CO_master.h File Reference

#include "CO_driver.h"
#include "CO_SDO.h"
#include "CO_SDOmaster.h"
#include <pthread.h>

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Functions
int	sdoClientUpload (CO_SDOclient_t *SDOclient, uint8_t nodeID, uint16_t idx, uint8_t subidx, uint8_t *dataRx, uint32_t dataRxSize, uint32_t *dataRxLen, uint32_t *SDOabortCode, uint16_t SDOtimeoutTime, uint8_t blockTransferEnable)
int	sdoClientDownload (CO_SDOclient_t *SDOclient, uint8_t nodeID, uint16_t idx, uint8_t subidx, uint8_t *dataTx, uint32_t dataTxLen, uint32_t *SDOabortCode, uint16_t SDOtimeoutTime, uint8_t blockTransferEnable)

Variables
pthread_mutex_t	CO_CAN_VALID_mtx
	Testing ExoRobot new classes. More...
volatile uint32_t	CO_timer1ms

Detailed Description

CANopen master functions

Author

Janez Paternoster

Copyright

2015 Janez Paternoster

This file is part of CANopenSocket, a Linux implementation of CANopen stack with master functionality. Project home page is https://github.com/CANopenNode/CANopenSocket. CANopenSocket is based on CANopenNode: https://github.com/CANopenNode/CANopenNode.

CANopenSocket is free and open source software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file CO_master.h.

Function Documentation

int sdoClientDownload	(	CO_SDOclient_t *	SDOclient,
		uint8_t	nodeID,
		uint16_t	idx,
		uint8_t	subidx,
		uint8_t *	dataTx,
		uint32_t	dataTxLen,
		uint32_t *	SDOabortCode,
		uint16_t	SDOtimeoutTime,
		uint8_t	blockTransferEnable
	)

Sdo client download.

For further details see CANopenNode/stack/CO_master.h file. This is blocking function.

Parameters

SDOclient	Pointer to CANopen SDO client object.
nodeID	Node-ID of the remote node.
idx	Index of object in object dictionary in remote node.
subidx	Subindex of object in object dictionary in remote node.
dataTx	Pointer to data buffer, which contains the data.
dataTxLen	Length of data in dataTx.
SDOabortCode	Return variable - SDO abort code.
SDOtimeoutTime	SDO timeout time in milliseconds.
blockTransferEnable	If true, try to initiate block transfer.

Returns

0 on success.

Definition at line 96 of file CO_master.c.

int sdoClientUpload	(	CO_SDOclient_t *	SDOclient,
		uint8_t	nodeID,
		uint16_t	idx,
		uint8_t	subidx,
		uint8_t *	dataRx,
		uint32_t	dataRxSize,
		uint32_t *	dataRxLen,
		uint32_t *	SDOabortCode,
		uint16_t	SDOtimeoutTime,
		uint8_t	blockTransferEnable
	)

Sdo client upload.

For further details see CANopenNode/stack/CO_master.h file. This is blocking function.

Parameters

SDOclient	Pointer to CANopen SDO client object.
nodeID	Node-ID of the remote node.
idx	Index of object in object dictionary in remote node.
subidx	Subindex of object in object dictionary in remote node.
dataRx	Pointer to data buffer, into which received data will be written.
dataRxSize	Maximum size of dataRx.
dataRxLen	Return variable - actual data length in dataRx.
SDOabortCode	Return variable - SDO abort code.
SDOtimeoutTime	SDO timeout time in milliseconds.
blockTransferEnable	If true, try to initiate block transfer.

Returns

0 on success.

Definition at line 32 of file CO_master.c.

Variable Documentation

pthread_mutex_t CO_CAN_VALID_mtx

Testing ExoRobot new classes.

Mutex is locked, when CAN is not valid (configuration state). May be used from other threads. RT threads may use CO->CANmodule[0]->CANnormal instead.

Definition at line 39 of file main.cpp.

volatile uint32_t CO_timer1ms

Global variable increments each millisecond

Definition at line 70 of file main.cpp.