sdo_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00112"></a>00112 
<a name="l00113"></a>00113    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classReceiver.html#a3">Receiver::Init</a>( canOpen, recv );
<a name="l00114"></a>00114    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00115"></a>00115    <a class="code" href="classReceiver.html#a7">EnableReceiver</a>();
<a name="l00116"></a>00116 
<a name="l00117"></a>00117    <span class="keywordflow">return</span> 0;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 
<a name="l00120"></a>00120 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment">/**</span>
<a name="l00122"></a>00122 <span class="comment">Download a 32-bit value using this SDO.</span>
<a name="l00123"></a>00123 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00124"></a>00124 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00125"></a>00125 <span class="comment">@param data The data to be downloaded</span>
<a name="l00126"></a>00126 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00127"></a>00127 <span class="comment">*/</span>
<a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
<a name="l00129"></a><a class="code" href="classSDO.html#a8">00129</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a8">SDO::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="l00130"></a>00130 {
<a name="l00131"></a>00131    <a class="code" href="CML__Utils_8h.html#a2">byte</a> buff[4];
<a name="l00132"></a>00132    buff[0] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data);
<a name="l00133"></a>00133    buff[1] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data&gt;&gt;8);
<a name="l00134"></a>00134    buff[2] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data&gt;&gt;16);
<a name="l00135"></a>00135    buff[3] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data&gt;&gt;24);
<a name="l00136"></a>00136    <span class="keywordflow">return</span> <a class="code" href="classSDO.html#a4">Download</a>( index, sub, 4, buff );
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 
<a name="l00139"></a>00139 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">/**</span>
<a name="l00141"></a>00141 <span class="comment">Upload a 32-bit value using this SDO.</span>
<a name="l00142"></a>00142 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00143"></a>00143 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00144"></a>00144 <span class="comment">@param data The uploaded data will be returned here.</span>
<a name="l00145"></a>00145 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00146"></a>00146 <span class="comment">*/</span>
<a name="l00147"></a>00147 <span class="comment">/***************************************************************************/</span>
<a name="l00148"></a><a class="code" href="classSDO.html#a9">00148</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a9">SDO::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="l00149"></a>00149 {
<a name="l00150"></a>00150    <a class="code" href="CML__Utils_8h.html#a9">int32</a> size = 4;
<a name="l00151"></a>00151    <a class="code" href="CML__Utils_8h.html#a2">byte</a> buff[4];
<a name="l00152"></a>00152    buff[0] = buff[1] = buff[2] = buff[3] = 0;
<a name="l00153"></a>00153 
<a name="l00154"></a>00154    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classSDO.html#a5">Upload</a>( index, sub, size, buff );
<a name="l00155"></a>00155 
<a name="l00156"></a>00156    data = <a class="code" href="CML__Utils_8h.html#a12">bytes_to_uint32</a>( buff );
<a name="l00157"></a>00157 
<a name="l00158"></a>00158    <span class="keywordflow">return</span> err;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 
<a name="l00161"></a>00161 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment">/**</span>
<a name="l00163"></a>00163 <span class="comment">Download a 16-bit value using this SDO.</span>
<a name="l00164"></a>00164 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00165"></a>00165 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00166"></a>00166 <span class="comment">@param data The data to be downloaded</span>
<a name="l00167"></a>00167 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00168"></a>00168 <span class="comment">*/</span>
<a name="l00169"></a>00169 <span class="comment">/***************************************************************************/</span>
<a name="l00170"></a><a class="code" href="classSDO.html#a10">00170</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a10">SDO::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="l00171"></a>00171 {
<a name="l00172"></a>00172    <a class="code" href="CML__Utils_8h.html#a2">byte</a> buff[2];
<a name="l00173"></a>00173    buff[0] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data);
<a name="l00174"></a>00174    buff[1] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(data&gt;&gt;8);
<a name="l00175"></a>00175    <span class="keywordflow">return</span> <a class="code" href="classSDO.html#a4">Download</a>( index, sub, 2, buff );
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177 
<a name="l00178"></a>00178 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment">/**</span>
<a name="l00180"></a>00180 <span class="comment">Upload a 16-bit value using this SDO.</span>
<a name="l00181"></a>00181 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00182"></a>00182 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00183"></a>00183 <span class="comment">@param data The uploaded data will be returned here.</span>
<a name="l00184"></a>00184 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00185"></a>00185 <span class="comment">*/</span>
<a name="l00186"></a>00186 <span class="comment">/***************************************************************************/</span>
<a name="l00187"></a><a class="code" href="classSDO.html#a11">00187</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a11">SDO::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="l00188"></a>00188 {
<a name="l00189"></a>00189    <a class="code" href="CML__Utils_8h.html#a9">int32</a> size = 2;
<a name="l00190"></a>00190    <a class="code" href="CML__Utils_8h.html#a2">byte</a> buff[2];
<a name="l00191"></a>00191    buff[0] = buff[1] = 0;
<a name="l00192"></a>00192 
<a name="l00193"></a>00193    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classSDO.html#a5">Upload</a>( index, sub, size, buff );
<a name="l00194"></a>00194 
<a name="l00195"></a>00195    data = <a class="code" href="CML__Utils_8h.html#a13">bytes_to_uint16</a>(buff);
<a name="l00196"></a>00196    <span class="keywordflow">return</span> err;
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 
<a name="l00199"></a>00199 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment">/**</span>
<a name="l00201"></a>00201 <span class="comment">Download a 8-bit value using this SDO.</span>
<a name="l00202"></a>00202 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00203"></a>00203 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00204"></a>00204 <span class="comment">@param data The data to be downloaded</span>
<a name="l00205"></a>00205 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00206"></a>00206 <span class="comment">*/</span>
<a name="l00207"></a>00207 <span class="comment">/***************************************************************************/</span>
<a name="l00208"></a><a class="code" href="classSDO.html#a12">00208</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a12">SDO::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="l00209"></a>00209 {
<a name="l00210"></a>00210    <span class="keywordflow">return</span> <a class="code" href="classSDO.html#a4">Download</a>( index, sub, 1, &amp;data );
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212 
<a name="l00213"></a>00213 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00214"></a>00214 <span class="comment">/**</span>
<a name="l00215"></a>00215 <span class="comment">Upload a 8-bit value using this SDO.</span>
<a name="l00216"></a>00216 <span class="comment">@param index The index of the object in the object dictionary</span>
<a name="l00217"></a>00217 <span class="comment">@param sub The sub-index of the object in the object dictionary</span>
<a name="l00218"></a>00218 <span class="comment">@param data The uploaded data will be returned here.</span>
<a name="l00219"></a>00219 <span class="comment">@return A valid CANopen error code.</span>
<a name="l00220"></a>00220 <span class="comment">*/</span>
<a name="l00221"></a>00221 <span class="comment">/***************************************************************************/</span>
<a name="l00222"></a><a class="code" href="classSDO.html#a13">00222</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a13">SDO::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="l00223"></a>00223 {
<a name="l00224"></a>00224    <a class="code" href="CML__Utils_8h.html#a9">int32</a> size = 1;
<a name="l00225"></a>00225    <span class="keywordflow">return</span> <a class="code" href="classSDO.html#a5">Upload</a>( index, sub, size, &amp;data );
<a name="l00226"></a>00226 }
<a name="l00227"></a>00227 
<a name="l00228"></a>00228 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00229"></a>00229 <span class="comment">/**</span>
<a name="l00230"></a>00230 <span class="comment">Download a visible string type using the SDO.  The string is assumed</span>
<a name="l00231"></a>00231 <span class="comment">to be null terminated.</span>