Process Data Object (PDO)
[Communication Objects]

Collaboration diagram for Process Data Object (PDO):

Functions
UNS8	sendPDOrequest (CO_Data *d, UNS16 RPDOIndex)
	Transmit a PDO request frame on the network to the slave.
UNS8	_sendPDOevent (CO_Data *d, UNS8 isSyncEvent)
	Function iterates on all TPDO and look TPDO transmit type and content change before sending it.
void	PDOEventTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Set timer for PDO event.
void	PDOInhibitTimerAlarm (CO_Data *d, UNS32 pdoNum)
	Inhibit timer for PDO event.

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Detailed Description

PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects. It is an uncomfirmed communication service without protocol overhead.

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Function Documentation

UNS8 _sendPDOevent	(	CO_Data *	d,
		UNS8	isSyncEvent
	)

Function iterates on all TPDO and look TPDO transmit type and content change before sending it.

Parameters:

	*d	Pointer on a CAN object data structure
	isSyncEvent
	d
	isSyncEvent

Returns:

Definition at line 527 of file pdo.c.

References buildPDO(), struct_CO_Data::canHandle, Message::cob_id, Message::data, DelAlarm(), struct_s_PDO_status::event_timer, struct_CO_Data::firstIndex, struct_s_PDO_status::inhibit_timer, struct_s_PDO_status::last_message, struct_CO_Data::lastIndex, Message::len, struct_CO_Data::objdict, struct_CO_Data::PDO_status, PDOEventTimerAlarm(), PDOInhibitTimerAlarm(), SetAlarm(), and struct_s_PDO_status::transmit_type_parameter.

Referenced by PDOEventTimerAlarm(), PDOInhibitTimerAlarm(), PDOInit(), and sendPDOevent().

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void PDOEventTimerAlarm	(	CO_Data *	d,
		UNS32	pdoNum
	)

Set timer for PDO event.

Parameters:

	*d	Pointer on a CAN object data structure
	pdoNum	The PDO number

Definition at line 498 of file pdo.c.

References _sendPDOevent(), Message::cob_id, struct_s_PDO_status::event_timer, struct_s_PDO_status::last_message, and struct_CO_Data::PDO_status.

Referenced by _sendPDOevent(), proceedPDO(), and TPDO_Communication_Parameter_Callback().

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void PDOInhibitTimerAlarm	(	CO_Data *	d,
		UNS32	pdoNum
	)

Inhibit timer for PDO event.

Parameters:

	*d	Pointer on a CAN object data structure
	pdoNum	The PDO number

Definition at line 508 of file pdo.c.

References _sendPDOevent(), struct_s_PDO_status::inhibit_timer, struct_CO_Data::PDO_status, and struct_s_PDO_status::transmit_type_parameter.

Referenced by _sendPDOevent().

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UNS8 sendPDOrequest	(	CO_Data *	d,
		UNS16	RPDOIndex
	)

Transmit a PDO request frame on the network to the slave.

Parameters:

	*d	Pointer on a CAN object data structure
	RPDOIndex	Index of the receive PDO

Returns:

• CanFestival file descriptor is returned upon success.
• 0xFF is returned if RPDO Index is not found.

0xFF if error, other in success.

Parameters:

	d
	cobId

Returns:

Definition at line 121 of file pdo.c.

References struct_CO_Data::canHandle, Message::cob_id, struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, Message::len, struct_CO_Data::objdict, and Message::rtr.