/*
* Function for accessing _RPDO communication parameter_ (index 0x1400+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
CO_RPDO_t *RPDO;
RPDO = (CO_RPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){
uint32_t *value = (uint32_t*) ODF_arg->data;
/* if default COB ID is used, write default value here */
if(((*value)&0xFFFF) == RPDO->defaultCOB_ID && RPDO->defaultCOB_ID)
*value += RPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!RPDO->valid) *value |= 0x80000000L;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(RPDO->restrictionFlags & 0x04)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*RPDO->operatingState == CO_NMT_OPERATIONAL && (RPDO->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) == (RPDO->defaultCOB_ID + RPDO->nodeId)){
*value &= 0xC0000000L;
*value += RPDO->defaultCOB_ID;
}
/* if PDO is valid, bits 0..29 can not be changed */
if(RPDO->valid && ((*value ^ RPDO->RPDOCommPar->COB_IDUsedByRPDO) & 0x3FFFFFFFL))
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* configure RPDO */
CO_RPDOconfigCom(RPDO, *value);
}
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). */
}
return CO_SDO_AB_NONE;
}
CO_ReturnError_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_RPDOCommPar_t *RPDOCommPar,
const CO_RPDOMapPar_t *RPDOMapPar,
uint16_t idx_RPDOCommPar,
uint16_t idx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx)
{
/* verify arguments */
if(RPDO==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
RPDOCommPar==NULL || RPDOMapPar==NULL || CANdevRx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
RPDO->em = em;
RPDO->SDO = SDO;
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
RPDO->nodeId = nodeId;
RPDO->defaultCOB_ID = defaultCOB_ID;
RPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1400+ and 0x1600+ */
CO_OD_configure(SDO, idx_RPDOCommPar, CO_ODF_RPDOcom, (void*)RPDO, 0, 0);
CO_OD_configure(SDO, idx_RPDOMapPar, CO_ODF_RPDOmap, (void*)RPDO, 0, 0);
/* configure communication and mapping */
RPDO->CANrxNew = false;
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
CO_RPDOconfigMap(RPDO, RPDOMapPar->numberOfMappedObjects);
CO_RPDOconfigCom(RPDO, RPDOCommPar->COB_IDUsedByRPDO);
return CO_ERROR_NO;
}
int16_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *EM,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_RPDOCommPar_t *RPDOCommPar,
const CO_RPDOMapPar_t *RPDOMapPar,
uint16_t idx_RPDOCommPar,
uint16_t idx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx)
{
/* Configure object variables */
RPDO->EM = EM;
RPDO->SDO = SDO;
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
RPDO->nodeId = nodeId;
RPDO->defaultCOB_ID = defaultCOB_ID;
RPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1400+ and 0x1600+ */
CO_OD_configure(SDO, idx_RPDOCommPar, CO_ODF_RPDOcom, (void*)RPDO, 0, 0);
CO_OD_configure(SDO, idx_RPDOMapPar, CO_ODF_RPDOmap, (void*)RPDO, 0, 0);
/* configure communication and mapping */
RPDO->CANrxNew = 0;
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
CO_RPDOconfigMap(RPDO, RPDOMapPar->numberOfMappedObjects);
CO_RPDOconfigCom(RPDO, RPDOCommPar->COB_IDUsedByRPDO);
return CO_ERROR_NO;
}
