t	cycleTimer
	cycle timer variable in microseconds
uint32_t	invertedDelay
	inverted delay timer variable in microseconds
uint32_t	validationTimer
	validation timer variable in microseconds
CO_SRDO_size_t	dataLength
	Data length of the received SRDO message.
uint8_t	mappedObjectsCount
	Number of mapped objects in SRDO.
OD_IO_t	OD_IO [CO_SRDO_MAX_MAPPED_ENTRIES]
	Object dictionary interface for all mapped entries.
CO_CANtx_t *	CANtxBuff [2]
	CAN transmit buffers inside CANdevTx.
volatile void *	CANrxNew [2]
	Variable indicates, if new SRDO message received from CAN bus.
bool_t	rxSrdoShort
	true, if received SRDO is too short
uint8_t	CANrxData [2][CO_SRDO_MAX_SIZE]
	two buffers of data bytes for the received message.
bool_t	nextIsNormal
	If true, next processed SRDO message is normal (not inverted)
OD_entry_t *	OD_communicationParam_entry
	From CO_SRDO_init()
OD_entry_t *	OD_mappingParam_entry
	From CO_SRDO_init()
OD_extension_t	OD_communicationParam_ext
	Extension for OD object.
OD_extension_t	OD_mappingParam_extension
	Extension for OD object.
void(*	pFunctSignalPre )(void *object)
	From CO_SRDO_initCallbackPre() or NULL.
void *	functSignalObjectPre
	From CO_SRDO_initCallbackPre() or NULL.

Detailed Description

SRDO object.

Field Documentation

dataLength

CO_SRDO_size_t CO_SRDO_t::dataLength

Data length of the received SRDO message.

Calculated from mapping

OD_IO

OD_IO_t CO_SRDO_t::OD_IO[CO_SRDO_MAX_MAPPED_ENTRIES]

Object dictionary interface for all mapped entries.

OD_IO.dataOffset has special usage with SRDO. 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:

• 304/CO_SRDO.h