pdo.h

Go to the documentation of this file.

 
#ifndef LELY_CO_PDO_H_
#define LELY_CO_PDO_H_
 
#include <lely/co/type.h>
 
#define CO_PDO_COBID_VALID UINT32_C(0x80000000)
 
#define CO_PDO_COBID_RTR UINT32_C(0x40000000)
 
#define CO_PDO_COBID_FRAME UINT32_C(0x20000000)
 
#define CO_DEFSTRUCT_PDO_COMM_PAR 0x0020
 
struct co_pdo_comm_par {
        co_unsigned8_t n;
        co_unsigned32_t cobid;
        co_unsigned8_t trans;
        co_unsigned16_t inhibit;
        co_unsigned8_t reserved;
        co_unsigned16_t event;
        co_unsigned8_t sync;
};
 
#define CO_PDO_COMM_PAR_INIT \
        { \
                6, CO_PDO_COBID_VALID, 0, 0, 0, 0, 0 \
        }
 
#define CO_DEFSTRUCT_PDO_MAP_PAR 0x0021
 
struct co_pdo_map_par {
        co_unsigned8_t n;
        co_unsigned32_t map[0x40];
};
 
// clang-format off
#define CO_PDO_MAP_PAR_INIT \
        { \
                0, \
                { \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0 \
                } \
        }
// clang-format on
 
// The CANopen SDO upload/download request from lely/co/sdo.h.
struct co_sdo_req;
 
#ifdef __cplusplus
extern "C" {
#endif
 
co_unsigned32_t co_dev_chk_rpdo(const co_dev_t *dev, co_unsigned16_t idx,
                co_unsigned8_t subidx);
 
co_unsigned32_t co_dev_cfg_rpdo(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_comm_par *comm,
                const struct co_pdo_map_par *map);
 
co_unsigned32_t co_dev_cfg_rpdo_comm(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_comm_par *par);
 
co_unsigned32_t co_dev_cfg_rpdo_map(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_map_par *par);
 
co_unsigned32_t co_dev_chk_tpdo(const co_dev_t *dev, co_unsigned16_t idx,
                co_unsigned8_t subidx);
 
co_unsigned32_t co_dev_cfg_tpdo(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_comm_par *comm,
                const struct co_pdo_map_par *map);
 
co_unsigned32_t co_dev_cfg_tpdo_comm(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_comm_par *par);
 
co_unsigned32_t co_dev_cfg_tpdo_map(const co_dev_t *dev, co_unsigned16_t num,
                const struct co_pdo_map_par *par);
 
co_unsigned32_t co_pdo_map(const struct co_pdo_map_par *par,
                const co_unsigned64_t *val, co_unsigned8_t n, uint8_t *buf,
                size_t *pn);
 
co_unsigned32_t co_pdo_unmap(const struct co_pdo_map_par *par,
                const uint8_t *buf, size_t n, co_unsigned64_t *val,
                co_unsigned8_t *pn);
 
co_unsigned32_t co_pdo_dn(const struct co_pdo_map_par *par, co_dev_t *dev,
                struct co_sdo_req *req, const uint8_t *buf, size_t n);
 
co_unsigned32_t co_pdo_up(const struct co_pdo_map_par *par, const co_dev_t *dev,
                struct co_sdo_req *req, uint8_t *buf, size_t *pn);
 
#ifdef __cplusplus
}
#endif
 
#endif // !LELY_CO_PDO_H_