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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: CML_IO.h Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000001.html">inc</a></div><h1>CML_IO.h</h1><a href="CML__IO_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file </span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment"> Standard CANopen I/O module support.</span><a name="l00015"></a>00015 <span class="comment"></span><a name="l00016"></a>00016 <span class="comment">*/</span><a name="l00017"></a>00017 <a name="l00018"></a>00018 <span class="preprocessor">#ifndef _DEF_INC_IO</span><a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_IO</span><a name="l00020"></a>00020 <span class="preprocessor"></span><a name="l00021"></a>00021 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00022"></a>00022 <span class="preprocessor">#include "<a class="code" href="CML__Node_8h.html">CML_Node.h</a>"</span><a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="CML__PDO_8h.html">CML_PDO.h</a>"</span><a name="l00024"></a>00024 <a name="l00025"></a>00025 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00026"></a>00026 <a name="l00027"></a>00027 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00028"></a>00028 <span class="comment">/**</span><a name="l00029"></a>00029 <span class="comment"> I/O module errors. This class is used to represent errors that may be returned</span><a name="l00030"></a>00030 <span class="comment"> by a standard I/O module.</span><a name="l00031"></a>00031 <span class="comment"> */</span><a name="l00032"></a>00032 <span class="comment">/***************************************************************************/</span><a name="l00033"></a><a class="code" href="classIOError.html">00033</a> class <a class="code" href="classIOError.html">IOError</a>: public <a class="code" href="classNodeError.html">NodeError</a><a name="l00034"></a>00034 {<a name="l00035"></a>00035 <span class="keyword">public</span>:<a name="l00036"></a><a class="code" href="classIOError.html#s0">00036</a> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classIOError.html">IOError</a> BadID; <span class="comment">///< The passed digital I/O pin ID number is invalid</span><a name="l00037"></a><a class="code" href="classIOError.html#s1">00037</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classIOError.html">IOError</a> BadIOCount; <span class="comment">///< The number of passed I/O ID blocks is invalid</span><a name="l00038"></a>00038 <span class="comment"></span><a name="l00039"></a>00039 <span class="keyword">protected</span>:<span class="comment"></span><a name="l00040"></a>00040 <span class="comment"> /// Standard protected constructor</span><a name="l00041"></a><a class="code" href="classIOError.html#b0">00041</a> <span class="comment"></span> <a class="code" href="classIOError.html">IOError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): NodeError( id, desc ){}<a name="l00042"></a>00042 };<a name="l00043"></a>00043 <a name="l00044"></a>00044 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00045"></a>00045 <span class="comment">/**</span><a name="l00046"></a>00046 <span class="comment"> Object dictionary ID values used on standard I/O modules.</span><a name="l00047"></a>00047 <span class="comment"> */</span><a name="l00048"></a>00048 <span class="comment">/***************************************************************************/</span><a name="l00049"></a><a class="code" href="CML__IO_8h.html#a90">00049</a> <span class="keyword">enum</span> <a class="code" href="CML__IO_8h.html#a90">IO_OBJID</a><a name="l00050"></a>00050 {<a name="l00051"></a>00051 <a class="code" href="CML__IO_8h.html#a90a0">IOOBJID_DIN_8_VALUE</a> = 0x6000, <span class="comment">///< 8-bit digital input value </span><a name="l00052"></a>00052 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a1">IOOBJID_DIN_8_POL</a> = 0x6002, <span class="comment">///< 8-bit digital input polarity</span><a name="l00053"></a>00053 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a2">IOOBJID_DIN_8_FILT</a> = 0x6003, <span class="comment">///< 8-bit digital input filter constant</span><a name="l00054"></a>00054 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a3">IOOBJID_DIN_INTENA</a> = 0x6005, <span class="comment">///< Digital input interrupt enable</span><a name="l00055"></a>00055 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a4">IOOBJID_DIN_8_MASK_ANY</a> = 0x6006, <span class="comment">///< 8-bit digital input int mask, any change</span><a name="l00056"></a>00056 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a5">IOOBJID_DIN_8_MASK_L2H</a> = 0x6007, <span class="comment">///< 8-bit digital input int mask, low to high</span><a name="l00057"></a>00057 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a6">IOOBJID_DIN_8_MASK_H2L</a> = 0x6008, <span class="comment">///< 8-bit digital input int mask, high to low</span><a name="l00058"></a>00058 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a7">IOOBJID_DIN_1_VALUE</a> = 0x6020, <span class="comment">///< 1-bit digital input value</span><a name="l00059"></a>00059 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a8">IOOBJID_DIN_1_POL</a> = 0x6030, <span class="comment">///< 1-bit digital input polarity</span><a name="l00060"></a>00060 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a9">IOOBJID_DIN_1_FILT</a> = 0x6038, <span class="comment">///< 1-bit digital input filter constant</span><a name="l00061"></a>00061 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a10">IOOBJID_DIN_1_MASK_ANY</a> = 0x6050, <span class="comment">///< 1-bit digital input int mask, any change</span><a name="l00062"></a>00062 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a11">IOOBJID_DIN_1_MASK_L2H</a> = 0x6060, <span class="comment">///< 1-bit digital input int mask, low to high</span><a name="l00063"></a>00063 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a12">IOOBJID_DIN_1_MASK_H2L</a> = 0x6070, <span class="comment">///< 1-bit digital input int mask, high to low</span><a name="l00064"></a>00064 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a13">IOOBJID_DIN_16_VALUE</a> = 0x6100, <span class="comment">///< 16-bit digital input value</span><a name="l00065"></a>00065 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a14">IOOBJID_DIN_16_POL</a> = 0x6102, <span class="comment">///< 16-bit digital input polarity</span><a name="l00066"></a>00066 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a15">IOOBJID_DIN_16_FILT</a> = 0x6103, <span class="comment">///< 16-bit digital input filter constant</span><a name="l00067"></a>00067 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a16">IOOBJID_DIN_16_MASK_ANY</a> = 0x6106, <span class="comment">///< 16-bit digital input int mask, any change</span><a name="l00068"></a>00068 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a17">IOOBJID_DIN_16_MASK_L2H</a> = 0x6107, <span class="comment">///< 16-bit digital input int mask, low to high</span><a name="l00069"></a>00069 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a18">IOOBJID_DIN_16_MASK_H2L</a> = 0x6108, <span class="comment">///< 16-bit digital input int mask, high to low</span><a name="l00070"></a>00070 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a19">IOOBJID_DIN_32_VALUE</a> = 0x6120, <span class="comment">///< 32-bit digital input value</span><a name="l00071"></a>00071 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a20">IOOBJID_DIN_32_POL</a> = 0x6122, <span class="comment">///< 32-bit digital input polarity</span><a name="l00072"></a>00072 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a21">IOOBJID_DIN_32_FILT</a> = 0x6123, <span class="comment">///< 32-bit digital input filter constant</span><a name="l00073"></a>00073 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a22">IOOBJID_DIN_32_MASK_ANY</a> = 0x6126, <span class="comment">///< 32-bit digital input int mask, any change</span><a name="l00074"></a>00074 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a23">IOOBJID_DIN_32_MASK_L2H</a> = 0x6127, <span class="comment">///< 32-bit digital input int mask, low to high</span><a name="l00075"></a>00075 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a24">IOOBJID_DIN_32_MASK_H2L</a> = 0x6128, <span class="comment">///< 32-bit digital input int mask, high to low</span><a name="l00076"></a>00076 <span class="comment"></span><a name="l00077"></a>00077 <a class="code" href="CML__IO_8h.html#a90a25">IOOBJID_DOUT_8_VALUE</a> = 0x6200, <span class="comment">///< 8-bit digital output value</span><a name="l00078"></a>00078 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a26">IOOBJID_DOUT_8_POL</a> = 0x6202, <span class="comment">///< 8-bit digital output polarity</span><a name="l00079"></a>00079 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a27">IOOBJID_DOUT_8_ERRMODE</a> = 0x6206, <span class="comment">///< 8-bit digital output error mode</span><a name="l00080"></a>00080 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a28">IOOBJID_DOUT_8_ERRVAL</a> = 0x6207, <span class="comment">///< 8-bit digital output error value</span><a name="l00081"></a>00081 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a29">IOOBJID_DOUT_8_FILT</a> = 0x6208, <span class="comment">///< 8-bit digital output filter mask</span><a name="l00082"></a>00082 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a30">IOOBJID_DOUT_1_VALUE</a> = 0x6220, <span class="comment">///< 1-bit digital output value</span><a name="l00083"></a>00083 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a31">IOOBJID_DOUT_1_POL</a> = 0x6240, <span class="comment">///< 1-bit digital output polarity</span><a name="l00084"></a>00084 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a32">IOOBJID_DOUT_1_ERRMODE</a> = 0x6250, <span class="comment">///< 1-bit digital output error mode</span><a name="l00085"></a>00085 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a33">IOOBJID_DOUT_1_ERRVAL</a> = 0x6260, <span class="comment">///< 1-bit digital output error value</span><a name="l00086"></a>00086 <span class="comment"></span> <a class="code" href="CML__IO_8h.html#a90a34">IOOBJID_DOUT_1_FILT</a> = 0x6270, <span class="comment">///< 1-bit digital output filter 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