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<a name="l00277"></a><a class="code" href="structIOModuleSettings.html#o4">00277</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="structIOModuleSettings.html#o4">useStandardDinPDO</a>;
<a name="l00278"></a>00278 <span class="comment"></span>
<a name="l00279"></a>00279 <span class="comment">   /// Use the standard digital output PDO object.  If true (default) then</span>
<a name="l00280"></a>00280 <span class="comment">   /// a standard PDO object will be configured to transmit updated settings</span>
<a name="l00281"></a>00281 <span class="comment">   /// for the first 64 digital output pins when any of them are changed.</span>
<a name="l00282"></a>00282 <span class="comment">   /// If false, no such PDO will be configured.</span>
<a name="l00283"></a><a class="code" href="structIOModuleSettings.html#o5">00283</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="structIOModuleSettings.html#o5">useStandardDoutPDO</a>;
<a name="l00284"></a>00284 <span class="comment"></span>
<a name="l00285"></a>00285 <span class="comment">   /// Use the standard analog input PDO objects.  If true (default) then </span>
<a name="l00286"></a>00286 <span class="comment">   /// up to three standard PDO objects will be configured to read the </span>
<a name="l00287"></a>00287 <span class="comment">   /// first 12 16-bit analog input pins when they generate events.</span>
<a name="l00288"></a>00288 <span class="comment">   /// If false, then these PDOs will not be configured.</span>
<a name="l00289"></a><a class="code" href="structIOModuleSettings.html#o6">00289</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="structIOModuleSettings.html#o6">useStandardAinPDO</a>;
<a name="l00290"></a>00290 <span class="comment"></span>
<a name="l00291"></a>00291 <span class="comment">   /// Use the standard analog output PDO objects.  If true (default) then </span>
<a name="l00292"></a>00292 <span class="comment">   /// up to three standard PDO objects will be configured to transmit the</span>
<a name="l00293"></a>00293 <span class="comment">   /// analog output data for up to 12 16-bit analog outputs.</span>
<a name="l00294"></a>00294 <span class="comment">   /// If false, then these PDOs will not be configured.</span>
<a name="l00295"></a><a class="code" href="structIOModuleSettings.html#o7">00295</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="structIOModuleSettings.html#o7">useStandardAoutPDO</a>;
<a name="l00296"></a>00296 
<a name="l00297"></a><a class="code" href="structIOModuleSettings.html#a0">00297</a>    <a class="code" href="structIOModuleSettings.html#a0">IOModuleSettings</a>( <span class="keywordtype">void</span> )
<a name="l00298"></a>00298    {
<a name="l00299"></a>00299       <a class="code" href="structIOModuleSettings.html#o0">heartbeatPeriod</a>    = 0;
<a name="l00300"></a>00300       <a class="code" href="structIOModuleSettings.html#o1">heartbeatTimeout</a>   = 100;
<a name="l00301"></a>00301       <a class="code" href="structIOModuleSettings.html#o2">guardTime</a>          = 0;
<a name="l00302"></a>00302       <a class="code" href="structIOModuleSettings.html#o3">lifeFactor</a>         = 3;
<a name="l00303"></a>00303       <a class="code" href="structIOModuleSettings.html#o4">useStandardDinPDO</a>  = <span class="keyword">true</span>;
<a name="l00304"></a>00304       <a class="code" href="structIOModuleSettings.html#o5">useStandardDoutPDO</a> = <span class="keyword">true</span>;
<a name="l00305"></a>00305       <a class="code" href="structIOModuleSettings.html#o6">useStandardAinPDO</a>  = <span class="keyword">true</span>;
<a name="l00306"></a>00306       <a class="code" href="structIOModuleSettings.html#o7">useStandardAoutPDO</a> = <span class="keyword">true</span>;
<a name="l00307"></a>00307    }
<a name="l00308"></a>00308 };
<a name="l00309"></a>00309 
<a name="l00310"></a>00310 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00311"></a>00311 <span class="comment">/**</span>
<a name="l00312"></a>00312 <span class="comment">  Standard CANopen I/O module.  This class represents and I/O module device</span>
<a name="l00313"></a>00313 <span class="comment">  conforming to the DS401 CANopen specification.  The class may be extended</span>
<a name="l00314"></a>00314 <span class="comment">  to provide additional manufacturer specific features.</span>
<a name="l00315"></a>00315 <span class="comment"></span>
<a name="l00316"></a>00316 <span class="comment">  Note that the CANopen standard defines a very large number of parameters that</span>
<a name="l00317"></a>00317 <span class="comment">  may be used with a standard I/O module.  Of these, only a small subset are </span>
<a name="l00318"></a>00318 <span class="comment">  requred by the spec.  In practice, it seems that most of the major manufacturers</span>
<a name="l00319"></a>00319 <span class="comment">  of CANopen I/O modules only implement the minimum required by the spec.  The </span>
<a name="l00320"></a>00320 <span class="comment">  result is that many of the optional functions have not been tested with real </span>
<a name="l00321"></a>00321 <span class="comment">  hardware due to the lack of availability.  Please contact Copley Controls if</span>
<a name="l00322"></a>00322 <span class="comment">  you believe that you have found a problem with any of these functions.</span>
<a name="l00323"></a>00323 <span class="comment"></span>
