cml__sdo_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00087"></a><a class="code" href="classSDO__Error.html#s5">00087</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s5">Block_seq</a>;<span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">   /// SDO Abort - Block CRC error</span>
<a name="l00089"></a><a class="code" href="classSDO__Error.html#s6">00089</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s6">Block_crc</a>;<span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment">   /// SDO Abort - Memory allocation failure</span>
<a name="l00091"></a><a class="code" href="classSDO__Error.html#s7">00091</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s7">Memory</a>;<span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment">   /// SDO Abort - Access mode error</span>
<a name="l00093"></a><a class="code" href="classSDO__Error.html#s8">00093</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s8">Access</a>;<span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment">   /// SDO Abort - Object is write only</span>
<a name="l00095"></a><a class="code" href="classSDO__Error.html#s9">00095</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s9">Writeonly</a>;<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">   /// SDO Abort - Object is read only</span>
<a name="l00097"></a><a class="code" href="classSDO__Error.html#s10">00097</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s10">Readonly</a>;<span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment">   /// SDO Abort - Bad object specified</span>
<a name="l00099"></a><a class="code" href="classSDO__Error.html#s11">00099</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s11">Bad_object</a>;<span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment">   /// SDO Abort - PDO Mapping error</span>
<a name="l00101"></a><a class="code" href="classSDO__Error.html#s12">00101</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s12">Pdo_map</a>;<span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">   /// SDO Abort - PDO Length error</span>
<a name="l00103"></a><a class="code" href="classSDO__Error.html#s13">00103</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s13">Pdo_length</a>;<span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment">   /// SDO Abort - Bad parameter</span>
<a name="l00105"></a><a class="code" href="classSDO__Error.html#s14">00105</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s14">Bad_param</a>;<span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment">   /// SDO Abort - Incompatible error</span>
<a name="l00107"></a><a class="code" href="classSDO__Error.html#s15">00107</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s15">Incompatible</a>;<span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment">   /// SDO Abort - Hardware error</span>
<a name="l00109"></a><a class="code" href="classSDO__Error.html#s16">00109</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s16">Hardware</a>;<span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment">   /// SDO Abort - Bad length specified</span>
<a name="l00111"></a><a class="code" href="classSDO__Error.html#s17">00111</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s17">Bad_length</a>;<span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment">   /// SDO Abort - Data too long for object</span>
<a name="l00113"></a><a class="code" href="classSDO__Error.html#s18">00113</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s18">Too_long</a>;<span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment">   /// SDO Abort - Data too short for object</span>
<a name="l00115"></a><a class="code" href="classSDO__Error.html#s19">00115</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s19">Too_short</a>;<span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment">   /// SDO Abort - Subindex is invalid</span>
<a name="l00117"></a><a class="code" href="classSDO__Error.html#s20">00117</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s20">Subindex</a>;<span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment">   /// SDO Abort - Parameter range error</span>
<a name="l00119"></a><a class="code" href="classSDO__Error.html#s21">00119</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s21">Param_range</a>;<span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment">   /// SDO Abort - Parameter too high</span>
<a name="l00121"></a><a class="code" href="classSDO__Error.html#s22">00121</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s22">Param_high</a>;<span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment">   /// SDO Abort - Parameter too low</span>
<a name="l00123"></a><a class="code" href="classSDO__Error.html#s23">00123</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s23">Param_low</a>;<span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment">   /// SDO Abort - Max less then min</span>
<a name="l00125"></a><a class="code" href="classSDO__Error.html#s24">00125</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s24">Min_max</a>;<span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment">   /// SDO Abort - General error</span>
<a name="l00127"></a><a class="code" href="classSDO__Error.html#s25">00127</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s25">General</a>;<span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment">   /// SDO Abort - Transfer error</span>
<a name="l00129"></a><a class="code" href="classSDO__Error.html#s26">00129</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s26">Transfer</a>;<span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment">   /// SDO Abort - Local transfer error</span>
<a name="l00131"></a><a class="code" href="classSDO__Error.html#s27">00131</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s27">Transfer_Local</a>;<span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment">   /// SDO Abort - Transfer state error</span>
