CO_PDO.h File Reference

CANopen Process Data Object protocol. More...

#include "301/CO_driver.h"
#include "301/CO_SDOserver.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_SYNC.h"

Go to the source code of this file.

Data Structures
struct	CO_RPDOCommPar_t
	RPDO communication parameter. More...
struct	CO_RPDOMapPar_t
	RPDO mapping parameter. More...
struct	CO_TPDOCommPar_t
	TPDO communication parameter. More...
struct	CO_TPDOMapPar_t
	TPDO mapping parameter. More...
struct	CO_RPDO_t
	RPDO object. More...
struct	CO_TPDO_t
	TPDO object. More...

Functions
CO_ReturnError_t	CO_RPDO_init (CO_RPDO_t *RPDO, CO_EM_t *em, CO_SDO_t *SDO, CO_SYNC_t *SYNC, CO_NMT_internalState_t *operatingState, uint8_t nodeId, uint16_t defaultCOB_ID, uint8_t restrictionFlags, const CO_RPDOCommPar_t *RPDOCommPar, const CO_RPDOMapPar_t *RPDOMapPar, uint16_t idx_RPDOCommPar, uint16_t idx_RPDOMapPar, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx)
	Initialize RPDO object. More...
void	CO_RPDO_initCallbackPre (CO_RPDO_t *RPDO, void *object, void(*pFunctSignalPre)(void *object))
	Initialize RPDO callback function. More...
CO_ReturnError_t	CO_TPDO_init (CO_TPDO_t *TPDO, CO_EM_t *em, CO_SDO_t *SDO, CO_SYNC_t *SYNC, CO_NMT_internalState_t *operatingState, uint8_t nodeId, uint16_t defaultCOB_ID, uint8_t restrictionFlags, const CO_TPDOCommPar_t *TPDOCommPar, const CO_TPDOMapPar_t *TPDOMapPar, uint16_t idx_TPDOCommPar, uint16_t idx_TPDOMapPar, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx)
	Initialize TPDO object. More...
uint8_t	CO_TPDOisCOS (CO_TPDO_t *TPDO)
	Verify Change of State of the PDO. More...
CO_ReturnError_t	CO_TPDOsend (CO_TPDO_t *TPDO)
	Send TPDO message. More...
void	CO_RPDO_process (CO_RPDO_t *RPDO, bool_t syncWas)
	Process received PDO messages. More...
void	CO_TPDO_process (CO_TPDO_t *TPDO, bool_t syncWas, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process transmitting PDO messages. More...

Detailed Description

CANopen Process Data Object protocol.

Author

Janez Paternoster

Copyright

2004 - 2020 Janez Paternoster

This file is part of CANopenNode, an opensource CANopen Stack. Project home page is https://github.com/CANopenNode/CANopenNode. For more information on CANopen see http://www.can-cia.org/.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.