CO_ReturnError_t CO_TPDO_init(
CO_TPDO_t *TPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_TPDOCommPar_t *TPDOCommPar,
const CO_TPDOMapPar_t *TPDOMapPar,
uint16_t idx_TPDOCommPar,
uint16_t idx_TPDOMapPar,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx)
{
/* verify arguments */
if(TPDO==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
TPDOCommPar==NULL || TPDOMapPar==NULL || CANdevTx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
TPDO->em = em;
TPDO->SDO = SDO;
TPDO->TPDOCommPar = TPDOCommPar;
TPDO->TPDOMapPar = TPDOMapPar;
TPDO->operatingState = operatingState;
TPDO->nodeId = nodeId;
TPDO->defaultCOB_ID = defaultCOB_ID;
TPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1800+ and 0x1A00+ */
CO_OD_configure(SDO, idx_TPDOCommPar, CO_ODF_TPDOcom, (void*)TPDO, 0, 0);
CO_OD_configure(SDO, idx_TPDOMapPar, CO_ODF_TPDOmap, (void*)TPDO, 0, 0);
/* configure communication and mapping */
TPDO->CANdevTx = CANdevTx;
TPDO->CANdevTxIdx = CANdevTxIdx;
TPDO->syncCounter = 255;
TPDO->inhibitTimer = 0;
TPDO->eventTimer = ((uint32_t) TPDOCommPar->eventTimer) * 1000;
if(TPDOCommPar->transmissionType>=254) TPDO->sendRequest = 1;
CO_TPDOconfigMap(TPDO, TPDOMapPar->numberOfMappedObjects);
CO_TPDOconfigCom(TPDO, TPDOCommPar->COB_IDUsedByTPDO, ((TPDOCommPar->transmissionType<=240) ? 1 : 0));
if((TPDOCommPar->transmissionType>240 &&
TPDOCommPar->transmissionType<254) ||
TPDOCommPar->SYNCStartValue>240){
TPDO->valid = false;
}
return CO_ERROR_NO;
}
int16_t CO_TPDO_init(
CO_TPDO_t *TPDO,
CO_EM_t *EM,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_TPDOCommPar_t *TPDOCommPar,
const CO_TPDOMapPar_t *TPDOMapPar,
uint16_t idx_TPDOCommPar,
uint16_t idx_TPDOMapPar,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx)
{
/* Configure object variables */
TPDO->EM = EM;
TPDO->SDO = SDO;
TPDO->TPDOCommPar = TPDOCommPar;
TPDO->TPDOMapPar = TPDOMapPar;
TPDO->operatingState = operatingState;
TPDO->nodeId = nodeId;
TPDO->defaultCOB_ID = defaultCOB_ID;
TPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1800+ and 0x1A00+ */
CO_OD_configure(SDO, idx_TPDOCommPar, CO_ODF_TPDOcom, (void*)TPDO, 0, 0);
CO_OD_configure(SDO, idx_TPDOMapPar, CO_ODF_TPDOmap, (void*)TPDO, 0, 0);
/* configure communication and mapping */
TPDO->CANdevTx = CANdevTx;
TPDO->CANdevTxIdx = CANdevTxIdx;
TPDO->syncCounter = 255;
TPDO->inhibitTimer = 0;
TPDO->eventTimer = TPDOCommPar->eventTimer;
TPDO->SYNCtimerPrevious = 0;
if(TPDOCommPar->transmissionType>=254) TPDO->sendRequest = 1;
CO_TPDOconfigMap(TPDO, TPDOMapPar->numberOfMappedObjects);
CO_TPDOconfigCom(TPDO, TPDOCommPar->COB_IDUsedByTPDO, ((TPDOCommPar->transmissionType<=240) ? 1 : 0));
if((TPDOCommPar->transmissionType>240 &&
TPDOCommPar->transmissionType<254) ||
TPDOCommPar->SYNCStartValue>240){
TPDO->valid = 0;
}
return CO_ERROR_NO;
}
/*
* Function for accessing _TPDO communication parameter_ (index 0x1800+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
CO_TPDO_t *TPDO;
TPDO = (CO_TPDO_t*) ODF_arg->object;
if(ODF_arg->subIndex == 4) return CO_SDO_AB_SUB_UNKNOWN; /* Sub-index does not exist. */
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t *value = (uint32_t*) ODF_arg->data;
/* if default COB ID is used, write default value here */
if(((*value)&0xFFFF) == TPDO->defaultCOB_ID && TPDO->defaultCOB_ID)
*value += TPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!TPDO->valid) *value |= 0x80000000L;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(TPDO->restrictionFlags & 0x04)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*TPDO->operatingState == CO_NMT_OPERATIONAL && (TPDO->restrictionFlags & 0x01))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t *value = (uint32_t*) ODF_arg->data;
/* bits 11...29 must be zero */
if(*value & 0x3FFF8000L)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* if default COB-ID is being written, write defaultCOB_ID without nodeId */
if(((*value)&0xFFFF) == (TPDO->defaultCOB_ID + TPDO->nodeId)){
*value &= 0xC0000000L;
*value += TPDO->defaultCOB_ID;
}
/* if PDO is valid, bits 0..29 can not be changed */
if(TPDO->valid && ((*value ^ TPDO->TPDOCommPar->COB_IDUsedByTPDO) & 0x3FFFFFFFL))
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* configure TPDO */
CO_TPDOconfigCom(TPDO, *value, TPDO->CANtxBuff->syncFlag);
TPDO->syncCounter = 255;
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
/* values from 241...253 are not valid */
if(*value >= 241 && *value <= 253)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
TPDO->CANtxBuff->syncFlag = (*value <= 240) ? 1 : 0;
TPDO->syncCounter = 255;
}
else if(ODF_arg->subIndex == 3){ /* Inhibit_Time */
/* if PDO is valid, value can not be changed */
if(TPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
TPDO->inhibitTimer = 0;
}
else if(ODF_arg->subIndex == 5){ /* Event_Timer */
uint16_t *value = (uint16_t*) ODF_arg->data;
TPDO->eventTimer = *value;
}
else if(ODF_arg->subIndex == 6){ /* SYNC start value */
uint8_t *value = (uint8_t*) ODF_arg->data;
/* if PDO is valid, value can not be changed */
if(TPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* values from 240...255 are not valid */
if(*value > 240)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
}
return CO_SDO_AB_NONE;
}