CosPdoMap_s Struct Reference

Detailed Description

The structure CosPdoMap_s describes the mapping parameters of a PDO with static mapping. For static PDO mapping the symbol COS_PDO_MAPPING is set to 0.

The following code snippet is taken from the cos_user.c file. In this static mapping table, the first PDO has four entries (objects 7130h:01h to 7130h:04h). Each entry has a size of 2 byte (10h = 16 bit). The second PDO has two entries (objects 6000h:01h to 6000h:02h). Each entry has a size of 1 byte (8 bit).

CosPdoMap_ts  atsTrmPdoMapG[] =
{
 
   //--- Index 1A00 -----------------------------
   { 0x7130, 0x01, 0x10 },
   { 0x7130, 0x02, 0x10 },
   { 0x7130, 0x03, 0x10 },
   { 0x7130, 0x04, 0x10 },
   { 0x0000, 0x00, 0x00 },
   { 0x0000, 0x00, 0x00 },
   { 0x0000, 0x00, 0x00 },
   { 0x0000, 0x00, 0x00 },
 
   //--- Index 1A01 -----------------------------
   { 0x6000, 0x01, 0x08 },
   { 0x6000, 0x02, 0x08 },

Please note that the protocol stack does not copy any data to (or from) a PDO automatically. Instead, the user has to adopt the functions CosPdoRcvDataUpdate() and CosPdoTrmDataUpdate() for that purpose.

Collaboration diagram for CosPdoMap_s:

Data Fields
uint16_t	uwIndex
uint8_t	ubSubIndex
uint8_t	ubLength

Field Documentation

ubLength

uint8_t CosPdoMap_s::ubLength

Length

ubSubIndex

uint8_t CosPdoMap_s::ubSubIndex

Sub-Index

uwIndex

uint16_t CosPdoMap_s::uwIndex

Index