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
CANOpenCiA401ObjDirectory *	CANObj
int	Lin_Axis_max_speed

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Detailed Description

Definition at line 66 of file CANOpen_driver.h.

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Constructor & Destructor Documentation

CANOpenMaster::CANOpenMaster

(

)

Definition at line 68 of file CANOpen_driver.cpp.

CANOpenMaster::~CANOpenMaster

(

)

Definition at line 129 of file CANOpen_driver.cpp.

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Member Function Documentation

bool CANOpenMaster::CANError

(

CanMsg *

CMsgTr

)

[private]

Definition at line 740 of file CANOpen_driver.cpp.

int CANOpenMaster::EvaluateControlerState

(

)

[private]

Definition at line 962 of file CANOpen_driver.cpp.

int CANOpenMaster::GetDIn

(

)

Definition at line 415 of file CANOpen_driver.cpp.

int CANOpenMaster::GetNodeState

(

)

Definition at line 511 of file CANOpen_driver.cpp.

int CANOpenMaster::GetSpeed

(

)

Definition at line 405 of file CANOpen_driver.cpp.

int CANOpenMaster::Homing

(

)

Definition at line 271 of file CANOpen_driver.cpp.

int CANOpenMaster::Init

(

)

Definition at line 137 of file CANOpen_driver.cpp.

bool CANOpenMaster::NodeStateError

(

CanMsg *

CMsgTr

)

[private]

Definition at line 753 of file CANOpen_driver.cpp.

void CANOpenMaster::PrintMotorStatus

(

)

Definition at line 620 of file CANOpen_driver.cpp.

unsigned int CANOpenMaster::ReadObject

(

CANOpenCiA401ObjDirectory::CANOpenObj *

obj

)

[private]

Definition at line 772 of file CANOpen_driver.cpp.

int CANOpenMaster::Recover

(

)

Definition at line 425 of file CANOpen_driver.cpp.

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

Definition at line 925 of file CANOpen_driver.cpp.

void CANOpenMaster::SendSYNC

(

)

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]

int CANOpenMaster::WaitForHeartbeat

(

)

[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.

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Member Data Documentation

CanItf* CANOpenMaster::can_itf [private]

Definition at line 134 of file CANOpen_driver.h.

unsigned char CANOpenMaster::CANDownloadHeader

Definition at line 125 of file CANOpen_driver.h.

CANOpenCiA401ObjDirectory* CANOpenMaster::CANObj [private]

Definition at line 135 of file CANOpen_driver.h.

int CANOpenMaster::ControlerState

Definition at line 104 of file CANOpen_driver.h.

short CANOpenMaster::DISABLE_OPERATION

Definition at line 111 of file CANOpen_driver.h.

short CANOpenMaster::DISABLE_VOLTAGE

Definition at line 109 of file CANOpen_driver.h.

int CANOpenMaster::EMCY

Definition at line 100 of file CANOpen_driver.h.

short CANOpenMaster::ENABLE_OPERATION

Definition at line 112 of file CANOpen_driver.h.

short CANOpenMaster::Fault

Definition at line 121 of file CANOpen_driver.h.

short CANOpenMaster::Fault_Reaction_Active

Definition at line 122 of file CANOpen_driver.h.

short CANOpenMaster::FAULT_RESET

Definition at line 113 of file CANOpen_driver.h.

bool CANOpenMaster::FAULT_WAS_ACTIVE

Definition at line 129 of file CANOpen_driver.h.

int CANOpenMaster::HEARTBEAT

Definition at line 102 of file CANOpen_driver.h.

bool CANOpenMaster::IS_HOMED

Definition at line 128 of file CANOpen_driver.h.

int CANOpenMaster::Lin_Axis_max_speed [private]

Definition at line 132 of file CANOpen_driver.h.

int CANOpenMaster::m_CanBaseAddress

Definition at line 87 of file CANOpen_driver.h.

int CANOpenMaster::NMT

Definition at line 101 of file CANOpen_driver.h.

int CANOpenMaster::NodeState

Definition at line 103 of file CANOpen_driver.h.

short CANOpenMaster::Not_Ready_To_Switch_On

Definition at line 116 of file CANOpen_driver.h.

short CANOpenMaster::Operation_Enable

Definition at line 120 of file CANOpen_driver.h.

short CANOpenMaster::Quick_Stop_Active

Definition at line 123 of file CANOpen_driver.h.

short CANOpenMaster::QUICKSTOP

Definition at line 110 of file CANOpen_driver.h.

short CANOpenMaster::Ready_To_Switch_On

Definition at line 118 of file CANOpen_driver.h.

int CANOpenMaster::RxPDO1

Definition at line 92 of file CANOpen_driver.h.

int CANOpenMaster::RxPDO2

Definition at line 94 of file CANOpen_driver.h.

int CANOpenMaster::RxPDO3

Definition at line 96 of file CANOpen_driver.h.

int CANOpenMaster::RxPDO4

Definition at line 98 of file CANOpen_driver.h.

int CANOpenMaster::RxSDO

Definition at line 90 of file CANOpen_driver.h.

short CANOpenMaster::SHUTDOWN

Definition at line 108 of file CANOpen_driver.h.

short CANOpenMaster::SWITCH_ON

Definition at line 107 of file CANOpen_driver.h.

short CANOpenMaster::Switch_On_Disabled

Definition at line 117 of file CANOpen_driver.h.

short CANOpenMaster::Switched_On

Definition at line 119 of file CANOpen_driver.h.

int CANOpenMaster::SYNC

Definition at line 99 of file CANOpen_driver.h.

int CANOpenMaster::TxPDO1

Definition at line 91 of file CANOpen_driver.h.

int CANOpenMaster::TxPDO2

Definition at line 93 of file CANOpen_driver.h.

int CANOpenMaster::TxPDO3

Definition at line 95 of file CANOpen_driver.h.

int CANOpenMaster::TxPDO4

Definition at line 97 of file CANOpen_driver.h.

int CANOpenMaster::TxSDO

Definition at line 89 of file CANOpen_driver.h.

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

• CANOpen_driver.h
• CANOpen_driver.cpp