PDO

Collaboration diagram for PDO:

Functions
UNS8	buildPDO (CO_Data *d, UNS8 numPdo, Message *pdo)
	Copy all the data to transmit in process_var Prepare the PDO defined at index to be sent *pwCobId : returns the value of the cobid. (subindex 1)
UNS8	sendPDOrequest (CO_Data *d, UNS16 RPDOIndex)
	Transmit a PDO request frame on the network to the slave.
UNS8	processPDO (CO_Data *d, Message *m)
	Compute a PDO frame reception bus_id is hardware dependant.
void	CopyBits (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
	copy bit per bit in little endian
UNS8	sendPDOevent (CO_Data *d)
	Used by the application to signal changes in process data that could be mapped to some TPDO. This do not necessarily imply PDO emission. Function iterates on all TPDO and look TPDO transmit type and content change before sending it.
void	PDOEventTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Set timer for PDO event.
void	PDOInhibitTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Inhibit timer for PDO event.
UNS8	_sendPDOevent (CO_Data *d, UNS8 isSyncEvent)
	Function iterates on all TPDO and look TPDO transmit type and content change before sending it.
UNS32	TPDO_Communication_Parameter_Callback (CO_Data *d, const indextable *OD_entry, UNS8 bSubindex)
	<BRIEF> TPDO_Communication_Parameter_Callback
void	PDOInit (CO_Data *d)
	Initialize PDO feature.
void	PDOStop (CO_Data *d)
	Stop PDO feature.
void	sendPdo (CO_Data *d, UNS32 pdoNum, Message *pdo)
	<BRIEF> sendPDO

Detailed Description

Function Documentation

_sendPDOevent()

UNS8 _sendPDOevent	(	CO_Data *	d,
		UNS8	isSyncEvent )

Function iterates on all TPDO and look TPDO transmit type and content change before sending it.

Parameters

*d	Pointer on a CAN object data structure
isSyncEvent

Definition at line 512 of file pdo.c.

Referenced by PDOEventTimerAlarm(), PDOInhibitTimerAlarm(), processSYNC(), and sendPDOevent().

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buildPDO()

UNS8 buildPDO	(	CO_Data *	d,
		UNS8	numPdo,
		Message *	pdo )

Copy all the data to transmit in process_var Prepare the PDO defined at index to be sent *pwCobId : returns the value of the cobid. (subindex 1)

Parameters

*d	Pointer on a CAN object data structure
numPdo	The PDO number
*pdo	Pointer on a CAN message structure

Returns

0 or 0xFF if error.

Definition at line 28 of file pdo.c.

Referenced by _sendPDOevent(), and processPDO().

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CopyBits()

void CopyBits	(	UNS8	NbBits,
		UNS8 *	SrcByteIndex,
		UNS8	SrcBitIndex,
		UNS8	SrcBigEndian,
		UNS8 *	DestByteIndex,
		UNS8	DestBitIndex,
		UNS8	DestBigEndian )

copy bit per bit in little endian

Parameters

NbBits
SrcByteIndex
SrcBitIndex
SrcBigEndian
DestByteIndex
DestBitIndex
DestBigEndian

Definition at line 404 of file pdo.c.

Referenced by buildPDO(), and processPDO().

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PDOEventTimerAlarm()

void PDOEventTimerAlarm	(	CO_Data *	d,
		UNS32	pdoNum )

Set timer for PDO event.

Parameters

*d	Pointer on a CAN object data structure
pdoNum	The PDO number

Definition at line 481 of file pdo.c.

Referenced by _sendPDOevent(), processPDO(), and TPDO_Communication_Parameter_Callback().

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PDOInhibitTimerAlarm()

void PDOInhibitTimerAlarm	(	CO_Data *	d,
		UNS32	pdoNum )

Inhibit timer for PDO event.

Parameters

*d	Pointer on a CAN object data structure
pdoNum	The PDO number

Definition at line 496 of file pdo.c.

Referenced by _sendPDOevent().

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PDOInit()

void PDOInit

(

CO_Data *

d

)

Initialize PDO feature.

Parameters

*d	Pointer on a CAN object data structure

Definition at line 752 of file pdo.c.

Referenced by processNMTstateChange(), and switchCommunicationState().

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PDOStop()

void PDOStop

(

CO_Data *

d

)

Stop PDO feature.

Parameters

*d	Pointer on a CAN object data structure

Definition at line 790 of file pdo.c.

Referenced by processNMTstateChange(), and switchCommunicationState().

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processPDO()

UNS8 processPDO	(	CO_Data *	d,
		Message *	m )

Compute a PDO frame reception bus_id is hardware dependant.

Parameters

*d	Pointer on a CAN object data structure
*m	Pointer on a CAN message structure

Returns

0xFF if error, else return 0

Definition at line 144 of file pdo.c.

Referenced by canDispatch().

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sendPdo()

void sendPdo	(	CO_Data *	d,
		UNS32	pdoNum,
		Message *	pdo )

<BRIEF> sendPDO

Parameters

*d	Pointer on a CAN object data structure
pdoNum
*pdo

Definition at line 820 of file pdo.c.

sendPDOevent()

UNS8 sendPDOevent

(

CO_Data *

d

)

Used by the application to signal changes in process data that could be mapped to some TPDO. This do not necessarily imply PDO emission. Function iterates on all TPDO and look TPDO transmit type and content change before sending it.

Parameters

*d	Pointer on a CAN object data structure

Definition at line 468 of file pdo.c.

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sendPDOrequest()

UNS8 sendPDOrequest	(	CO_Data *	d,
		UNS16	RPDOIndex )

Transmit a PDO request frame on the network to the slave.

Parameters

*d	Pointer on a CAN object data structure
RPDOIndex	Index of the receive PDO

Returns

• CanFestival file descriptor is returned upon success.
• 0xFF is returned if RPDO Index is not found.

0xFF if error, other in success.

Definition at line 102 of file pdo.c.

TPDO_Communication_Parameter_Callback()

UNS32 TPDO_Communication_Parameter_Callback	(	CO_Data *	d,
		const indextable *	OD_entry,
		UNS8	bSubindex )

<BRIEF> TPDO_Communication_Parameter_Callback

Parameters

d
OD_entry
bSubindex

Returns

always 0

Definition at line 715 of file pdo.c.

Referenced by PDOInit().

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