<a name="l00324"></a>00324 <span class="comment">  For the typical I/O module, you can expect the following functionality to be</span>
<a name="l00325"></a>00325 <span class="comment">  supported based on the type of I/O the module supports:</span>
<a name="l00326"></a>00326 <span class="comment"></span>
<a name="l00327"></a>00327 <span class="comment">  Digital Inputs: Reading the inputs via PDO or SDO in groups of 8 should be </span>
<a name="l00328"></a>00328 <span class="comment">  supported.  Other features are optional.</span>
<a name="l00329"></a>00329 <span class="comment"></span>
<a name="l00330"></a>00330 <span class="comment">  Digital Outputs: Writing to the outputs via PDO or SDO in groups of 8 should</span>
<a name="l00331"></a>00331 <span class="comment">  be supported.  Other features are optional.</span>
<a name="l00332"></a>00332 <span class="comment"></span>
<a name="l00333"></a>00333 <span class="comment">  Analog Inputs: Reading 16-bit analog inputs via PDO or SDO is normally supported.  </span>
<a name="l00334"></a>00334 <span class="comment">  Other input sizes and features are optional.</span>
<a name="l00335"></a>00335 <span class="comment"></span>
<a name="l00336"></a>00336 <span class="comment">  Analog Outputs: Writing 16-bit analog outputs via PDO or SDO is normally supported.  </span>
<a name="l00337"></a>00337 <span class="comment">  Other output sizes and features are optional.</span>
<a name="l00338"></a>00338 <span class="comment">  */</span>
<a name="l00339"></a>00339 <span class="comment">/***************************************************************************/</span>
<a name="l00340"></a><a class="code" href="classIOModule.html">00340</a> <span class="keyword">class </span><a class="code" href="classIOModule.html">IOModule</a>: <span class="keyword">public</span> <a class="code" href="classNode.html">Node</a>
<a name="l00341"></a>00341 {
<a name="l00342"></a>00342 <span class="keyword">public</span>:
<a name="l00343"></a>00343    <a class="code" href="classIOModule.html#a0">IOModule</a>( <span class="keywordtype">void</span> );
<a name="l00344"></a>00344    <a class="code" href="classIOModule.html#a0">IOModule</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;<a class="code" href="classReceiver.html#p0">co</a>, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID );
<a name="l00345"></a>00345    <a class="code" href="classIOModule.html#a0">IOModule</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="structIOModuleSettings.html">IOModuleSettings</a> &amp;settings );
<a name="l00346"></a>00346    <span class="keyword">virtual</span> <a class="code" href="classIOModule.html#a3">~IOModule</a>();
<a name="l00347"></a>00347 
<a name="l00348"></a>00348    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a4">Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID );
<a name="l00349"></a>00349    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a4">Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="structIOModuleSettings.html">IOModuleSettings</a> &amp;settings );
<a name="l00350"></a>00350 
<a name="l00351"></a>00351    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a6">WaitIOEvent</a>( <a class="code" href="CML__IO_8h.html#a92">IOMODULE_EVENTS</a> event, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout=-1 );
<a name="l00352"></a>00352    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a6">WaitIOEvent</a>( <a class="code" href="classEvent.html">Event</a> &amp;e, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout, <a class="code" href="CML__IO_8h.html#a92">IOMODULE_EVENTS</a> &amp;match );
<a name="l00353"></a>00353 
<a name="l00354"></a>00354    <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00355"></a>00355 <span class="comment">   /** \name Digital input control</span>
<a name="l00356"></a>00356 <span class="comment"></span>
<a name="l00357"></a>00357 <span class="comment">     If the module contains digital inputs, these methods may be used to configure</span>
<a name="l00358"></a>00358 <span class="comment">     and read those inputs.  The inputs may be read and controlled individually, </span>
<a name="l00359"></a>00359 <span class="comment">     or in groups of 8, 16 or 32 inputs.</span>
<a name="l00360"></a>00360 <span class="comment"></span>
<a name="l00361"></a>00361 <span class="comment">     All I/O modules should support access to digital inputs in groups of 8.  </span>
<a name="l00362"></a>00362 <span class="comment">     Support for individual access or different groupings is optional under the </span>
<a name="l00363"></a>00363 <span class="comment">     spec.  If a particular device does not support such groupings, an attempt </span>
<a name="l00364"></a>00364 <span class="comment">     to use them should return an error code.</span>
<a name="l00365"></a>00365 <span class="comment"></span>
<a name="l00366"></a>00366 <span class="comment">     Each input pin or group of pins is assigned an ID number used to access it.</span>
<a name="l00367"></a>00367 <span class="comment">     When single inputs are accessed, these ID numbers range from 0 (the first input)</span>
<a name="l00368"></a>00368 <span class="comment">     to N-1 (the last input), where N is the total number of input pins available</span>
<a name="l00369"></a>00369 <span class="comment">     on the module.</span>
<a name="l00370"></a>00370 <span class="comment"></span>
<a name="l00371"></a>00371 <span class="comment">     When groups of inputs are accessed as a unit, the group is assigned a number.</span>