Detailed Description

The real-time data transfer is performed by means of "Process Data Objects (PDO)". The transfer of PDOs is performed with no protocol overhead. The PDOs correspond to entries in the device Object Dictionary and provide the interface to the application objects. Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the Device Object Dictionary. If variable PDO-mapping is supported the number of PDOs and the mapping of application objects into a PDO may be transmitted to a device during the device configuration process by applying the SDO services (see com_sdo_cln.h) to the corresponding entries of the Object Dictionary. Number and length of PDOs of a device is application specific and are specified within the device profile.

There are two kinds of use for PDOs. The first is data transmission and the second data reception. It is distinguished in Transmit-PDOs (TPDOs) and Receive-PDOs (RPDOs). Devices supporting TPDOs are PDO producer and devices which are able to receive PDOs are called PDO consumer.

In order to access the maximum number of PDOs, the API uses the parameter uwPdoNumV, which is called PDO number. The value for PDO number is 0 to COM_PDO_RCV_MAX - 1 for Receive PDOs and 0 to COM_PDO_TRM_MAX - 1 for Transmit PDOs.

The PDO communication section explains in detail the usage of the API and provides examples.

RPDO queue support

RPDO messages can be stored in a queue, the queue is disabled by default. The function ComPdoRcvQueueEnable() is used to enable a queue for RPDO messages. By means of the function ComPdoRcvQueueCount() the number of messages stored inside the queue can be retrieved. RPDO messages can be fetched from the queue by calling ComPdoRcvQueueFetch(). The example in RPDO Queue shows how to read messages.

Include dependency graph for com_pdo.h:

Data Structures
struct	ComPdoMapping_s

Typedefs
typedef void(*	ComPdoMapHandler_fn) (uint32_t ulMapEntryV)

Enumerations
enum	PdoDir_e { ePDO_DIR_RCV = 0 , ePDO_DIR_TRM }

enum	PdoType_e { ePDO_TYPE_SYNC_0 = 0 , ePDO_TYPE_SYNC_1 = 1 , ePDO_TYPE_SYNC_2 = 2 , ePDO_TYPE_SYNC_3 = 3 , ePDO_TYPE_SYNC_4 = 4 , ePDO_TYPE_SYNC_5 = 5 , ePDO_TYPE_SYNC_6 = 6 , ePDO_TYPE_SYNC_7 = 7 , ePDO_TYPE_SYNC_8 = 8 , ePDO_TYPE_SYNC_240 = 240 , ePDO_TYPE_res241 = 241 , ePDO_TYPE_res253 = 253 , ePDO_TYPE_EVENT_MANUFACTURER = 254 , ePDO_TYPE_EVENT_PROFILE = 255 }

Functions
ComStatus_tv	ComPdoAddMappingList (uint8_t ubNetV, CPP_CONST ComPdoMapping_ts ptsRcvMapListV, CPP_CONST ComPdoMapping_ts ptsTrmMapListV)

ComStatus_tv	ComPdoConfig (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint32_t ulIdV, uint8_t ubDlcV, uint8_t ubTypeV, uint16_t uwTimeV)

ComStatus_tv	ComPdoEnable (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint8_t ubEnableV)

void	ComPdoEventReceive (uint8_t ubNetV, uint16_t uwPdoNumV)

void	ComPdoEventTimeout (uint8_t ubNetV, uint16_t uwPdoNumV)

ComStatus_tv	ComPdoGetId (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint32_t *pulIdV)

uint16_t	ComPdoGetMapIndex (uint32_t ulMapEntryV)

uint8_t	ComPdoGetMapLength (uint32_t ulMapEntryV)

uint8_t	ComPdoGetMapSubIndex (uint32_t ulMapEntryV)

ComStatus_tv	ComPdoGetTimer (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint16_t *puwTimeV)

ComStatus_tv	ComPdoGetType (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint8_t *pubTypeV)

ComStatus_tv	ComPdoIsEnabled (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint8_t *pubPdoEnableV)

ComSdoStatus_tv	ComPdoRcvMapAdd (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubMapIdxV, uint32_t ulMapEntryV)

ComSdoStatus_tv	ComPdoRcvMapEnable (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubMapNumberV)

