com_demo_pdo.c

---

//====================================================================================================================//
// File:          com_demo_pdo.c                                                                                      //
// Description:   Examples for PDO service in CANopen Master stack                                                    //
//                                                                                                                    //
// Copyright (C) MicroControl GmbH & Co. KG                                                                           //
// 53844 Troisdorf - Germany                                                                                          //
// www.microcontrol.net                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of MicroControl GmbH & Co. KG, Germany. The        //
// program(s) may be used and/or copied only with the written permission of MicroControl GmbH & Co. KG or in          //
// accordance with the terms and conditions stipulated in the agreement/contract under which the program(s) have      //
// been supplied.                                                                                                     //
//                                                                                                                    //
//====================================================================================================================//
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Include files                                                                                                      **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
 
#include "com_pdo.h"       // CANopen Master PDO service
#include "com_mgr.h"       // CANopen Master management
 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComDemoPdoTrmInit()                                                                                                //
// initialise Transmit PDOs                                                                                           //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_PDO_TRM_MAX == 0
ComStatus_tv ComDemoPdoTrmInit(uint8_t CPP_PARM_UNUSED(ubNetV))
{
   return(eCOM_ERR_SERVICE_MODE);
}
#else
ComStatus_tv ComDemoPdoTrmInit(uint8_t ubNetV)
{
   uint16_t uwIdOffsetT;
 
 
   //---------------------------------------------------------------------------------------------------
   // calculate ID offset
   //
   uwIdOffsetT = ComMgrNodeId(ubNetV);
 
   //---------------------------------------------------------------------------------------------------
   // initialise TPDOs
   //
   ComPdoConfig(ubNetV, 0,
                ePDO_DIR_TRM,                // direction
                0x0180 + uwIdOffsetT,        // identifier
                3,                           // DLC
                ePDO_TYPE_SYNC_1,            // transmissions type
                0);                          // event timer
 
 
   ComPdoEnable(ubNetV,  0, ePDO_DIR_TRM, 1);
 
 
   ComPdoConfig(ubNetV, 1,
                ePDO_DIR_TRM,                // direction
                0x0280 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                        // event timer
 
 
   ComPdoEnable(ubNetV, 1, ePDO_DIR_TRM, 1);
 
   ComPdoConfig(ubNetV, 2,
                ePDO_DIR_TRM,                // direction
                0x0380 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                        // event timer
 
   ComPdoEnable(ubNetV,  3, ePDO_DIR_TRM, 1);
 
 
   return(eCOM_ERR_NONE);
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComDemoPdoRcvInit()                                                                                                //
// initialise Receive PDOs                                                                                            //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_PDO_RCV_MAX == 0
ComStatus_tv ComDemoPdoRcvInit(uint8_t CPP_PARM_UNUSED(ubNetV))
{
   return(eCOM_ERR_SERVICE_MODE);
}
#else
ComStatus_tv ComDemoPdoRcvInit(uint8_t ubNetV)
{
   uint16_t uwIdOffsetT;
 
 
   //---------------------------------------------------------------------------------------------------
   // calculate ID offset
   //
   uwIdOffsetT = ComMgrNodeId(ubNetV);
 
   //---------------------------------------------------------------------------------------------------
   // initialise RPDOs
   //
   ComPdoConfig(ubNetV, 0,
                ePDO_DIR_RCV,                // direction
                0x0200 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer
 
   ComPdoEnable(ubNetV, 0, ePDO_DIR_RCV, 1);
 
   ComPdoConfig(ubNetV, 1,
                ePDO_DIR_RCV,                // direction
                0x0300 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer
 
   ComPdoEnable(ubNetV, 1, ePDO_DIR_RCV, 1);
 
   ComPdoConfig(ubNetV, 2,
                ePDO_DIR_RCV,                // direction
                0x0400 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer
 
   ComPdoEnable(ubNetV, 2, ePDO_DIR_RCV, 1);
 
   return(eCOM_ERR_NONE);
}  // ComDemoPdoRcvInit
#endif

*/