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CANopenNode
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CANopenNode
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CANopen Gateway-ascii object. More...
#include <CO_gateway_ascii.h>
Data Fields | |
| size_t(* | readCallback )(void *object, const char *buf, size_t count, uint8_t *connectionOK) |
| Pointer to external function for reading response from Gateway-ascii object. More... | |
| void * | readCallbackObject |
| Pointer to object, which will be used inside readCallback, from CO_GTWA_init() | |
| uint32_t | sequence |
| Sequence number of the command. | |
| int32_t | net_default |
| Default CANopen Net number is undefined (-1) at startup. | |
| int16_t | node_default |
| Default CANopen Node ID number is undefined (-1) at startup. | |
| uint16_t | net |
| Current CANopen Net number. | |
| uint8_t | node |
| Current CANopen Node ID. | |
| CO_fifo_t | commFifo |
| CO_fifo_t object for command (not pointer) | |
| char | commBuf [CO_CONFIG_GTWA_COMM_BUF_SIZE+1] |
| Command buffer of usable size CO_CONFIG_GTWA_COMM_BUF_SIZE. | |
| char | respBuf [CO_GTWA_RESP_BUF_SIZE] |
| Response buffer of usable size CO_GTWA_RESP_BUF_SIZE. | |
| size_t | respBufCount |
| Actual size of data in respBuf. | |
| size_t | respBufOffset |
| If only part of data has been successfully written into external application (with readCallback()), then Gateway-ascii object will stay in current state. More... | |
| bool_t | respHold |
| See respBufOffset above. | |
| uint32_t | timeDifference_us_cumulative |
| Sum of time difference from CO_GTWA_process() in case of respHold. | |
| CO_GTWA_state_t | state |
| Current state of the gateway object. | |
| uint32_t | stateTimeoutTmr |
| Timeout timer for the current state. | |
| CO_SDOclient_t * | SDO_C |
| SDO client object from CO_GTWA_init() | |
| uint16_t | SDOtimeoutTime |
| Timeout time for SDO transfer in milliseconds, if no response. | |
| bool_t | SDOblockTransferEnable |
| SDO block transfer enabled? | |
| bool_t | SDOdataCopyStatus |
| Indicate status of data copy from / to SDO buffer. More... | |
| const CO_GTWA_dataType_t * | SDOdataType |
| Data type of variable in current SDO communication. | |
| CO_NMT_t * | NMT |
| NMT object from CO_GTWA_init() | |
| CO_LSSmaster_t * | LSSmaster |
| LSSmaster object from CO_GTWA_init() | |
| CO_LSS_address_t | lssAddress |
| 128 bit number, uniquely identifying each node | |
| uint8_t | lssNID |
| LSS Node-ID parameter. | |
| uint16_t | lssBitrate |
| LSS bitrate parameter. | |
| CO_LSS_cs_t | lssInquireCs |
| LSS inquire parameter. | |
| CO_LSSmaster_fastscan_t | lssFastscan |
| LSS fastscan parameter. | |
| uint8_t | lssSubState |
| LSS allnodes sub state parameter. | |
| uint8_t | lssNodeCount |
| LSS allnodes node count parameter. | |
| bool_t | lssStore |
| LSS allnodes store parameter. | |
| uint16_t | lssTimeout_ms |
| LSS allnodes timeout parameter. | |
| char | logBuf [CO_CONFIG_GTWA_LOG_BUF_SIZE+1] |
| Message log buffer of usable size CO_CONFIG_GTWA_LOG_BUF_SIZE. | |
| CO_fifo_t | logFifo |
| CO_fifo_t object for message log (not pointer) | |
| const char * | helpString |
| Offset, when printing help text. | |
| CO_LEDs_t * | LEDs |
| CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init() | |
CANopen Gateway-ascii object.
| size_t(* CO_GTWA_t::readCallback) (void *object, const char *buf, size_t count, uint8_t *connectionOK) |
Pointer to external function for reading response from Gateway-ascii object.
Pointer is initialized in CO_GTWA_initRead().
| object | Void pointer to custom object | |
| buf | Buffer from which data can be read | |
| count | Count of bytes available inside buffer | |
| [out] | connectionOK | different than 0 indicates connection is OK. |
| size_t CO_GTWA_t::respBufOffset |
If only part of data has been successfully written into external application (with readCallback()), then Gateway-ascii object will stay in current state.
This situation is indicated with respHold variable and respBufOffset indicates offset to untransferred data inside respBuf.
| bool_t CO_GTWA_t::SDOdataCopyStatus |
Indicate status of data copy from / to SDO buffer.
If reading, true indicates, that response has started. If writing, true indicates, that SDO buffer contains only part of data and more data will follow.
1.8.17