iomodule_8cpp-source.html

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<a name="l00107"></a>00107    <span class="comment">// the PDO objects.</span>
<a name="l00108"></a>00108    err = <a class="code" href="classNode.html#a17">PreOpNode</a>();
<a name="l00109"></a>00109    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00110"></a>00110 
<a name="l00111"></a>00111    <span class="comment">// Check to see if analog &amp; digital interrupts are enabled.</span>
<a name="l00112"></a>00112    <span class="comment">// On error, just assume they are</span>
<a name="l00113"></a>00113    <span class="keywordflow">if</span>( <a class="code" href="classIOModule.html#z19_0">DinGetIntEna</a>( <a class="code" href="classIOModule.html#p1">dinIntEna</a> ) ) <a class="code" href="classIOModule.html#p1">dinIntEna</a> = <span class="keyword">true</span>;
<a name="l00114"></a>00114    <span class="keywordflow">if</span>( <a class="code" href="classIOModule.html#z21_16">AinGetIntEna</a>( <a class="code" href="classIOModule.html#p2">ainIntEna</a> ) ) <a class="code" href="classIOModule.html#p2">ainIntEna</a> = <span class="keyword">true</span>;
<a name="l00115"></a>00115 
<a name="l00116"></a>00116 <span class="preprocessor">#ifdef CML_ENABLE_IOMODULE_PDOS</span>
<a name="l00117"></a>00117 <span class="preprocessor"></span>   <span class="comment">// Check the number of 8-bit digital output blocks.  If this is</span>
<a name="l00118"></a>00118    <span class="comment">// more then zero then I'll map them (up to 8) to the first </span>
<a name="l00119"></a>00119    <span class="comment">// receive PDO.  Note that I don't check errors here.  If this</span>
<a name="l00120"></a>00120    <span class="comment">// fails the count will come back as zero.</span>
<a name="l00121"></a>00121    <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ct;
<a name="l00122"></a>00122    <a class="code" href="classIOModule.html#z20_10">Dout8GetCt</a>( ct );
<a name="l00123"></a>00123 
<a name="l00124"></a>00124    <span class="keywordflow">if</span>( ct &amp;&amp; settings.<a class="code" href="structIOModuleSettings.html#o5">useStandardDoutPDO</a> )
<a name="l00125"></a>00125    {
<a name="l00126"></a>00126       <span class="keywordflow">if</span>( ct &gt; 8 ) ct = 8;
<a name="l00127"></a>00127 
<a name="l00128"></a>00128       <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ids[8];
<a name="l00129"></a>00129       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;ct; i++ ) ids[i] = i;
<a name="l00130"></a>00130 
<a name="l00131"></a>00131       err = <a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a0">Init</a>( <span class="keyword">this</span>, <a class="code" href="classNode.html#a36">GetRpdoCobID</a>(0), ct, ids );
<a name="l00132"></a>00132 
<a name="l00133"></a>00133       <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a8">PdoSet</a>( 0, <a class="code" href="classIOModule.html#p3">doutPDO</a> );
<a name="l00134"></a>00134       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00135"></a>00135    }
<a name="l00136"></a>00136 
<a name="l00137"></a>00137    <span class="comment">// Map up to 12 16-bit analog outputs to PDOs.  These are the</span>
<a name="l00138"></a>00138    <span class="comment">// standard analog output PDOs defined by the spec.</span>
<a name="l00139"></a>00139    <span class="keywordflow">if</span>( settings.<a class="code" href="structIOModuleSettings.html#o7">useStandardAoutPDO</a> )
<a name="l00140"></a>00140    {
<a name="l00141"></a>00141       <a class="code" href="classIOModule.html#z22_2">Aout16GetCt</a>( ct );
<a name="l00142"></a>00142 
<a name="l00143"></a>00143       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> n=0; n&lt;3 &amp;&amp; ct&gt;0; n++ )
<a name="l00144"></a>00144       {
<a name="l00145"></a>00145     <a class="code" href="CML__Utils_8h.html#a6">uint8</a> map = ct;
<a name="l00146"></a>00146     <span class="keywordflow">if</span>( map &gt; 4 ) map = 4;
<a name="l00147"></a>00147     ct -= map;
<a name="l00148"></a>00148 
<a name="l00149"></a>00149     <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ids[4];
<a name="l00150"></a>00150     <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;map; i++ ) ids[i] = 4*n+i;
<a name="l00151"></a>00151 
<a name="l00152"></a>00152     err = <a class="code" href="classIOModule.html#p5">aoutPDO</a>[n].<a class="code" href="classIOModule_1_1AlgOutPDO.html#a0">Init</a>( <span class="keyword">this</span>, <a class="code" href="classNode.html#a36">GetRpdoCobID</a>(n+1), map, ids );
<a name="l00153"></a>00153 
<a name="l00154"></a>00154     <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a8">PdoSet</a>( n+1, <a class="code" href="classIOModule.html#p5">aoutPDO</a>[n] );
<a name="l00155"></a>00155     <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00156"></a>00156       }
<a name="l00157"></a>00157    }
<a name="l00158"></a>00158 
<a name="l00159"></a>00159    <span class="comment">// Check the number of 8-bit digital input blocks.  If this is</span>
<a name="l00160"></a>00160    <span class="comment">// more then zero then I'll map them (up to 8) to the first </span>
<a name="l00161"></a>00161    <span class="comment">// transmit PDO.  Note that I don't check errors here.  If this</span>
<a name="l00162"></a>00162    <span class="comment">// fails the count will come back as zero.</span>
<a name="l00163"></a>00163    <a class="code" href="classIOModule.html#z19_14">Din8GetCt</a>( ct );
<a name="l00164"></a>00164    <span class="keywordflow">if</span>( ct &amp;&amp; settings.<a class="code" href="structIOModuleSettings.html#o4">useStandardDinPDO</a> )
<a name="l00165"></a>00165    {
<a name="l00166"></a>00166       <span class="keywordflow">if</span>( ct &gt; 8 ) ct = 8;
<a name="l00167"></a>00167 
<a name="l00168"></a>00168       <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ids[8];
<a name="l00169"></a>00169       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;ct; i++ ) ids[i] = i;
<a name="l00170"></a>00170 
<a name="l00171"></a>00171       err = <a class="code" href="classIOModule.html#p4">dinPDO</a>.<a class="code" href="classIOModule_1_1DigInPDO.html#a0">Init</a>( <span class="keyword">this</span>, <a class="code" href="classNode.html#a37">GetTpdoCobID</a>(0), ct, ids, <a class="code" href="CML__IO_8h.html#a92a86">IOEVENT_DIN_PDO0</a> );
<a name="l00172"></a>00172 
<a name="l00173"></a>00173       <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a8">PdoSet</a>( 0, <a class="code" href="classIOModule.html#p4">dinPDO</a> );
<a name="l00174"></a>00174       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00175"></a>00175    }
<a name="l00176"></a>00176 
<a name="l00177"></a>00177    <span class="comment">// Map up to 12 16-bit analog inputs to PDOs.  These are the</span>
<a name="l00178"></a>00178    <span class="comment">// standard analog input PDOs defined by the spec.</span>
<a name="l00179"></a>00179    <span class="keywordflow">if</span>( settings.<a class="code" href="structIOModuleSettings.html#o6">useStandardAinPDO</a> )
<a name="l00180"></a>00180    {
<a name="l00181"></a>00181       <a class="code" href="classIOModule.html#z21_2">Ain16GetCt</a>( ct );
<a name="l00182"></a>00182 
<a name="l00183"></a>00183       <span class="keywordflow">for</span>( <span class="keywordtype">int</span> n=0; n&lt;3 &amp;&amp; ct&gt;0; n++ )
<a name="l00184"></a>00184       {
<a name="l00185"></a>00185     <a class="code" href="CML__Utils_8h.html#a6">uint8</a> map = ct;
<a name="l00186"></a>00186     <span class="keywordflow">if</span>( map &gt; 4 ) map = 4;
<a name="l00187"></a>00187     ct -= map;
<a name="l00188"></a>00188 
<a name="l00189"></a>00189     <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ids[4];
<a name="l00190"></a>00190     <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;map; i++ ) ids[i] = 4*n+i;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192     err = <a class="code" href="classIOModule.html#p6">ainPDO</a>[n].<a class="code" href="classIOModule_1_1AlgInPDO.html#a0">Init</a>( <span class="keyword">this</span>, <a class="code" href="classNode.html#a37">GetTpdoCobID</a>(n+1), map, ids, 
<a name="l00193"></a>00193                           (<a class="code" href="CML__IO_8h.html#a92">IOMODULE_EVENTS</a>)(<a class="code" href="CML__IO_8h.html#a92a87">IOEVENT_AIN_PDO0</a>&lt;&lt;n) );
<a name="l00194"></a>00194 
<a name="l00195"></a>00195     <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a8">PdoSet</a>( n+1, <a class="code" href="classIOModule.html#p6">ainPDO</a>[n] );
<a name="l00196"></a>00196     <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00197"></a>00197       }
<a name="l00198"></a>00198    }
<a name="l00199"></a>00199 <span class="preprocessor">#endif</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span>
<a name="l00201"></a>00201    <span class="comment">// Setup heartbeat or node guarding</span>
<a name="l00202"></a>00202    <span class="keywordflow">if</span>( settings.<a class="code" href="structIOModuleSettings.html#o0">heartbeatPeriod</a> )
<a name="l00203"></a>00203       err = <a class="code" href="classNode.html#a4">StartHeartbeat</a>( settings.<a class="code" href="structIOModuleSettings.html#o0">heartbeatPeriod</a>, settings.<a class="code" href="structIOModuleSettings.html#o1">heartbeatTimeout</a> );
<a name="l00204"></a>00204 
<a name="l00205"></a>00205    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( settings.<a class="code" href="structIOModuleSettings.html#o2">guardTime</a> &amp;&amp; settings.<a class="code" href="structIOModuleSettings.html#o3">lifeFactor</a> )
<a name="l00206"></a>00206       err = <a class="code" href="classNode.html#a5">StartNodeGuard</a>( settings.<a class="code" href="structIOModuleSettings.html#o2">guardTime</a>, settings.<a class="code" href="structIOModuleSettings.html#o3">lifeFactor</a> );
<a name="l00207"></a>00207 
<a name="l00208"></a>00208    <span class="keywordflow">else</span>
<a name="l00209"></a>00209       err = <a class="code" href="classNode.html#a3">StopGuarding</a>();
<a name="l00210"></a>00210 
<a name="l00211"></a>00211    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00212"></a>00212 
<a name="l00213"></a>00213    <span class="comment">// Put the node into operational state </span>
<a name="l00214"></a>00214    <span class="keywordflow">return</span> <a class="code" href="classNode.html#a15">StartNode</a>();
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216 
<a name="l00217"></a>00217 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00218"></a>00218 <span class="comment">/**</span>
<a name="l00219"></a>00219 <span class="comment">  Write an individual digital output.</span>
<a name="l00220"></a>00220 <span class="comment"></span>
<a name="l00221"></a>00221 <span class="comment">  The output may be written either by SDO or by PDO.  The PDO method </span>