/*
* Function for accessing _TPDO mapping parameter_ (index 0x1A00+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_TPDOmap(CO_ODF_arg_t *ODF_arg){
CO_TPDO_t *TPDO;
TPDO = (CO_TPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(ODF_arg->subIndex == 0){
/* If there is error in mapping, dataLength is 0, so numberOfMappedObjects is 0. */
if(!TPDO->dataLength) *value = 0;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(TPDO->restrictionFlags & 0x08)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*TPDO->operatingState == CO_NMT_OPERATIONAL && (TPDO->restrictionFlags & 0x02))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(TPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* numberOfMappedObjects */
if(ODF_arg->subIndex == 0){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(*value > 8)
return CO_SDO_AB_VALUE_HIGH; /* Value of parameter written too high. */
/* configure mapping */
return CO_TPDOconfigMap(TPDO, *value);
}
/* mappedObject */
else{
uint32_t *value = (uint32_t*) ODF_arg->data;
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
uint8_t MBvar;
if(TPDO->dataLength)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* verify if mapping is correct */
return CO_PDOfindMap(
TPDO->SDO,
*value,
1,
&pData,
&length,
&dummy,
&MBvar);
}
return CO_SDO_AB_NONE;
}
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;
}
