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:
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. | |
| typedef std::vector< Mapping > | MappingList |
| typedef std::vector < PDOStringMatch > | PDOStringMatchVec |
| typedef boost::shared_ptr< PDO > | Ptr |
| Convenience typedef to use PDOs with shared pointers. | |
| typedef std::vector < boost::shared_ptr< PDO > > | PtrList |
| Convenience typedef to use PDO lists with shared pointers. | |
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. | |
| PDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device) | |
| Construct a new PDO. | |
| 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. | |
Public Attributes | |
| MappingList | m_mapping_list |
| List of all mappings inside this PDO. | |
Protected Attributes | |
| CanDevPtr | m_can_device |
| Can Device handle. | |
| uint8_t | m_node_id |
| CANOPEN ID of the node this PDO belongs to. | |
| uint8_t | m_pdo_nr |
| The PDO number inside the logical device. Theoretically this can be in 0 to 511. | |
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.
Member Typedef Documentation
| typedef boost::shared_ptr<PDO> icl_hardware::canopen_schunk::PDO::Ptr |
Convenience typedef to use PDOs with shared pointers.
Reimplemented in icl_hardware::canopen_schunk::RPDO, and icl_hardware::canopen_schunk::TPDO.
| typedef std::vector<boost::shared_ptr<PDO> > icl_hardware::canopen_schunk::PDO::PtrList |
Convenience typedef to use PDO lists with shared pointers.
Reimplemented in icl_hardware::canopen_schunk::RPDO, and icl_hardware::canopen_schunk::TPDO.
Member Enumeration Documentation
Constructor & Destructor Documentation
| icl_hardware::canopen_schunk::PDO::PDO | ( | const uint8_t | node_id, |
| const uint8_t | pdo_nr, | ||
| const CanDevPtr & | can_device | ||
| ) |
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.
| 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.
Member Data Documentation
uint8_t icl_hardware::canopen_schunk::PDO::m_node_id [protected] |
uint8_t icl_hardware::canopen_schunk::PDO::m_pdo_nr [protected] |
The documentation for this class was generated from the following files: