cos_mobj.h File Reference

Detailed Description

This module implements variables and callback functions for manufacturer specific objects. The header file and the corresponding implementation file provide example code. The code has to be adopted to the application by the manufacturer.

The following table gives an overview of the example objects in this file.

Index	Example	Function / Variable
2000h	Access to an array of uint16_t	CosMob_Idx2000
2001h	Access to uint8_t with limit check	CosMob_Idx2001
2002h	Access to uint8_t value	ubCosMob_Var2002G
2003h	Access to uint16_t value	uwCosMob_Var2003G
2004h	Access to uint32_t value	ulCosMob_Var2004G
2005h	Access to uint64_t value	uqCosMob_Var2005G
2006h	Deferred SDO response	CosMob_Idx2006
2007h	Access to character string	CosMob_Idx2007
2008h	Access to character string	szCosMob_Str2008G[]
2009h	Write-only object, uint32_t value	ulCosMob_Var2009G

Include dependency graph for cos_mobj.h:

Functions
void	CosMob_ParmInit (void)
uint8_t	CosMob_ParmLoad (void)
uint8_t	CosMob_ParmSave (void)
uint8_t	CosMob_Idx2000 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
uint8_t	CosMob_Idx2001 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
uint8_t	CosMob_Idx2006 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
uint8_t	CosMob_Idx2007 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
void	CosMob_PdoRcvHandler (uint32_t ulMapEntryV)
void	CosMob_PdoTrmHandler (uint32_t ulMapEntryV)

Variables
uint8_t	ubCosMob_Var2002G
uint16_t	uwCosMob_Var2003G
uint32_t	ulCosMob_Var2004G
char	szCosMob_Str2008G []
uint32_t	ulCosMob_Var2009G

Function Documentation

CosMob_Idx2000()

uint8_t CosMob_Idx2000	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 2000h - Example function 1.

Parameters

ubSubIndexV	- sub-index
ubReqCodeV	- read / write access

Returns

SDO response code

This function provides an example for read/write access to an array of values (16 bit unsigned). The size of the array is defined via the constant value MOB2000_SIZE inside the implementation file.

The function is called by the protocol stack.

The function returns a SDO response code defined by the CosSdo_e enumeration.

CosMob_Idx2001()

uint8_t CosMob_Idx2001	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 2001h - Example function 2.

Parameters

ubSubIndexV	- sub-index
ubReqCodeV	- read / write access

Returns

SDO response code

This function provides an example for read/write access to value with limit check.

The function is called by the protocol stack.

The function returns a SDO response code defined by the CosSdo_e enumeration.

CosMob_Idx2006()

uint8_t CosMob_Idx2006	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 2006h - Example function 3.

Parameters

ubSubIndexV	- sub-index
ubReqCodeV	- read / write access

Returns

SDO response code

This function provides an example for read/write access to an object with deferred SDO response. The application is responsible to sent a valid response later.

extern uint16_t uwMyValueG;
 
void MySdoResponse(void)
{
   //---------------------------------------------------
   // example for a read access
   //
   CosSdoCopyValueToMessage(  (void *) &uwMyValueG, CoDT_UNSIGNED16);
   CosSdoResponse(eCosSdo_READ2_OK);
}

The function is called by the protocol stack.

The function returns a SDO response code defined by the CosSdo_e enumeration.

CosMob_Idx2007()

uint8_t CosMob_Idx2007	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 2007h - Example function 4.

Parameters

ubSubIndexV	sub-index
ubReqCodeV	read / write access

Returns

SDO response code

This function provides an example for read/write access to a character string with segmented SDO transfer. On reception, the character string is tested for length and the value of the first character.

The function is called by the protocol stack.

The function returns a SDO response code defined by the CosSdo_e enumeration.

CosMob_ParmInit()

void CosMob_ParmInit

(

void

)

Initialise manufacturer variables.

See also

CosMgrParmInit()

This function is used to initialise manufacturer variables with default values. The code provides an example and has to be adopted to the application by the manufacturer.

The function is called by the protocol stack (CosMgrParmInit()).

CosMob_ParmLoad()

uint8_t CosMob_ParmLoad

(

void

)

Load manufacturer variables from NV-memory.

Returns

eCOS_ERR_NONE on success, eCOS_ERR_PARM_SAVE on failure

See also

CosMgrParmLoad()

This function is used to load manufacturer variables with previously stored values.

The function is called by the protocol stack (CosMgrParmLoad()).

CosMob_ParmSave()

uint8_t CosMob_ParmSave

(

void

)

Save manufacturer variables to NV-memory.

See also

CosMgrParmSave()

Returns

eCOS_ERR_NONE on success, eCOS_ERR_PARM_SAVE on failure

This function is used to save manufacturer variables to a non-volatile memory.

The function is called by the protocol stack (CosMgrParmSave()).

CosMob_PdoRcvHandler()

void CosMob_PdoRcvHandler

(

uint32_t

ulMapEntryV

)

Demo implementation of callback handler for a mapping entry.

Parameters

ulMapEntryV

- Mapping entry

CosMob_PdoTrmHandler()

void CosMob_PdoTrmHandler

(

uint32_t

ulMapEntryV

)

Demo implementation of callback handler for a mapping entry.

Parameters

ulMapEntryV

- Mapping entry

Variable Documentation

szCosMob_Str2008G

char szCosMob_Str2008G[]

extern

Global variable for data direct access via SDO (read/write)

ubCosMob_Var2002G

uint8_t ubCosMob_Var2002G

extern

Global variable for data direct access via SDO (read/write) and PDO (write only).

ulCosMob_Var2004G

uint32_t ulCosMob_Var2004G

extern

Global variable for data direct access via SDO (read/write) and PDO (read only).

ulCosMob_Var2009G

uint32_t ulCosMob_Var2009G

extern

Global variable for write-only via SDO

uwCosMob_Var2003G

uint16_t uwCosMob_Var2003G

extern

Global variable for data direct access via SDO (read/write) and PDO (write only).