This class describes Receive PDOs, meaning PDOs that send data from the host to the device. More...
#include <RPDO.h>
Inheritance diagram for icl_hardware::canopen_schunk::RPDO:
Public Types | |
| typedef boost::shared_ptr< RPDO > | Ptr |
| Convenience typedef to use PDOs with shared pointers. More... | |
| typedef std::vector< boost::shared_ptr< RPDO > > | PtrList |
| Convenience typedef to use PDO lists with shared pointers. More... | |
 Public Types inherited from icl_hardware::canopen_schunk::PDO | |
| 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 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... | |
| bool | download () |
| Downloads RPDO data from the master to the slave (From PC to node) More... | |
| PDOStringMatchVec | remap (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, 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... | |
| RPDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device) | |
| Construct a new RPDO. More... | |
| Public Member Functions inherited from icl_hardware::canopen_schunk::PDO | |
| 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... | |
Static Public Attributes | |
| static const uint16_t | OD_RPDO_COMMUNICATION_MIN = 0x1400 |
| static const uint16_t | OD_RPDO_MAPPING_PARAMETER_MIN = 0x1600 |
Additional Inherited Members | |
| Public Attributes inherited from icl_hardware::canopen_schunk::PDO | |
| MappingList | m_mapping_list |
| List of all mappings inside this PDO. More... | |
| Protected Attributes inherited from icl_hardware::canopen_schunk::PDO | |
| 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
This class describes Receive PDOs, meaning PDOs that send data from the host to the device.
Member Typedef Documentation
| typedef std::vector<boost::shared_ptr<RPDO> > icl_hardware::canopen_schunk::RPDO::PtrList |
Constructor & Destructor Documentation
Member Function Documentation
| PDO::PDOStringMatchVec icl_hardware::canopen_schunk::RPDO::appendMapping | ( | SDO & | sdo, |
| const MappingConfigurationList & | mappings, | ||
| const eTransmissionType & | transmission_type, | ||
| const bool | dummy_mapping = false, |
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| const uint8_t | cyclic_timeout_cycles = 0 |
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| ) |
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 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.
- Returns
- PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.
| bool icl_hardware::canopen_schunk::RPDO::download | ( | ) |
| PDO::PDOStringMatchVec icl_hardware::canopen_schunk::RPDO::remap | ( | SDO & | sdo, |
| const MappingConfigurationList & | mappings, | ||
| const eTransmissionType & | transmission_type, | ||
| const bool | dummy_mapping = false, |
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| 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 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.
- Returns
- PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.
Member Data Documentation
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The documentation for this class was generated from the following files: