ComPdoMapping_s Struct Reference

Detailed Description

The structure ComPdoMapping_s describes the mappable objects of a device supporting dynamic PDO mapping.

The element ulMapEntry describes a mapping entry (see CiA 301). The void pointer pvdData links the mapping entry to application data. The optional function pointer pfnHandler links to a handler that is called after reception of a RPDO respectively before transmission of a TPDO.

The PDO communication explains in detail the usage PDO mapping.

Collaboration diagram for ComPdoMapping_s:

Data Fields
uint32_t	ulMapEntry
void *	pvdData
ComPdoMapHandler_fn	pfnHandler

Field Documentation

pfnHandler

ComPdoMapping_s::pfnHandler

Optional function handler of corresponding mapping entry

pvdData

ComPdoMapping_s::pvdData

Pointer to corresponding value

ulMapEntry

uint32_t ComPdoMapping_s::ulMapEntry

Mapping entry, according to CiA 301 / CiA 1301

Bit 31 .. Bit 16	Bit 15 .. Bit 8	Bit 7 .. Bit 0
Index	Sub-Index	Length

The functions ComPdoGetMapIndex(), ComPdoGetMapSubIndex() and ComPdoGetMapLength() can be used to access the individual values.