Files
file	CO_PDO.h
	CANopen Process Data Object protocol.

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.

Process data objects are used for real-time data transfer with no protocol overhead.

TPDO with specific identifier is transmitted by one device and recieved by zero or more devices as RPDO. PDO communication parameters(COB-ID, transmission type, etc.) are in Object Dictionary at index 0x1400+ and 0x1800+. PDO mapping parameters (size and contents of the PDO) are in Object Dictionary at index 0x1600+ and 0x1A00+.

Features of the PDO as implemented here, in CANopenNode:

Dynamic PDO mapping.
Map granularity of one byte.
After RPDO is received from CAN bus, its data are copied to buffer. Function CO_RPDO_process() (called by application) copies data to mapped objects in Object Dictionary. Synchronous RPDOs are processed AFTER reception of the next SYNC message.
Function CO_TPDO_process() (called by application) sends TPDO if necessary. There are possible different transmission types, including automatic detection of Change of State of specific variable.

Function Documentation

◆ CO_RPDO_init()

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.

Function must be called in the communication reset section.

Parameters

RPDO	This object will be initialized.
em	Emergency object.
SDO	SDO server object.
SYNC	void pointer to SYNC object or NULL.
operatingState	Pointer to variable indicating CANopen device NMT internal state.
nodeId	CANopen Node ID of this device. If default COB_ID is used, value will be added.
defaultCOB_ID	Default COB ID for this PDO (without NodeId). See CO_Default_CAN_ID_t
restrictionFlags	Flag bits indicates, how PDO communication and mapping parameters are handled: Bit1: If true, communication parameters are writeable only in pre-operational NMT state. Bit2: If true, mapping parameters are writeable only in pre-operational NMT state. Bit3: If true, communication parameters are read-only. Bit4: If true, mapping parameters are read-only.
RPDOCommPar	Pointer to RPDO communication parameter record from Object dictionary (index 0x1400+).
RPDOMapPar	Pointer to RPDO mapping parameter record from Object dictionary (index 0x1600+).
idx_RPDOCommPar	Index in Object Dictionary.
idx_RPDOMapPar	Index in Object Dictionary.
CANdevRx	CAN device for PDO reception.
CANdevRxIdx	Index of receive buffer in the above CAN device.

Returns: CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_RPDO_initCallbackPre()

void CO_RPDO_initCallbackPre	(	CO_RPDO_t *	RPDO,
		void *	object,
		void()(void object)	pFunctSignalPre
	)

Initialize RPDO callback function.

Function initializes optional callback function, which should immediately start processing of CO_RPDO_process() function. Callback is called after RPDO message is received from the CAN bus.

Parameters

RPDO	This object.
object	Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL
pFunctSignalPre	Pointer to the callback function. Not called if NULL.

◆ CO_TPDO_init()

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.

Function must be called in the communication reset section.

Parameters

TPDO	This object will be initialized.
em	Emergency object.
SDO	SDO object.
SYNC	void pointer to SYNC object or NULL.
operatingState	Pointer to variable indicating CANopen device NMT internal state.
nodeId	CANopen Node ID of this device. If default COB_ID is used, value will be added.
defaultCOB_ID	Default COB ID for this PDO (without NodeId). See CO_Default_CAN_ID_t
restrictionFlags	Flag bits indicates, how PDO communication and mapping parameters are handled: Bit1: If true, communication parameters are writeable only in pre-operational NMT state. Bit2: If true, mapping parameters are writeable only in pre-operational NMT state. Bit3: If true, communication parameters are read-only. Bit4: If true, mapping parameters are read-only.
TPDOCommPar	Pointer to TPDO communication parameter record from Object dictionary (index 0x1400+).
TPDOMapPar	Pointer to TPDO mapping parameter record from Object dictionary (index 0x1600+).
idx_TPDOCommPar	Index in Object Dictionary.
idx_TPDOMapPar	Index in Object Dictionary.
CANdevTx	CAN device used for PDO transmission.
CANdevTxIdx	Index of transmit buffer in the above CAN device.

Returns: CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_TPDOisCOS()

uint8_t CO_TPDOisCOS ( CO_TPDO_t * TPDO )

Verify Change of State of the PDO.

Function verifies if variable mapped to TPDO has changed its value. Verified are only variables, which has set attribute CO_ODA_TPDO_DETECT_COS in #CO_SDO_OD_attributes_t.

Function may be called by application just before CO_TPDO_process() function, for example: TPDOx->sendRequest = CO_TPDOisCOS(TPDOx); CO_TPDO_process(TPDOx, ....

Parameters

TPDO	TPDO object.

Returns: True if COS was detected.

◆ CO_TPDOsend()

CO_ReturnError_t CO_TPDOsend ( CO_TPDO_t * TPDO )

Send TPDO message.

Function prepares TPDO data from Object Dictionary variables. It should not be called by application, it is called from CO_TPDO_process().

Parameters

TPDO	TPDO object.

Returns: Same as CO_CANsend().

◆ CO_RPDO_process()

void CO_RPDO_process	(	CO_RPDO_t *	RPDO,
		bool_t	syncWas
	)

Process received PDO messages.

Function must be called cyclically in any NMT state. It copies data from RPDO to Object Dictionary variables if: new PDO receives and PDO is valid and NMT operating state is operational. It does not verify transmission type.

Parameters

RPDO	This object.
syncWas	True, if CANopen SYNC message was just received or transmitted.

◆ CO_TPDO_process()

void CO_TPDO_process	(	CO_TPDO_t *	TPDO,
		bool_t	syncWas,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us
	)

Process transmitting PDO messages.

Function must be called cyclically in any NMT state. It prepares and sends TPDO if necessary. If Change of State needs to be detected, function CO_TPDOisCOS() must be called before.

Parameters

	TPDO	This object.
	syncWas	True, if CANopen SYNC message was just received or transmitted.
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS - see CO_process_SYNC_PDO().

Files

Data Structures

Functions

Detailed Description

Function Documentation

◆ CO_RPDO_init()

◆ CO_RPDO_initCallbackPre()

◆ CO_TPDO_init()

◆ CO_TPDOisCOS()

◆ CO_TPDOsend()

◆ CO_RPDO_process()

◆ CO_TPDO_process()