ComStatus_tv	ComPdoRcvQueueClear (uint8_t ubNetV)

ComStatus_tv	ComPdoRcvQueueCount (uint8_t ubNetV, uint16_t *puwCountV)

ComStatus_tv	ComPdoRcvQueueDisable (uint8_t ubNetV)

ComStatus_tv	ComPdoRcvQueueEnable (uint8_t ubNetV)

ComStatus_tv	ComPdoRcvQueueFetch (uint8_t ubNetV, CpCanMsg_ts *ptsCanMsgV)

ComStatus_tv	ComPdoRelease (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV)

ComStatus_tv	ComPdoSetTimer (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint16_t uwTimeV)

ComStatus_tv	ComPdoSetType (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubPdoDirV, uint8_t ubTypeV)

ComSdoStatus_tv	ComPdoTrmMapAdd (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubMapIdxV, uint32_t ulMapEntryV)

ComSdoStatus_tv	ComPdoTrmMapEnable (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubMapNumberV)

ComStatus_tv	ComPdoTrmMapEvent (uint8_t ubNetV, uint32_t ulMapEntryV)

ComStatus_tv	ComPdoTrmPacket (uint8_t ubNetV, uint16_t uwPdoNumV, uint8_t ubSizeV, uint8_t *pubSrcDataV)

Typedef Documentation

◆ ComPdoMapHandler_fn

ComPdoMapHandler_fn

Parameters

ulMapEntryV Mapping entry

Signature of handler in structure ComPdoMapping_s. The optional handler is called during the PDO mapping procedure for RPDOs and TPDOs. The parameter ulMapEntryV is the mapping entry assigned to the handler. This allows that one handler can support multiple mapping entries.

Enumeration Type Documentation

◆ PdoDir_e

enum PdoDir_e

PDO direction.

The following enumeration values define the direction of a PDO. The direction is seen from the device point of view, hence a RPDO is received by the CANopen Master, while a TPDO is sent by the CANopen Master.

Enumerator
ePDO_DIR_RCV	Receive-PDO (RPDO)
ePDO_DIR_TRM	Transmit-PDO (TPDO)

◆ PdoType_e

enum PdoType_e

PDO transmission types.

The common used PDO transmission types are defined in this enumeration.

Enumerator
ePDO_TYPE_SYNC_0	Synchronous, acyclic PDO
ePDO_TYPE_SYNC_1	Synchronous, cyclic every SYNC
ePDO_TYPE_SYNC_2	Synchronous, cyclic every 2nd SYNC
ePDO_TYPE_SYNC_3	Synchronous, cyclic every 3rd SYNC
ePDO_TYPE_SYNC_4	Synchronous, cyclic every 4th SYNC
ePDO_TYPE_SYNC_5	Synchronous, cyclic every 5th SYNC
ePDO_TYPE_SYNC_6	Synchronous, cyclic every 6th SYNC
ePDO_TYPE_SYNC_7	Synchronous, cyclic every 7th SYNC
ePDO_TYPE_SYNC_8	Synchronous, cyclic every 8th SYNC
ePDO_TYPE_SYNC_240	Synchronous, cyclic every 240th SYNC
ePDO_TYPE_res241	reserved transmission type
ePDO_TYPE_res253	reserved transmission type
ePDO_TYPE_EVENT_MANUFACTURER	Event-driven PDO, manufacturer specific
ePDO_TYPE_EVENT_PROFILE	Event-driven PDO, profile specific

Function Documentation

◆ ComPdoAddMappingList()

ComStatus_tv ComPdoAddMappingList	(	uint8_t	ubNetV,
		CPP_CONST ComPdoMapping_ts *	ptsRcvMapListV,
		CPP_CONST ComPdoMapping_ts *	ptsTrmMapListV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ptsRcvMapListV	List of objects for RPDO mapping
[in]	ptsTrmMapListV	List of objects for TPDO mapping

Returns: Value of enumeration ComErr_e

This function adds individual PDO mapping lists for RPDO mapping defined by ptsRcvMapListV and TPDO mapping defined by ptsTrmMapListV. Each list defines which objects can be mapped into a PDO. As default a CANopen network has no mapping list. Setting the mapping list pointer to NULL disables the mapping list.

◆ ComPdoConfig()

ComStatus_tv ComPdoConfig	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint32_t	ulIdV,
		uint8_t	ubDlcV,
		uint8_t	ubTypeV,
		uint16_t	uwTimeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[in]	ulIdV	PDO identifier
[in]	ubDlcV	PDO DLC value (omitted)
[in]	ubTypeV	PDO transmission type
[in]	uwTimeV	PDO timer

Returns: Value of enumeration ComErr_e

See also: ComPdoRelease()

This function adds a new PDO to the CANopen Master. The PDO direction (RPDO or TPDO) is defined by the parameter ubPdoDirV. The parameter uwPdoNumV denotes the PDO number. The first PDO (TPDO1 or RPDO1) is located at PDO number 0.

The PDO identifier is configured by parameter ulIdV. Please note that the identifier value must meet the requirements for restricted CAN IDs of CiA 301 or CiA 1301.

The parameter ubDlcV is omitted by the function, it is kept for compatibility reasons to previous versions of the CANopen API. The DLC value of the PDO is calculated upon the PDO mapping entries.

Possible PDO transmission type values for parameter ubTypeV are listed inside the enumeration PdoType_e.

The function disables the transmission of TPDOs and reception of RPDOs as default. In order to enable a PDO use ComPdoEnable() afterwards.

Example

void MyPdoSetup(void)
{
   //----------------------------------------------------------------------------------
   // add first receive PDO, ID = 0x201, enable reception
   //
   ComPdoConfig(eCOM_NET_1, 0, ePDO_DIR_RCV, 0x201, 8, ePDO_TYPE_EVENT_PROFILE, 0);
   ComPdoEnable(eCOM_NET_1, 0, ePDO_DIR_RCV);
 
   //----------------------------------------------------------------------------------
   // add two transmit PDOs, ID = 0x181 & 0x281, disabled by default
   //
   ComPdoConfig(eCOM_NET_1, 0, ePDO_DIR_TRM, 0x181, 8, ePDO_TYPE_EVENT_PROFILE, 0);
   ComPdoConfig(eCOM_NET_1, 1, ePDO_DIR_TRM, 0x281, 8, ePDO_TYPE_EVENT_PROFILE, 0);
 
   //----------------------------------------------------------------------------------
   // this configuration fails because the identifier is restricted
   //
   if (ComPdoConfig(eCOM_NET_1, 2, ePDO_DIR_TRM, 0x000, 8, ePDO_TYPE_EVENT_PROFILE, 0) == eCOM_ERR_COB_ID_VALUE)
   {
      // this is not allowed
   }
}

◆ ComPdoEnable()

ComStatus_tv ComPdoEnable	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint8_t	ubEnableV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[in]	ubEnableV	Enable/Disable PDO

Returns: Value of enumeration ComErr_e

See also: ComPdoConfig()

This function enables (ubEnableV = 1) or disables (ubEnableV = 0) a PDO. The PDO direction (RPDO or TPDO) is defined by the parameter ubPdoDirV. The parameter uwPdoNumV denotes the PDO number. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. A PDO is disabled by default upon creation (refer to ComPdoConfig()).

◆ ComPdoEventReceive()

void ComPdoEventReceive	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number

The function is called by the CANopen Master stack upon reception of a Receive-PDO (RPDO). The Receive PDO has to be configured by ComPdoConfig() in advance.

◆ ComPdoEventTimeout()

void ComPdoEventTimeout	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number

The function is called by the CANopen Master stack when reception of a Receive-PDO (RPDO) times out. The RPDO has to be configured by ComPdoConfig() in advance. The transmission type of the RPDO must either ePDO_TYPE_EVENT_MANUFACTURER or ePDO_TYPE_EVENT_PROFILE. In addition the RPDO timer value must be set to a value greater than 0.

◆ ComPdoGetId()

ComStatus_tv ComPdoGetId	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint32_t *	pulIdV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[out]	pulIdV	Pointer to buffer for PDO identifier

Returns: Value of enumeration ComErr_e

See also: ComPdoSetId()

The parameter uwPdoNumV denotes the PDO number, the PDO direction (TPDO or RPDO) is defined by parameter ubPdoDirV. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. The function copies the identifier for the selected PDO into the variable pulIdV. In case the selected PDO is not configured the function returns eCOM_ERR_COB_ID_VALUE.

◆ ComPdoGetMapIndex()

uint16_t ComPdoGetMapIndex ( uint32_t ulMapEntryV )

Parameters

[in] ulMapEntryV Mapping entry

Returns: Index field of mapping entry

This helper function returns the index value of the mapping entry (see structure ComPdoMapping_s) defined by the parameter ulMapEntryV.

◆ ComPdoGetMapLength()

uint8_t ComPdoGetMapLength ( uint32_t ulMapEntryV )

Parameters

[in] ulMapEntryV Mapping entry

Returns: Length field of mapping entry

This helper function returns the length (in number of bits) of the mapping entry (see structure ComPdoMapping_s) defined by the parameter ulMapEntryV.

◆ ComPdoGetMapSubIndex()

uint8_t ComPdoGetMapSubIndex ( uint32_t ulMapEntryV )

Parameters

[in] ulMapEntryV Mapping entry

Returns: Sub-index field of mapping entry

This helper function returns the sub-index value of the mapping entry (see structure ComPdoMapping_s) defined by the parameter ulMapEntryV.

◆ ComPdoGetTimer()

ComStatus_tv ComPdoGetTimer	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint16_t *	puwTimeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[out]	puwTimeV	Pointer to buffer for PDO timer

Returns: Value of enumeration ComErr_e

See also: ComPdoSetTimer()

The parameter uwPdoNumV denotes the PDO number, the PDO direction (TPDO or RPDO) is defined by parameter ubPdoDirV. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. The function copies the timer value for the selected PDO into the variable puwTimeV. In case the selected PDO is not configured the function returns eCOM_ERR_COB_TIMER.

◆ ComPdoGetType()

ComStatus_tv ComPdoGetType	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint8_t *	pubTypeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[out]	pubTypeV	Pointer to buffer for PDO transmission type

Returns: Value of enumeration ComErr_e

See also: ComPdoSetType()

The parameter uwPdoNumV denotes the PDO number, the PDO direction (TPDO or RPDO) is defined by parameter ubPdoDirV. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. The function copies the transmission type for the selected PDO into the variable pubTypeV. In case the selected PDO is not configured the function returns eCOM_ERR_COB_TYPE.

◆ ComPdoIsEnabled()

ComStatus_tv ComPdoIsEnabled	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint8_t *	pubPdoEnableV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[out]	pubPdoEnableV	Pointer to PDO enable/disable status

Returns: Value of enumeration ComErr_e

◆ ComPdoRcvMapAdd()

ComSdoStatus_tv ComPdoRcvMapAdd	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubMapIdxV,
		uint32_t	ulMapEntryV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubMapIdxV	Index for mapping entry
[in]	ulMapEntryV	Mapping entry, according to CiA 301 / CiA 1301

Returns: Value of enumeration ComSdo_e

See also: ComPdoRcvMapEnable()

The function allows to add or modify PDO mapping entries for a RPDO defined by the parameter uwPdoNumV. The mappings entry is defined by the value of ubMapIdxV, the first entry starts with a value of 0. The last possible entry is located at COM_PDO_MAPPING_ENTRIES - 1.

Adding or modifying a mapping entry is only possible if the current mapping is not valid (disabled). Refer to ComPdoRcvMapEnable() for enabling or disabling of a mapping entry.

The following code snippet depicts how to add object 2001:01_h as first mapping entry for RPDO1:

if (eCOM_SDO_WRITE_OK == ComPdoRcvMapAdd(eCOM_NET_1, 0, 0, 0x20010108))
{
   // successfully added first mapping entry to first RPDO
}

For a more detailed explanation please refer to the RPDO mapping example.

◆ ComPdoRcvMapEnable()

ComSdoStatus_tv ComPdoRcvMapEnable	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubMapNumberV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubMapNumberV	Number of mapping entries

Returns: Value of enumeration ComSdo_e

See also: ComPdoRcvMapAdd()

The function enables or disables a mapping for a RPDO defined by the parameter uwPdoNumV. The PDO mapping is disables when parameter ubMapNumberV is set to 0. A value > 0 for a ubMapNumberV enables the mapping, the value defines how many mapping entries are valid.

