The PDO class provides access to one (of the possible multiple) Process Data Object of a canOpen node. The class provides structures for transmit and received data and the functions to trigger down- and uploads. More...

#include <PDO.h>

Inheritance diagram for icl_hardware::canopen_schunk::PDO:

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Classes
class	Mapping
	Holds the mapping parameter plus the actual data. More...

struct	MappingConfiguration
	Mapping of a PDO. This is basically a description that says where to look in the object dictionary and how many bits to read. More...

struct	PDOStringMatch
	Unique index to find a mapped Object dictionary item in a PDO. More...

Public Types
enum	eTransmissionType { SYNCHRONOUS_ACYCLIC = 0, RTR_ONLY_SYNCHRONOUS = 252, RTR_ONLY_EVENT_DRIVEN = 253, EVENT_DRIVEN_MANUFACTURER_SPECIFIC = 254, EVENT_DRIVEN_PROFILE_SPECIFIC = 255, SYNCHRONOUS_CYCLIC = 1 }
	Transmission types of a PDO, needed when mapping PDOs. More...

typedef std::vector< MappingConfiguration >	MappingConfigurationList
	The MappingConfigurationList holds multiple Mapping configurations. The Mapping of a single PDO is defined by one such configuration list. More...

typedef std::vector< Mapping >	MappingList

typedef std::vector< PDOStringMatch >	PDOStringMatchVec

typedef boost::shared_ptr< PDO >	Ptr
	Convenience typedef to use PDOs with shared pointers. More...

typedef std::vector< boost::shared_ptr< PDO > >	PtrList
	Convenience typedef to use PDO lists with shared pointers. More...

Public Member Functions
PDOStringMatchVec	appendMapping (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const uint16_t pdo_cob_id, const uint16_t pdo_communication_parameter, const uint16_t pdo_mapping_parameter, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping. More...

	PDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device)
	Construct a new PDO. More...

PDOStringMatchVec	remap (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const uint16_t pdo_cob_id, const uint16_t pdo_communication_parameter, const uint16_t pdo_mapping_parameter, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is. More...

Public Attributes
MappingList	m_mapping_list
	List of all mappings inside this PDO. More...

Protected Attributes
CanDevPtr	m_can_device
	Can Device handle. More...

uint8_t	m_node_id
	CANOPEN ID of the node this PDO belongs to. More...

uint8_t	m_pdo_nr
	The PDO number inside the logical device. Theoretically this can be in 0 to 511. More...

Detailed Description

The PDO class provides access to one (of the possible multiple) Process Data Object of a canOpen node. The class provides structures for transmit and received data and the functions to trigger down- and uploads.

The class implements PDO access by providing data structures for the userdata and interfaces to trigger a down and upload. These functions will be called periodically in order to transmit userdata to the actual devices and vice versa. The Class also offers the functionality to trigger a PDO remap which is done during the setup phase of the devices. A node may hold 1-4 PDOs in the standard case but up to 512 in the extended case.

Definition at line 44 of file PDO.h.

Member Typedef Documentation

typedef std::vector<MappingConfiguration> icl_hardware::canopen_schunk::PDO::MappingConfigurationList

The MappingConfigurationList holds multiple Mapping configurations. The Mapping of a single PDO is defined by one such configuration list.

Definition at line 70 of file PDO.h.

typedef std::vector<Mapping> icl_hardware::canopen_schunk::PDO::MappingList

Definition at line 106 of file PDO.h.

typedef std::vector<PDOStringMatch> icl_hardware::canopen_schunk::PDO::PDOStringMatchVec

Definition at line 119 of file PDO.h.

typedef boost::shared_ptr<PDO> icl_hardware::canopen_schunk::PDO::Ptr

Convenience typedef to use PDOs with shared pointers.

Definition at line 133 of file PDO.h.

typedef std::vector<boost::shared_ptr<PDO> > icl_hardware::canopen_schunk::PDO::PtrList

Convenience typedef to use PDO lists with shared pointers.

Definition at line 135 of file PDO.h.

Member Enumeration Documentation

enum icl_hardware::canopen_schunk::PDO::eTransmissionType

Transmission types of a PDO, needed when mapping PDOs.

Enumerator
SYNCHRONOUS_ACYCLIC
RTR_ONLY_SYNCHRONOUS
RTR_ONLY_EVENT_DRIVEN
EVENT_DRIVEN_MANUFACTURER_SPECIFIC
EVENT_DRIVEN_PROFILE_SPECIFIC
SYNCHRONOUS_CYCLIC

Definition at line 122 of file PDO.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::PDO::PDO	(	const uint8_t	node_id,
		const uint8_t	pdo_nr,
		const CanDevPtr &	can_device
	)

Construct a new PDO.

Parameters

node_id	ID of the node this PDO belongs to
pdo_nr	numbering of this PDO inside the node
can_device	handle to the CAN device

Definition at line 36 of file PDO.cpp.

Member Function Documentation

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::PDO::appendMapping	(	SDO &	sdo,
		const MappingConfigurationList &	mappings,
		const eTransmissionType &	transmission_type,
		const uint16_t	pdo_cob_id,
		const uint16_t	pdo_communication_parameter,
		const uint16_t	pdo_mapping_parameter,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)

Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.

Note: Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.

Parameters

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
pdo_cob_id	CANOPEN-ID of this pdo
pdo_communication_parameter	object dictionary entry of this pdo's communication parameter
pdo_mapping_parameter	object dictionary entry of this pdo's mapping parameter
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	If the transmission type SYNCHRONOUS_CYCLIC is used, this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Exceptions

PDOException when an error occurs or an exception is thrown in an underlying structure like SDO communication.

Returns: PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 229 of file PDO.cpp.

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::PDO::remap	(	SDO &	sdo,
		const MappingConfigurationList &	mappings,
		const eTransmissionType &	transmission_type,
		const uint16_t	pdo_cob_id,
		const uint16_t	pdo_communication_parameter,
		const uint16_t	pdo_mapping_parameter,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)

Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is.

Note: Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.

Parameters

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
pdo_cob_id	CANOPEN-ID of this pdo
pdo_communication_parameter	object dictionary entry of this pdo's communication parameter
pdo_mapping_parameter	object dictionary entry of this pdo's mapping parameter
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	If the transmission type SYNCHRONOUS_CYCLIC is used, this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Exceptions

PDOException when an error occurs or an exception is thrown in an underlying structure like SDO communication.

Returns: PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 45 of file PDO.cpp.

Member Data Documentation

CanDevPtr icl_hardware::canopen_schunk::PDO::m_can_device

protected

Can Device handle.

Definition at line 226 of file PDO.h.

MappingList icl_hardware::canopen_schunk::PDO::m_mapping_list

List of all mappings inside this PDO.

Definition at line 216 of file PDO.h.

uint8_t icl_hardware::canopen_schunk::PDO::m_node_id

protected

CANOPEN ID of the node this PDO belongs to.

Definition at line 220 of file PDO.h.

uint8_t icl_hardware::canopen_schunk::PDO::m_pdo_nr

protected

The PDO number inside the logical device. Theoretically this can be in 0 to 511.

Definition at line 223 of file PDO.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation