iomodule_8cpp-source.html

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<a name="l00337"></a>00337 <span class="comment"></span>
<a name="l00338"></a>00338 <span class="comment">  If a PDO transfer is requested, but is not possible because the module is</span>
<a name="l00339"></a>00339 <span class="comment">  not in an operational state, or because the output block isn't mapped to</span>
<a name="l00340"></a>00340 <span class="comment">  the PDO, then an SDO transfer will be used.</span>
<a name="l00341"></a>00341 <span class="comment"></span>
<a name="l00342"></a>00342 <span class="comment">  @param id Identifies which group of outputs to write.</span>
<a name="l00343"></a>00343 <span class="comment">  @param value The new value of the output lines.</span>
<a name="l00344"></a>00344 <span class="comment">  @param viaSDO If true, the outputs will be written using SDO messages.</span>
<a name="l00345"></a>00345 <span class="comment">  If false (default), then a PDO will be used if possible.</span>
<a name="l00346"></a>00346 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00347"></a>00347 <span class="comment">  */</span>
<a name="l00348"></a>00348 <span class="comment">/***************************************************************************/</span>
<a name="l00349"></a><a class="code" href="classIOModule.html#z20_31">00349</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#z20_31">IOModule::Dout32Write</a>( <a class="code" href="CML__Utils_8h.html#a6">uint8</a> <span class="keywordtype">id</span>, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> value, <span class="keywordtype">bool</span> viaSDO )
<a name="l00350"></a>00350 {
<a name="l00351"></a>00351 <span class="preprocessor">#ifdef CML_ENABLE_IOMODULE_PDOS</span>
<a name="l00352"></a>00352 <span class="preprocessor"></span>   <span class="keywordflow">if</span>( <span class="keywordtype">id</span> &gt;= 63 )
<a name="l00353"></a>00353       viaSDO = <span class="keyword">true</span>;
<a name="l00354"></a>00354 
<a name="l00355"></a>00355    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a1">Update</a>( 4*<span class="keywordtype">id</span>, (<a class="code" href="CML__Utils_8h.html#a6">uint8</a>)value ) )
<a name="l00356"></a>00356       viaSDO = <span class="keyword">true</span>;
<a name="l00357"></a>00357 
<a name="l00358"></a>00358    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a1">Update</a>( 4*<span class="keywordtype">id</span>+1, (<a class="code" href="CML__Utils_8h.html#a6">uint8</a>)(value&gt;&gt;8) ) )
<a name="l00359"></a>00359       viaSDO = <span class="keyword">true</span>;
<a name="l00360"></a>00360 
<a name="l00361"></a>00361    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a1">Update</a>( 4*<span class="keywordtype">id</span>+2, (<a class="code" href="CML__Utils_8h.html#a6">uint8</a>)(value&gt;&gt;16) ) )
<a name="l00362"></a>00362       viaSDO = <span class="keyword">true</span>;
<a name="l00363"></a>00363 
<a name="l00364"></a>00364    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a1">Update</a>( 4*<span class="keywordtype">id</span>+3, (<a class="code" href="CML__Utils_8h.html#a6">uint8</a>)(value&gt;&gt;24) ) )
<a name="l00365"></a>00365       viaSDO = <span class="keyword">true</span>;
<a name="l00366"></a>00366 
<a name="l00367"></a>00367    <span class="comment">// Output this using a PDO if requested and possible</span>
<a name="l00368"></a>00368    <span class="keywordflow">if</span>( (!viaSDO) &amp;&amp; (<a class="code" href="classNode.html#a20">GetState</a>() == <a class="code" href="CML__Node_8h.html#a9a5">NODESTATE_OPERATIONAL</a>) )
<a name="l00369"></a>00369       <span class="keywordflow">return</span> <a class="code" href="classIOModule.html#p3">doutPDO</a>.<a class="code" href="classIOModule_1_1DigOutPDO.html#a3">Transmit</a>();
<a name="l00370"></a>00370 
<a name="l00371"></a>00371    <span class="keywordflow">else</span>
<a name="l00372"></a>00372 <span class="preprocessor">#endif</span>
<a name="l00373"></a>00373 <span class="preprocessor"></span>      <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( <a class="code" href="CML__IO_8h.html#a90a40">IOOBJID_DOUT_32_VALUE</a>, <span class="keywordtype">id</span>+1, value );
