C++ (Cpp) init_pdo Examples

Example #1

File: ec_sii.c Project: ningfei/ecslave

/* slave information interface */
void init_sii(ecat_slave *esv)
{
    int pdoe_idx = 0;

    memset(&esv->categories,0,sizeof(struct __sii_categories__));
    init_si_info(&esv->categories.sii);
    init_strings(&esv->categories.strings, &esv->categories.strings_hdr);
    init_fmmu(&esv->categories.fmmu, &esv->categories.fmmu_hdr);
    init_syncm(esv, &esv->categories.syncm0, 0 ,&esv->categories.syncm_hdr0);
    init_syncm(esv, &esv->categories.syncm1, 1 ,&esv->categories.syncm_hdr1);
    init_general(esv, &esv->categories.general, &esv->categories.general_hdr);
    init_end_hdr(&esv->categories.endhdr);

    // pdos
    esv->categories.rxpdo_hdr.type = CAT_TYPE_RXPDO;
    esv->categories.rxpdo_hdr.size = sizeof(esv->categories.rxpdo)/2;
    esv->categories.rxpdo.entries = 2;
    esv->categories.rxpdo.flags = 0;
    esv->categories.rxpdo.name_idx = RXPDO_CAT_NAME_IDX + 1;
    esv->categories.rxpdo.synchronization = 0;
    esv->categories.rxpdo.syncm = 0;
    esv->categories.rxpdo.pdo_index = 0x1600;

    init_pdo(&esv->categories.rxpdo.pdo[0], 0x1600, 0X02, RX_PDO1_NAME_IDX + 1, 0, 8, 0);
    esv->pdoe_sizes[pdoe_idx++] = 8;
    init_pdo(&esv->categories.rxpdo.pdo[1], 0x1600, 0X01, RX_PDO2_NAME_IDX + 1, 0, 32, 0);
    esv->pdoe_sizes[pdoe_idx++]  = 32;

    esv->categories.txpdo_hdr.type = CAT_TYPE_TXPDO;
    esv->categories.txpdo.entries = 2;
    esv->categories.txpdo.flags = 0;
    esv->categories.txpdo.name_idx = TXPDO_CAT_NAME_IDX  +1;
    esv->categories.txpdo.synchronization = 0;
    esv->categories.txpdo.syncm = 1;
    esv->categories.txpdo.pdo_index = 0x1a00;
    esv->categories.txpdo_hdr.size = sizeof(esv->categories.txpdo)/2;

    init_pdo(&esv->categories.txpdo.pdo[0], 0x1a00, 0X02, TX_PDO1_NAME_IDX + 1, 0, 32, 0);
    esv->pdoe_sizes[pdoe_idx++]  = 32;
    init_pdo(&esv->categories.txpdo.pdo[1], 0x1a00, 0X01, TX_PDO2_NAME_IDX + 1, 0, 16, 0);
    esv->pdoe_sizes[pdoe_idx++]  = 16;
}

Example #2

File: device.cpp Project: kalectro/ipa_canopen

bool Device::init(std::string deviceFile)
{
    if(canopen::atFirstInit)
    {
        canopen::atFirstInit = false;

        if(std::find(canopen::openDeviceFiles.begin(), canopen::openDeviceFiles.end(), deviceFile) == canopen::openDeviceFiles.end())
        {
            CAN_Close(canopen::h);

            if (!canopen::openConnection(deviceFile, canopen::baudRate)) // check if connection was successful
            {
                ROS_ERROR_STREAM("Cannot open CAN device " << deviceFile << "... aborting.");
                exit(EXIT_FAILURE);
            }
            canopen::initListenerThread(canopen::defaultListener);
            canopen::openDeviceFiles.push_back(deviceFile);
        }
        sendNMT(NMT_RESET_COMMUNICATION, true);
    }

    ros::Time start = ros::Time::now();

    while(!nmt_init)
    {
        if((ros::Time::now() - start).toSec() > 5.0)
        {
            ROS_ERROR_STREAM("Node: " << (int)CANid_ << " is not ready for operation. Please check for potential problems.");
            return false;
        }

        ros::Duration(0.01).sleep();
    }

    // Configure PDO channels
    ROS_DEBUG_STREAM("mapping PDOs of device " << name);
    init_pdo();

    ros::Duration(0.01).sleep();
    sendNMT(NMT_START_REMOTE_NODE);
    // std::cout << std::hex << "Initialized the PDO mapping for Node: " << (int)CANid << std::endl;
    initialized = true;

    set_objects();

    return true;
}