<a name="l00133"></a><a class="code" href="classSDO__Error.html#s28">00133</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s28">Transfer_State</a>;<span class="comment"></span>
<a name="l00134"></a>00134 <span class="comment">   /// SDO Abort - Object dictionary generation failure</span>
<a name="l00135"></a><a class="code" href="classSDO__Error.html#s29">00135</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s29">OD_Gen_Fail</a>;<span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment">   /// SDO Abort - Unknown abort code</span>
<a name="l00137"></a><a class="code" href="classSDO__Error.html#s30">00137</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classSDO__Error.html">SDO_Error</a> <a class="code" href="classSDO__Error.html#s30">Unknown</a>;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">   /// Standard protected constructor</span>
<a name="l00141"></a><a class="code" href="classSDO__Error.html#b0">00141</a> <span class="comment"></span>   <a class="code" href="classSDO__Error.html#b0">SDO_Error</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 ): <a class="code" href="classCanOpenError.html">CanOpenError</a>( id, desc ){}
<a name="l00142"></a>00142 };
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment">/**</span>
<a name="l00146"></a>00146 <span class="comment">CANopen Service Data Object (SDO).  This class represents the state of a</span>
<a name="l00147"></a>00147 <span class="comment">CANopen SDO object.  SDO objects are used to access the values in the object</span>
<a name="l00148"></a>00148 <span class="comment">dictionary on a node.  This class handles the low level protocol details of</span>
<a name="l00149"></a>00149 <span class="comment">an SDO connection.</span>
<a name="l00150"></a>00150 <span class="comment">*/</span>
<a name="l00151"></a>00151 <span class="comment">/***************************************************************************/</span>
<a name="l00152"></a><a class="code" href="classSDO.html">00152</a> <span class="keyword">class </span><a class="code" href="classSDO.html">SDO</a>: <span class="keyword">public</span> <a class="code" href="classReceiver.html">Receiver</a>
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 <span class="keyword">public</span>:
<a name="l00155"></a><a class="code" href="classSDO.html#a0">00155</a>    <a class="code" href="classSDO.html#a0">SDO</a>(){}
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment">   /// Virtual destructor</span>
<a name="l00158"></a><a class="code" href="classSDO.html#a1">00158</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="classSDO.html#a1">~SDO</a>(){}
<a name="l00159"></a>00159 
<a name="l00160"></a>00160    <a class="code" href="classSDO.html#a0">SDO</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;canOpen, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> xmit, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> recv, <a class="code" href="CML__Utils_8h.html#a9">int32</a> to=2000 );
<a name="l00161"></a>00161 
<a name="l00162"></a>00162    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a3">Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;canOpen, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> xmit, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> recv, <a class="code" href="CML__Utils_8h.html#a9">int32</a> to=2000 );
<a name="l00163"></a>00163 
<a name="l00164"></a>00164    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a4">Download</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data );
<a name="l00165"></a>00165    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a5">Upload</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> &amp;size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data );
<a name="l00166"></a>00166 
<a name="l00167"></a>00167    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a6">BlockDnld</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data );
<a name="l00168"></a>00168    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a7">BlockUpld</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> &amp;size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data );
<a name="l00169"></a>00169 
<a name="l00170"></a>00170    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a8">Dnld32</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> data );
<a name="l00171"></a>00171    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a9">Upld32</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> &amp;data );
<a name="l00172"></a>00172    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a10">Dnld16</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> data );
<a name="l00173"></a>00173    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a11">Upld16</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> &amp;data );
<a name="l00174"></a>00174    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a12">Dnld8</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a6">uint8</a> data );
<a name="l00175"></a>00175    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a13">Upld8</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a6">uint8</a> &amp;data );
<a name="l00176"></a>00176    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a14">DnldString</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <span class="keywordtype">char</span> *data );
<a name="l00177"></a>00177    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a15">UpldString</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> &amp;len, <span class="keywordtype">char</span> *data );
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment">   /// Download data using this SDO.  The passed array of data is downloaded to the</span>
<a name="l00180"></a>00180 <span class="comment">   /// object dictionary of a node on the CANopen network using this SDO.</span>
<a name="l00181"></a>00181 <span class="comment">   /// @param index The index of the object to be downloaded.</span>