<a name="l00374"></a>00374 }
<a name="l00375"></a>00375 
<a name="l00376"></a>00376 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00377"></a>00377 <span class="comment">/**</span>
<a name="l00378"></a>00378 <span class="comment">  Write to a 16-bit analog output.  Since 16-bit outputs are mapped to the</span>
<a name="l00379"></a>00379 <span class="comment">  default PDOs of the I/O module, these outputs may be written using either</span>
<a name="l00380"></a>00380 <span class="comment">  PDOs or SDOs.  </span>
<a name="l00381"></a>00381 <span class="comment"></span>
<a name="l00382"></a>00382 <span class="comment">  @param id The analog input channel ID</span>
<a name="l00383"></a>00383 <span class="comment">  @param value The value to write.</span>
<a name="l00384"></a>00384 <span class="comment">  @param viaSDO If true, the outputs will be written using SDO messages.</span>
<a name="l00385"></a>00385 <span class="comment">  If false (default), then a PDO will be used if possible.</span>
<a name="l00386"></a>00386 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00387"></a>00387 <span class="comment">  */</span>
<a name="l00388"></a>00388 <span class="comment">/***************************************************************************/</span>
<a name="l00389"></a><a class="code" href="classIOModule.html#z22_3">00389</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#z22_3">IOModule::Aout16Write</a>( <a class="code" href="CML__Utils_8h.html#a6">uint8</a> <span class="keywordtype">id</span>, <a class="code" href="CML__Utils_8h.html#a7">int16</a> value, <span class="keywordtype">bool</span> viaSDO )
<a name="l00390"></a>00390 {
<a name="l00391"></a>00391 <span class="preprocessor">#ifdef CML_ENABLE_IOMODULE_PDOS</span>
<a name="l00392"></a>00392 <span class="preprocessor"></span>   <span class="comment">// Update the local copies stored by the PDOs regardless of whether</span>
<a name="l00393"></a>00393    <span class="comment">// we are using the PDO for output.  This keeps me synchronized.</span>
<a name="l00394"></a>00394    <span class="keywordtype">int</span> pdo = -1;
<a name="l00395"></a>00395    <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;3; i++ )
<a name="l00396"></a>00396    {
<a name="l00397"></a>00397       <span class="keywordflow">if</span>( <a class="code" href="classIOModule.html#p5">aoutPDO</a>[i].<a class="code" href="classIOModule_1_1AlgOutPDO.html#a1">Update</a>( <span class="keywordtype">id</span>, value ) )
<a name="l00398"></a>00398     pdo = i;
<a name="l00399"></a>00399    }
<a name="l00400"></a>00400 
<a name="l00401"></a>00401    <span class="comment">// Output this using a PDO if requested and possible</span>
<a name="l00402"></a>00402    <span class="keywordflow">if</span>( (!viaSDO) &amp;&amp; (pdo&gt;=0) &amp;&amp; (<a class="code" href="classNode.html#a20">GetState</a>() == <a class="code" href="CML__Node_8h.html#a9a5">NODESTATE_OPERATIONAL</a>) )
<a name="l00403"></a>00403       <span class="keywordflow">return</span> <a class="code" href="classIOModule.html#p5">aoutPDO</a>[pdo].<a class="code" href="classIOModule_1_1AlgOutPDO.html#a2">Transmit</a>();
<a name="l00404"></a>00404 
<a name="l00405"></a>00405    <span class="keywordflow">else</span>
<a name="l00406"></a>00406 <span class="preprocessor">#endif</span>
<a name="l00407"></a>00407 <span class="preprocessor"></span>      <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( <a class="code" href="CML__IO_8h.html#a90a51">IOOBJID_AOUT_16_VALUE</a>, <span class="keywordtype">id</span>+1, value );
<a name="l00408"></a>00408 }
<a name="l00409"></a>00409 
<a name="l00410"></a>00410 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00411"></a>00411 <span class="comment">/**</span>
<a name="l00412"></a>00412 <span class="comment">  Read a single digital input.</span>
<a name="l00413"></a>00413 <span class="comment"></span>
<a name="l00414"></a>00414 <span class="comment">  @param id Identifies the digital input to read.</span>
<a name="l00415"></a>00415 <span class="comment">  @param value The value of the input.</span>
