cml__pdo_8h-source.html

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<a name="l00107"></a><a class="code" href="classPmap.html#a5">00107</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classPmap.html#a5">Set</a>( <a class="code" href="CML__Utils_8h.html#a2">byte</a> *cptr ){};
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment">   /// Return the 32-bit code used to identify this variable in the</span>
<a name="l00110"></a>00110 <span class="comment">   /// CANopen node's PDO mapping block</span>
<a name="l00111"></a><a class="code" href="classPmap.html#a6">00111</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="classPmap.html#a6">GetMapCode</a>()
<a name="l00112"></a>00112    {
<a name="l00113"></a>00113       <span class="keywordflow">return</span> (<a class="code" href="CML__Utils_8h.html#a10">uint32</a>)<a class="code" href="classPmap.html#p0">index</a>&lt;&lt;16 | (<a class="code" href="CML__Utils_8h.html#a10">uint32</a>)<a class="code" href="classPmap.html#p1">sub</a>&lt;&lt;8 | <a class="code" href="classPmap.html#p2">bits</a>;
<a name="l00114"></a>00114    }
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment">   /// Get the object index associated with this variable</span>
<a name="l00117"></a>00117 <span class="comment">   /// @return The 16-bit object index.</span>
<a name="l00118"></a><a class="code" href="classPmap.html#a7">00118</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classPmap.html#a7">GetIndex</a>(){
<a name="l00119"></a>00119       <span class="keywordflow">return</span> <a class="code" href="classPmap.html#p0">index</a>;
<a name="l00120"></a>00120    }
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment">   /// Get the object sub-index associated with this variable</span>
<a name="l00123"></a>00123 <span class="comment">   /// @return The 8-bit object sub-index.</span>
<a name="l00124"></a><a class="code" href="classPmap.html#a8">00124</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#a8">GetSub</a>(){
<a name="l00125"></a>00125       <span class="keywordflow">return</span> <a class="code" href="classPmap.html#p1">sub</a>;
<a name="l00126"></a>00126    }
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment">   /// Get the number of bits in this variable</span>
<a name="l00129"></a>00129 <span class="comment">   /// @return The number of bits.</span>
<a name="l00130"></a><a class="code" href="classPmap.html#a9">00130</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#a9">GetBits</a>(){
<a name="l00131"></a>00131       <span class="keywordflow">return</span> <a class="code" href="classPmap.html#p2">bits</a>;
<a name="l00132"></a>00132    }
<a name="l00133"></a>00133 
<a name="l00134"></a>00134 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment">   /// The 16-bit index of the object in the object dictionary</span>
<a name="l00136"></a><a class="code" href="classPmap.html#p0">00136</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classPmap.html#p0">index</a>;
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment">   /// The 8-bit sub-index of the object in the object dictionary</span>
<a name="l00139"></a><a class="code" href="classPmap.html#p1">00139</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p1">sub</a>;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment">   /// The number of bits that this object takes up.</span>
<a name="l00142"></a><a class="code" href="classPmap.html#p2">00142</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p2">bits</a>;
<a name="l00143"></a>00143 };
<a name="l00144"></a>00144 
<a name="l00145"></a>00145 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment">/**</span>
<a name="l00147"></a>00147 <span class="comment">This is the most generic PDO variable mapping class.  It doesn't do any</span>
<a name="l00148"></a>00148 <span class="comment">special formatting, just holds up to 8 bytes of raw data.</span>
<a name="l00149"></a>00149 <span class="comment">*/</span>
<a name="l00150"></a>00150 <span class="comment">/***************************************************************************/</span>
<a name="l00151"></a><a class="code" href="classPmapRaw.html">00151</a> <span class="keyword">class </span><a class="code" href="classPmapRaw.html">PmapRaw</a>: <span class="keyword">public</span> <a class="code" href="classPmap.html">Pmap</a>
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment">   /// Default constructor </span>
<a name="l00155"></a><a class="code" href="classPmapRaw.html#a0">00155</a> <span class="comment"></span>   <a class="code" href="classPmapRaw.html#a0">PmapRaw</a>()
<a name="l00156"></a>00156    {
<a name="l00157"></a>00157       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;8; i++ ) data[i] = 0;
<a name="l00158"></a>00158    }
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment">   /// Create a new mapping object</span>
<a name="l00161"></a>00161 <span class="comment">   /// @param index Object index associated with this variable</span>
<a name="l00162"></a>00162 <span class="comment">   /// @param sub Object sub-index</span>
<a name="l00163"></a>00163 <span class="comment">   /// @param bits The size of the variable in bits</span>
<a name="l00164"></a><a class="code" href="classPmapRaw.html#a1">00164</a> <span class="comment"></span>   <a class="code" href="classPmapRaw.html#a0">PmapRaw</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classPmap.html#p0">index</a>, <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p1">sub</a>, <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p2">bits</a> ):<a class="code" href="classPmap.html">Pmap</a>(index, sub, bits)
<a name="l00165"></a>00165    {
<a name="l00166"></a>00166       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;8; i++ ) data[i] = 0;
