com_demo_pdo.c

---

//============================================================================//
// File:          com_demo_pdo.c                                              //
// Description:   Examples for PDO service in CANopen Master stack            //
//                                                                            //
// Copyright (C) MicroControl GmbH & Co. KG                                   //
// 53844 Troisdorf - Germany                                                  //
// www.microcontrol.net                                                       //
//                                                                            //
//----------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of         //
// MicroControl GmbH & Co. KG, Germany. The program(s) may be used            //
// and/or copied only with the written permission of MicroControl GmbH &      //
// Co. KG or in accordance with the terms and conditions stipulated in        //
// the agreement/contract under which the program(s) have been supplied.      //
//                                                                            //
//============================================================================//


#include "com_pdo.h"       // CANopen Master PDO service
#include "com_mgr.h"       // CANopen Master management



//----------------------------------------------------------------------------//
// DemoComPdoTrmInit()                                                        //
// initialise Transmit PDOs                                                   //
//----------------------------------------------------------------------------//
#if COM_PDO_TRM_MAX == 0
ComStatus_tv ComDemoPdoTrmInit(uint8_t CPP_PARM_UNUSED(ubNetV))
{
   return(eCOM_ERR_SERVICE_MODE);
}
#else
ComStatus_tv ComDemoPdoTrmInit(uint8_t ubNetV)
{
   uint8_t  aubPdoDataT[] = {0x01,0x23,0x45,0x67,0x89,0xAB,0xCD,0xEF};
   uint16_t uwIdOffsetT;


   //----------------------------------------------------------------
   // calculate ID offset
   //
   uwIdOffsetT = ComMgrNodeId(ubNetV);

   //----------------------------------------------------------------
   // initialise TPDOs
   //
   ComPdoConfig(ubNetV, 0,
                ePDO_DIR_TRM,                // direction
                0x0180 + uwIdOffsetT,        // identifier
                3,                           // DLC
                ePDO_TYPE_SYNC_1,            // transmissions type
                0);                          // event timer

   ComPdoSetData(ubNetV, 0, ePDO_DIR_TRM, &aubPdoDataT[0]);
   ComPdoEnable(ubNetV,  0, ePDO_DIR_TRM, 1);


   ComPdoConfig(ubNetV, 1,
                ePDO_DIR_TRM,                // direction
                0x0280 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                250);                        // event timer

   aubPdoDataT[0] = 0x02;
   ComPdoSetData(ubNetV,1, ePDO_DIR_TRM, &aubPdoDataT[0]);
   ComPdoEnable(ubNetV, 1, ePDO_DIR_TRM, 1);

   ComPdoConfig(ubNetV, 3,
                ePDO_DIR_TRM,                // direction
                0x0380 + uwIdOffsetT,        // identifier
                4,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                500);                        // event timer

   aubPdoDataT[0] = 0x03;
   ComPdoSetData(ubNetV, 3, ePDO_DIR_TRM, &aubPdoDataT[0]);
   ComPdoEnable(ubNetV,  3, ePDO_DIR_TRM, 1);

   ComPdoSendAsync(ubNetV, 0);
   ComPdoSendAsync(ubNetV, 1);
   ComPdoSendAsync(ubNetV, 3);

   return(eCOM_ERR_OK);
}
#endif


//----------------------------------------------------------------------------//
// DemoComPdoRcvInit()                                                        //
// initialise Receive PDOs                                                    //
//----------------------------------------------------------------------------//
#if COM_PDO_RCV_MAX == 0
ComStatus_tv DemoComPdoRcvInit(uint8_t CPP_PARM_UNUSED(ubNetV))
{
   return(eCOM_ERR_SERVICE_MODE);
}
#else
ComStatus_tv DemoComPdoRcvInit(uint8_t ubNetV)
{
   uint16_t uwIdOffsetT;


   //----------------------------------------------------------------
   // calculate ID offset
   //
   uwIdOffsetT = ComMgrNodeId(ubNetV);

   //----------------------------------------------------------------
   // initialise RPDOs
   //
   ComPdoConfig(ubNetV, 0,
                ePDO_DIR_RCV,                // direction
                0x0200 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer

   ComPdoEnable(ubNetV, 0, ePDO_DIR_RCV, 1);

   ComPdoConfig(ubNetV, 1,
                ePDO_DIR_RCV,                // direction
                0x0300 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer

   ComPdoEnable(ubNetV, 1, ePDO_DIR_RCV, 1);

   ComPdoConfig(ubNetV, 2,
                ePDO_DIR_RCV,                // direction
                0x0400 + uwIdOffsetT,        // identifier
                8,                           // DLC
                ePDO_TYPE_EVENT_PROFILE,     // transmissions type
                0);                          // event timer

   ComPdoEnable(ubNetV, 2, ePDO_DIR_RCV, 1);

   return(eCOM_ERR_OK);
}  // DemoComPdoRcvInit
#endif