The following code snippet depicts how to enable one mapping entry for RPDO1:

if (eCOM_SDO_WRITE_OK == ComPdoRcvMapEnable(eCOM_NET_1, 0, 1))
{
   // successfully enabled one mapping entry for RPDO1 
}

Mapping entries can be added or modified by usage of ComPdoRcvMapAdd().

◆ ComPdoRcvQueueClear()

ComStatus_tv ComPdoRcvQueueClear ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

The function removes all messages inside the PDO receive queue.

◆ ComPdoRcvQueueCount()

ComStatus_tv ComPdoRcvQueueCount	(	uint8_t	ubNetV,
		uint16_t *	puwCountV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	puwCountV	Number of messages present in the queue

Returns: Value of enumeration ComErr_e

The function retrieves the number of pending elements inside a PDO receive queue.

◆ ComPdoRcvQueueDisable()

ComStatus_tv ComPdoRcvQueueDisable ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComPdoQueueEnable()

The function disables the PDO receive queue on the selected CANopen network channel.

◆ ComPdoRcvQueueEnable()

ComStatus_tv ComPdoRcvQueueEnable ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComPdoQueueDisable()

The function enables the PDO receive queue on the selected CANopen network channel.

◆ ComPdoRcvQueueFetch()

ComStatus_tv ComPdoRcvQueueFetch	(	uint8_t	ubNetV,
		CpCanMsg_ts *	ptsCanMsgV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	ptsCanMsgV	Pointer to CAN message structure

Returns: Value of enumeration ComErr_e

The function fetches one CAN message from the PDO receive queue.

◆ ComPdoRelease()

ComStatus_tv ComPdoRelease	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV
	)

Parameters

[in]	ubNetV	- CANopen Network channel
[in]	uwPdoNumV	- PDO number
[in]	ubPdoDirV	- PDO direction

Returns: Value of enumeration ComErr_e

See also: ComPdoConfig()

This function releases a PDO from the CANopen Master. The PDO direction (RPDO or TPDO) is defined by the parameter ubPdoDirV. The parameter uwPdoNumV denotes the PDO number. The first PDO (TPDO1 or RPDO1) is located at PDO number 0.

◆ ComPdoSetTimer()

ComStatus_tv ComPdoSetTimer	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint16_t	uwTimeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[in]	uwTimeV	PDO timer

Returns: Value of enumeration ComErr_e

See also: ComPdoGetTimer()

The parameter uwPdoNumV denotes the PDO number, the PDO direction (TPDO or RPDO) is defined by parameter ubPdoDirV. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. The function sets the timer value for the selected PDO defined by uwTimeV. In case the selected PDO is not configured the function returns eCOM_ERR_COB_TIMER.

◆ ComPdoSetType()

ComStatus_tv ComPdoSetType	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubPdoDirV,
		uint8_t	ubTypeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubPdoDirV	PDO direction
[out]	ubTypeV	PDO transmission type

Returns: Value of enumeration ComErr_e

See also: ComPdoGetType()

The parameter uwPdoNumV denotes the PDO number, the PDO direction (TPDO or RPDO) is defined by parameter ubPdoDirV. The first PDO (TPDO1 or RPDO1) is located at PDO number 0. The function sets the transmission type for the selected PDO defined by ubTypeV. In case the selected PDO is not configured the function returns eCOM_ERR_COB_TYPE.

◆ ComPdoTrmMapAdd()

ComSdoStatus_tv ComPdoTrmMapAdd	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubMapIdxV,
		uint32_t	ulMapEntryV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubMapIdxV	Index for mapping entry
[in]	ulMapEntryV	Mapping entry, according to CiA 301

Returns: Value of enumeration ComSdo_e

The function allows to add or modify PDO mapping entries for a TPDO defined by the parameter uwPdoNumV. The mappings entry is defined by the value of ubMapIdxV, the first entry starts with a value of 0.

Adding or modifying a mapping entry is only possible if the current mapping is not valid (disabled). Refer to ComPdoTrmMapEnable() for enabling or disabling of a mapping entry.

The following code snippet depicts how to add object 2011:01_h as first mapping entry for TPDO1:

if (eCOM_SDO_WRITE_OK == ComPdoTrmMapAdd(eCOM_NET_1, 0, 0, 0x20110108))
{
   // successfully added first mapping entry to first TPDO
}

For a more detailed explanation please refer to the TPDO mapping example.

◆ ComPdoTrmMapEnable()

ComSdoStatus_tv ComPdoTrmMapEnable	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubMapNumberV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubMapNumberV	Number of mapping entries

Returns: Value of enumeration ComSdo_e

See also: ComPdoTrmMapAdd()

The function enables or disables a mapping for a RPDO defined by the parameter uwPdoNumV. The PDO mapping is disables when parameter ubMapNumberV is set to 0. A value > 0 for a ubMapNumberV enables the mapping, the value defines how many mapping entries are valid.

The following code snippet depicts how to enable one mapping entry for RPDO1:

if (eCOM_SDO_WRITE_OK == ComPdoRcvMapEnable(eCOM_NET_1, 0, 1))
{
   // successfully enabled one mapping entry for RPDO1 
}

Mapping entries can be added or modified by usage of ComPdoRcvMapAdd().

◆ ComPdoTrmMapEvent()

ComStatus_tv ComPdoTrmMapEvent	(	uint8_t	ubNetV,
		uint32_t	ulMapEntryV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ulMapEntryV	Mapping entry, according to CiA 301

Returns: Value of enumeration ComErr_e

This function triggers transmission of a TPDO which contains the mapping entry defined by parameter ulMapEntryV. The function checks if the PDO is enabled and if the correct transmission type (ie. ePDO_TYPE_EVENT_MANUFACTURER or ePDO_TYPE_EVENT_PROFILE) is configured for the TPDO.

Transmission of a PDO is only possible in NMT Operational state (eCOM_NMT_STATE_OPERATIONAL).

The function returns a negative value from ComErr_e in case of an error. A positive value denotes how many times the entry ulMapEntryV has been mapped into a PDO.

◆ ComPdoTrmPacket()

ComStatus_tv ComPdoTrmPacket	(	uint8_t	ubNetV,
		uint16_t	uwPdoNumV,
		uint8_t	ubSizeV,
		uint8_t *	pubSrcDataV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwPdoNumV	PDO number
[in]	ubSizeV	Size of source data
[out]	pubSrcDataV	Pointer to source data

Returns: Value of enumeration ComErr_e

This function triggers transmission of a TPDO defined by parameter uwPdoNumV. The first TPDO is located at PDO number 0.

The functions copies the the number of bytes defined by ubSizeV from pubSrcDataV to the PDO data field and pushes the CAN frame into an internal FIFO. A TPDO will only be transmitted under the following conditions:

the TPDO has been configured by ComPdoConfig()
the TPDO has been enabled by ComPdoEnable()
the TPDO transmission type is either ePDO_TYPE_EVENT_MANUFACTURER or ePDO_TYPE_EVENT_PROFILE

Transmission of a PDO is only possible in NMT Operational state (eCOM_NMT_STATE_OPERATIONAL).

Detailed Description

RPDO queue support

Data Structures

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ComPdoMapHandler_fn

Enumeration Type Documentation

◆ PdoDir_e

◆ PdoType_e

Function Documentation

◆ ComPdoAddMappingList()

◆ ComPdoConfig()

◆ ComPdoEnable()

◆ ComPdoEventReceive()

◆ ComPdoEventTimeout()

◆ ComPdoGetId()

◆ ComPdoGetMapIndex()

◆ ComPdoGetMapLength()

◆ ComPdoGetMapSubIndex()

◆ ComPdoGetTimer()

◆ ComPdoGetType()

◆ ComPdoIsEnabled()

◆ ComPdoRcvMapAdd()

◆ ComPdoRcvMapEnable()

◆ ComPdoRcvQueueClear()

◆ ComPdoRcvQueueCount()

◆ ComPdoRcvQueueDisable()

◆ ComPdoRcvQueueEnable()

◆ ComPdoRcvQueueFetch()

◆ ComPdoRelease()

◆ ComPdoSetTimer()

◆ ComPdoSetType()

◆ ComPdoTrmMapAdd()

◆ ComPdoTrmMapEnable()

◆ ComPdoTrmMapEvent()

◆ ComPdoTrmPacket()