<a name="l00167"></a>00167    }
<a name="l00168"></a>00168 <span class="comment"></span>
<a name="l00169"></a>00169 <span class="comment">   /// Copy the current value of this variable into the passed</span>
<a name="l00170"></a>00170 <span class="comment">   /// character array.  This function is called when a receive</span>
<a name="l00171"></a>00171 <span class="comment">   /// PDO is about to be transmitted to a node.</span>
<a name="l00172"></a>00172 <span class="comment">   /// @param cptr A character pointer that references a char</span>
<a name="l00173"></a>00173 <span class="comment">   ///        array large enough to hold this objects data.</span>
<a name="l00174"></a><a class="code" href="classPmapRaw.html#a2">00174</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classPmapRaw.html#a2">Get</a>( <a class="code" href="CML__Utils_8h.html#a2">byte</a> *cptr ){
<a name="l00175"></a>00175       <span class="keywordtype">int</span> bytes = <a class="code" href="classPmap.html#p2">bits</a>&gt;&gt;3;
<a name="l00176"></a>00176       m.<a class="code" href="classMutex.html#a2">Lock</a>();
<a name="l00177"></a>00177       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;bytes; i++ ) *cptr++ = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data[i]);
<a name="l00178"></a>00178       m.<a class="code" href="classMutex.html#a3">Unlock</a>();
<a name="l00179"></a>00179    }
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment">   /// Update the value of this variable based on the data passed</span>
<a name="l00182"></a>00182 <span class="comment">   /// in a character array.  This function is called when a transmit</span>
<a name="l00183"></a>00183 <span class="comment">   /// PDO that this variable is mapped to is received.</span>
<a name="l00184"></a>00184 <span class="comment">   /// @param cptr A pointer to the received data.</span>
<a name="l00185"></a><a class="code" href="classPmapRaw.html#a3">00185</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classPmapRaw.html#a3">Set</a>( <a class="code" href="CML__Utils_8h.html#a2">byte</a> *cptr ){
<a name="l00186"></a>00186       <span class="keywordtype">int</span> bytes = <a class="code" href="classPmap.html#p2">bits</a>&gt;&gt;3;
<a name="l00187"></a>00187       m.<a class="code" href="classMutex.html#a2">Lock</a>();
<a name="l00188"></a>00188       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;bytes; i++ ) data[i] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(cptr[i]);
<a name="l00189"></a>00189       m.<a class="code" href="classMutex.html#a3">Unlock</a>();
<a name="l00190"></a>00190    }
<a name="l00191"></a>00191 
<a name="l00192"></a>00192 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment">   /// A mutex used to protect access to this variable</span>
<a name="l00194"></a>00194 <span class="comment"></span>   <a class="code" href="classMutex.html">Mutex</a> m;
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment">   /// The data associated with this mapping.</span>
<a name="l00197"></a>00197 <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a2">byte</a> data[8];
<a name="l00198"></a>00198 };
<a name="l00199"></a>00199 
<a name="l00200"></a>00200 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment">/**</span>
<a name="l00202"></a>00202 <span class="comment">This is a PDO variable mapping class that extends the virtual Pmap class to</span>
<a name="l00203"></a>00203 <span class="comment">handle 32-bit integers.</span>
<a name="l00204"></a>00204 <span class="comment">*/</span>
<a name="l00205"></a>00205 <span class="comment">/***************************************************************************/</span>
<a name="l00206"></a><a class="code" href="classPmap32.html">00206</a> <span class="keyword">class </span><a class="code" href="classPmap32.html">Pmap32</a>: <span class="keyword">public</span> <a class="code" href="classPmap.html">Pmap</a>
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00209"></a>00209 <span class="comment">   /// Default constructor for a 32-bit mapping object</span>
<a name="l00210"></a><a class="code" href="classPmap32.html#a0">00210</a> <span class="comment"></span>   <a class="code" href="classPmap32.html#a0">Pmap32</a>(): data(0) {}
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="comment">   /// Create a new 32-bit mapping object</span>
<a name="l00213"></a>00213 <span class="comment">   /// @param index Object index associated with this variable</span>
<a name="l00214"></a>00214 <span class="comment">   /// @param sub Object sub-index (defaults to 0)</span>
<a name="l00215"></a><a class="code" href="classPmap32.html#a1">00215</a> <span class="comment"></span>   <a class="code" href="classPmap32.html#a0">Pmap32</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classPmap.html#p0">index</a>, <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p1">sub</a>=0 ):<a class="code" href="classPmap.html">Pmap</a>(index,<a class="code" href="classPmap.html#p1">sub</a>,32), data(0){}
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment">   /// Initialize a 32-bit mapping object</span>
<a name="l00218"></a>00218 <span class="comment">   /// @param index Object index associated with this variable</span>
<a name="l00219"></a>00219 <span class="comment">   /// @param sub Object sub-index (defaults to 0)</span>
<a name="l00220"></a>00220 <span class="comment">   /// @return An error object</span>
<a name="l00221"></a><a class="code" href="classPmap32.html#a2">00221</a> <span class="comment"></span>   <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPmap32.html#a2">Init</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classPmap.html#p0">index</a>, <a class="code" href="CML__Utils_8h.html#a2">byte</a> <a class="code" href="classPmap.html#p1">sub</a>=0 ){