<a name="l00416"></a>00416 <span class="comment">  @param viaSDO If true, an SDO will be used to read the input pin.  If false</span>
<a name="l00417"></a>00417 <span class="comment">  (default), the latest value returned via PDO will be returned, if</span>
<a name="l00418"></a>00418 <span class="comment">  available.</span>
<a name="l00419"></a>00419 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00420"></a>00420 <span class="comment">  */</span>
<a name="l00421"></a>00421 <span class="comment">/***************************************************************************/</span>
<a name="l00422"></a><a class="code" href="classIOModule.html#z19_3">00422</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#z19_3">IOModule::DinRead</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> &amp;value, <span class="keywordtype">bool</span> viaSDO )
<a name="l00423"></a>00423 {
<a name="l00424"></a>00424 <span class="preprocessor">#ifdef CML_ENABLE_IOMODULE_PDOS</span>
<a name="l00425"></a>00425 <span class="preprocessor"></span>   <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p1">dinIntEna</a> || !<a class="code" href="classIOModule.html#p4">dinPDO</a>.<a class="code" href="classIOModule_1_1DigInPDO.html#a2">GetBitVal</a>( <span class="keywordtype">id</span>, value ) )
<a name="l00426"></a>00426       viaSDO = <span class="keyword">true</span>;
<a name="l00427"></a>00427 
<a name="l00428"></a>00428    <span class="keywordflow">if</span>( (!viaSDO) &amp;&amp; (<a class="code" href="classNode.html#a20">GetState</a>()==<a class="code" href="CML__Node_8h.html#a9a5">NODESTATE_OPERATIONAL</a>) )
<a name="l00429"></a>00429       <span class="keywordflow">return</span> 0;
<a name="l00430"></a>00430 
<a name="l00431"></a>00431    <span class="keywordflow">else</span>
<a name="l00432"></a>00432 <span class="preprocessor">#endif</span>
<a name="l00433"></a>00433 <span class="preprocessor"></span>      <span class="keywordflow">return</span> <a class="code" href="classIOModule.html#b0">BitUpld</a>(<a class="code" href="CML__IO_8h.html#a90a7">IOOBJID_DIN_1_VALUE</a>, <span class="keywordtype">id</span>, value );
<a name="l00434"></a>00434 }
<a name="l00435"></a>00435 
<a name="l00436"></a>00436 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00437"></a>00437 <span class="comment">/**</span>
<a name="l00438"></a>00438 <span class="comment">  Read a group of 8 digital inputs.  </span>
<a name="l00439"></a>00439 <span class="comment">  @param id Identifies which group of 8 inputs to read.  </span>
<a name="l00440"></a>00440 <span class="comment">  @param value The value of the 8 input lines is returned here.</span>
<a name="l00441"></a>00441 <span class="comment">  @param viaSDO If true, read the inputs using SDO transfers.  If false</span>
<a name="l00442"></a>00442 <span class="comment">  (default) use the most recently received PDO data if this input</span>
<a name="l00443"></a>00443 <span class="comment">  group is mapped to a transmit PDO and the PDO is active.</span>
<a name="l00444"></a>00444 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00445"></a>00445 <span class="comment">  */</span>
<a name="l00446"></a>00446 <span class="comment">/***************************************************************************/</span>
<a name="l00447"></a><a class="code" href="classIOModule.html#z19_15">00447</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#z19_15">IOModule::Din8Read</a>( <a class="code" href="CML__Utils_8h.html#a6">uint8</a> <span class="keywordtype">id</span>, <a class="code" href="CML__Utils_8h.html#a6">uint8</a> &amp;value, <span class="keywordtype">bool</span> viaSDO )
<a name="l00448"></a>00448 {
<a name="l00449"></a>00449 <span class="preprocessor">#ifdef CML_ENABLE_IOMODULE_PDOS</span>
<a name="l00450"></a>00450 <span class="preprocessor"></span>   <span class="keywordflow">if</span>( !<a class="code" href="classIOModule.html#p1">dinIntEna</a> || !<a class="code" href="classIOModule.html#p4">dinPDO</a>.<a class="code" href="classIOModule_1_1DigInPDO.html#a1">GetInVal</a>( <span class="keywordtype">id</span>, value ) )
<a name="l00451"></a>00451       viaSDO = <span class="keyword">true</span>;