cos401di.h File Reference

Detailed Description

This module implements the variables and callback functions for the object dictionary from CiA 401 (digital inputs). The module adds the following objects to the object dictionary:

Index	Description	Function / Variable	Configuration Symbol
6000h	Read input 8-bit	Cos401_Idx6000()	COS_DS401_DI
6002h	Change polarity input 8-bit	Cos401_Idx6002()	COS_DS401_DI
6005h	Global interrupt enable	Cos401_Idx6005()	COS_DS401_DI
6006h	Interrupt mask any change 8-bit	Cos401_Idx6006()	COS_DS401_DI
6007h	Interrupt mask Low-to-High	Cos401_Idx6007()	COS_DS401_DI
6008h	Interrupt mask High-to-Low	Cos401_Idx6008()	COS_DS401_DI

Include dependency graph for cos401di.h:

Functions
uint8_t	Cos401_DI_PdoSend (uint8_t ubGroupV)
uint8_t	Cos401_DI_Read (uint8_t ubGroupV)
void	Cos401_DI_Set (uint8_t ubGroupV, uint8_t ubValueV)

Function Documentation

Cos401_DI_PdoSend()

uint8_t Cos401_DI_PdoSend

(

uint8_t

ubGroupV

)

Parameters

ubGroupV

input group number

Returns

1 if PDO transmission is requested

The functions returns 1 if a PDO transmission is requested, otherwise 0.

Cos401_DI_Read()

uint8_t Cos401_DI_Read

(

uint8_t

ubGroupV

)

Parameters

[in]

ubGroupV

input group number

Returns

value of digital input block

This function returns the actual state of a digital input block defined by ubGroupV and sends a PDO if the state has changed. The parameter ubGroupV defines the zero based group number.

Cos401_DI_Set()

void Cos401_DI_Set	(	uint8_t	ubGroupV,
		uint8_t	ubValueV
	)

Parameters

[in]	ubGroupV	input group number
[in]	ubValueV	digital input value

This function sets the actual value of the input ports. The parameter ubGroupV denotes the group number. The first group of 8 digital inputs starts at index 0 (i.e. sub-index - 1 of object 6000h). This function needs to be called from the application code (e.g. interrupt handler, main loop) in order to setup the value for the digital inputs.

Example

main()
{
   uint8_t  ubDigitalInputValueT;
   ....
 
   while(1)
   {
      //------------------------------------------------
      // this is the central main loop, which reads
      // the value of the digital inputs
      //
      ubDigitalInputValueT = MyInputReadFunction()
 
      //--- pass this value to the stack ---------------
      Cos401_DI_Set(0, ubDigitalInputValueT);
 
      ....
   }
 
}