Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
CANOpenMaster Class Reference

#include <CANOpen_driver.h>

List of all members.

Public Member Functions

 CANOpenMaster ()
int GetDIn ()
int GetNodeState ()
int GetSpeed ()
int Homing ()
int Init ()
void PrintMotorStatus ()
int Recover ()
void SendSYNC ()
int SetSpeed (int)
int WritePDO (int, int)
int WritePDO (CanMsg)
 ~CANOpenMaster ()

Public Attributes

unsigned char CANDownloadHeader
int ControlerState
short DISABLE_OPERATION
short DISABLE_VOLTAGE
int EMCY
short ENABLE_OPERATION
short Fault
short Fault_Reaction_Active
short FAULT_RESET
bool FAULT_WAS_ACTIVE
int HEARTBEAT
bool IS_HOMED
int m_CanBaseAddress
int NMT
int NodeState
short Not_Ready_To_Switch_On
short Operation_Enable
short Quick_Stop_Active
short QUICKSTOP
short Ready_To_Switch_On
int RxPDO1
int RxPDO2
int RxPDO3
int RxPDO4
int RxSDO
short SHUTDOWN
short SWITCH_ON
short Switch_On_Disabled
short Switched_On
int SYNC
int TxPDO1
int TxPDO2
int TxPDO3
int TxPDO4
int TxSDO

Private Member Functions

bool CANError (CanMsg *)
int EvaluateControlerState ()
bool NodeStateError (CanMsg *)
unsigned int ReadObject (CANOpenCiA401ObjDirectory::CANOpenObj *)
void SendNMT (unsigned char, unsigned char)
void SYNCLoop (void *)
int WaitForHeartbeat ()
int WriteObject (CANOpenCiA401ObjDirectory::CANOpenObj *, int)

Private Attributes

CanItf * can_itf
CANOpenCiA401ObjDirectoryCANObj
int Lin_Axis_max_speed

Detailed Description

Definition at line 66 of file CANOpen_driver.h.


Constructor & Destructor Documentation

Definition at line 68 of file CANOpen_driver.cpp.

Definition at line 129 of file CANOpen_driver.cpp.


Member Function Documentation

bool CANOpenMaster::CANError ( CanMsg *  CMsgTr) [private]

Definition at line 740 of file CANOpen_driver.cpp.

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bool CANOpenMaster::NodeStateError ( CanMsg *  CMsgTr) [private]

Definition at line 753 of file CANOpen_driver.cpp.

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void CANOpenMaster::SendNMT ( unsigned char  NodeID,
unsigned char  NMT_Command 
) [private]

Definition at line 925 of file CANOpen_driver.cpp.

Definition at line 379 of file CANOpen_driver.cpp.

int CANOpenMaster::SetSpeed ( int  SpeedCmdMS)

Definition at line 394 of file CANOpen_driver.cpp.

void CANOpenMaster::SYNCLoop ( void *  ) [private]

read Heardbeat Waits for the Heartbeat from node. All messages that are recieved in between get lost!

Definition at line 945 of file CANOpen_driver.cpp.

int CANOpenMaster::WriteObject ( CANOpenCiA401ObjDirectory::CANOpenObj obj,
int  val 
) [private]

Definition at line 827 of file CANOpen_driver.cpp.

int CANOpenMaster::WritePDO ( int  ControlWord,
int  IP_command 
)

Definition at line 890 of file CANOpen_driver.cpp.

int CANOpenMaster::WritePDO ( CanMsg  CMsgTr)

Definition at line 879 of file CANOpen_driver.cpp.


Member Data Documentation

CanItf* CANOpenMaster::can_itf [private]

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The documentation for this class was generated from the following files:
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CANOpen_driver
Author(s): Tim Fröhlich
autogenerated on Mon Jan 14 2013 16:55:42