Detailed Description
USDO services are intended for configuration and diagnostic tasks in CANopen FD systems. Nevertheless process data can be transferred via USDO services as well. The USDO service offers confirmed communication between one USDO client and one or several USDO servers. By means of the USDO protocol the USDO client has access to CANopen FD object dictionary entries supported in the CANopen FD devices in the network. The USDO services provide read and write access to sub-indexes in the USDO servers’ object dictionary (see cos_dict.h).
USDO services allow the transfer of any data size between the USDO client and the USDO server. The inherent routing capability of the USDO services enables data transfer over CANopen FD network borders; USDO client and USDO server are not necessarily connected to the same CAN.
The functions in this module are called by the CANopen slave manager on reception of a USDO request.
Include dependency graph for cos_usdo_srv.h:
Functions | |
| uint8_t | CosUsdoInit (uint8_t ubNodeIdV) |
| void | CosUsdoSendAbort (uint8_t ubAbortCodeV) |
Function Documentation
◆ CosUsdoInit()
| uint8_t CosUsdoInit | ( | uint8_t | ubNodeIdV | ) |
Initialize USDO service.
- Parameters
-
ubNodeIdV - Device node-ID (NID)
- Returns
- Error Code
This function initializes the USDO message buffers according to the given Node ID.
The function returns eCOS_ERR_NONE on success or a code defined by the enumeration CosErr_e on error.
◆ CosUsdoSendAbort()
| void CosUsdoSendAbort | ( | uint8_t | ubAbortCodeV | ) |
- Parameters
-
ubAbortCodeV - USDO Abort code
This function is sends a USDO abort message. The abort code is taken from the enumeration UsdoAbort_e.