com_object.h File Reference

Detailed Description

Include dependency graph for com_object.h:

Data Structures
struct	CoObject_s

Enumerations
enum	ComObjectMarker_e {   eCOM_OBJECT_MARKER_USER_END = 200 ,   eCOM_OBJECT_MARKER_NODE_GET_INFO ,   eCOM_OBJECT_MARKER_NODE_SET_HEARTBEAT ,   eCOM_OBJECT_MARKER_NODE_STORE ,   eCOM_OBJECT_MARKER_NODE_RESTORE ,   eCOM_OBJECT_MARKER_SRDO_GET_CONFIG ,   eCOM_OBJECT_MARKER_SRDO_GET_SIGNATURE ,   eCOM_OBJECT_MARKER_SRDO_SET_CONFIG ,   eCOM_OBJECT_MARKER_SRDO_SET_SIGNATURE ,   eCOM_OBJECT_MARKER_SRDO_SET_VALID }

Functions
void	ComObjectEventProgress (uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts *ptsCoObjV, uint32_t ulByteCntV)
void	ComObjectEventReady (uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts *ptsCoObjV, uint32_t ulAbortV)
void	ComObjectEventTimeout (uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts *ptsCoObjV)

Enumeration Type Documentation

ComObjectMarker_e

enum ComObjectMarker_e

SDO / USDO transfer marker.

The enumeration defines values for the marker field inside the CANopen object structure CoObject_ts. The marker field can be evaluated inside the ComObjectEventReady() function

Enumerator
eCOM_OBJECT_MARKER_USER_END	Last possible value for user-defined marker
eCOM_OBJECT_MARKER_NODE_GET_INFO	Marker for ComNodeGetInfo() function call
eCOM_OBJECT_MARKER_NODE_SET_HEARTBEAT	Marker for ComNodeSetHbProdTime() function call
eCOM_OBJECT_MARKER_NODE_STORE	Marker for ComNodeStore() function call
eCOM_OBJECT_MARKER_NODE_RESTORE	Marker for ComNodeRestore() function call
eCOM_OBJECT_MARKER_SRDO_GET_CONFIG	Marker for ComSafetyGetConfiguration() function call
eCOM_OBJECT_MARKER_SRDO_GET_SIGNATURE	Marker for ComSafetyGetSignature() function call
eCOM_OBJECT_MARKER_SRDO_SET_CONFIG	Marker for ComSafetySetConfiguration() function call
eCOM_OBJECT_MARKER_SRDO_SET_SIGNATURE	Marker for ComSafetySetSignature() function call
eCOM_OBJECT_MARKER_SRDO_SET_VALID	Marker for ComSafetySetConfigurationValid() function call

Function Documentation

ComObjectEventProgress()

void ComObjectEventProgress	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint32_t	ulByteCntV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubNodeIdV	node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in]	ulByteCntV	Byte counter value

Note

The code located in the file com_user.c provides an example and has to be adopted to the application.

This handler is called during a SDO / USDO segmented download or upload. The parameter ptsCoObjV defines the object which is accessed. The value ulByteCntV denotes the number of remaining bytes that still have to be transmitted.

ComObjectEventReady()

void ComObjectEventReady	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint32_t	ulAbortV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubNodeIdV	node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in]	ulAbortV	SDO / USDO abort code

Note

The code located in the file com_user.c provides an example and has to be adopted to the application.

This handler is called after the SDO / USDO data transfer is completed. The parameter ptsCoObjV points to the last object which has been read or written. The user defined marker within the structure CoObject_ts can be used to track SDO / USDO operations, e.g. for an application state machine.

In case of a SDO / USDO abort, the value ulAbortV allows to identify the last abort code. The value of ulAbortV is 0 when no SDO / USDO error occurred.

ComObjectEventTimeout()

void ComObjectEventTimeout	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubNodeIdV	node-ID value
[in]	ptsCoObjV	Pointer to object structure

See also

ComSdoSetTimeout(), ComUsdoSetTimeout()

Note

The code located in the file com_user.c provides an example and has to be adopted to the application.

This handler is called if a SDO / USDO time-out condition occurred. The parameter ptsCoObjV defines the object which was accessed. The SDO communication timeout can be configured by the ComSdoSetTimeout() function, for USDO communication timeout the function ComUsdoSetTimeout() is used.