pdo_8cpp-source.html
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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: PDO.cpp 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_000000.html">c</a></div><h1>PDO.cpp</h1><a href="PDO_8cpp.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">/**</span><a name="l00013"></a>00013 <span class="comment">\file</span><a name="l00014"></a>00014 <span class="comment">This file holds the code needed to implement CANopen Process Data Objects (PDOs).</span><a name="l00015"></a>00015 <span class="comment">*/</span><a name="l00016"></a>00016 <a name="l00017"></a>00017 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00020"></a>00020 <a name="l00021"></a>00021 <span class="comment">/**************************************************</span><a name="l00022"></a>00022 <span class="comment">* PDO Error objects</span><a name="l00023"></a>00023 <span class="comment">**************************************************/</span><a name="l00024"></a>00024 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classPDO__Error.html">PDO_Error</a>, MapFull, <span class="stringliteral">"The PDO Map is already full"</span> );<a name="l00025"></a>00025 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classPDO__Error.html">PDO_Error</a>, BitOverflow, <span class="stringliteral">"Variable too long to add to map"</span> );<a name="l00026"></a>00026 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classPDO__Error.html">PDO_Error</a>, BitSizeError, <span class="stringliteral">"The specified variable bit size is not supported"</span> );<a name="l00027"></a>00027 <a name="l00028"></a>00028 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00029"></a>00029 <span class="comment">/**</span><a name="l00030"></a>00030 <span class="comment">Send a Remote Transmit Request (RTR) frame for this PDO. The nodes that</span><a name="l00031"></a>00031 <span class="comment">transmit the PDO should transmit in response.</span><a name="l00032"></a>00032 <span class="comment">*/</span><a name="l00033"></a>00033 <span class="comment">/***************************************************************************/</span><a name="l00034"></a><a class="code" href="classTPDO.html#a8">00034</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classTPDO.html#a8">TPDO::Request</a>( <span class="keywordtype">void</span> )<a name="l00035"></a>00035 {<a name="l00036"></a>00036 <a class="code" href="structCanFrame.html">CanFrame</a> frame;<a name="l00037"></a>00037 <a name="l00038"></a>00038 frame.<a class="code" href="structCanFrame.html#o1">id</a> = <a class="code" href="classReceiver.html#a6">getRecvID</a>();<a name="l00039"></a>00039 frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a1">CAN_FRAME_REMOTE</a>;<a name="l00040"></a>00040 frame.<a class="code" href="structCanFrame.html#o2">length</a> = (<a class="code" href="classPDO.html#p3">bitCt</a>+7)>>3;<a name="l00041"></a>00041 <a name="l00042"></a>00042 <span class="keywordflow">return</span> <a class="code" href="classReceiver.html#p0">co</a>-><a class="code" href="classCanOpen.html#a5">Xmit</a>( frame );<a name="l00043"></a>00043 }<a name="l00044"></a>00044 <a name="l00045"></a>00045 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00046"></a>00046 <span class="comment">/**</span><a name="l00047"></a>00047 <span class="comment">Add the passed variable to the end of the variable map associated with this</span><a name="l00048"></a>00048 <span class="comment">PDO.</span><a name="l00049"></a>00049 <span class="comment">@param var The variable to be added.</span><a name="l00050"></a>00050 <span class="comment">@return An error object.</span><a name="l00051"></a>00051 <span class="comment">*/</span><a name="l00052"></a>00052 <span class="comment">/***************************************************************************/</span><a name="l00053"></a><a class="code" href="classPDO.html#a8">00053</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a8">PDO::AddVar</a>( <a class="code" href="classPmap.html">Pmap</a> &var )<a name="l00054"></a>00054 {<a name="l00055"></a>00055 <span class="comment">// Make sure I'm not already full</span><a name="l00056"></a>00056 <span class="keywordflow">if</span>( <a class="code" href="classPDO.html#p2">mapCt</a> == <a class="code" href="CML__PDO_8h.html#a0">PDO_MAP_LEN</a> )<a name="l00057"></a>00057 <span class="keywordflow">return</span> &<a class="code" href="classPDO__Error.html#s0">PDO_Error::MapFull</a>;<a name="l00058"></a>00058 <a name="l00059"></a>00059 <a class="code" href="CML__Utils_8h.html#a2">byte</a> bits = var.<a class="code" href="classPmap.html#a9">GetBits</a>();<a name="l00060"></a>00060 <a name="l00061"></a>00061 <span class="comment">// Keep the variable size <= 64 bits</span><a name="l00062"></a>00062 <span class="keywordflow">if</span>( <a class="code" href="classPDO.html#p3">bitCt</a> + bits > 64 )<a name="l00063"></a>00063 <span class="keywordflow">return</span> &<a class="code" href="classPDO__Error.html#s1">PDO_Error::BitOverflow</a>;<a name="l00064"></a>00064 <a name="l00065"></a>00065 <span class="comment">// For now, my variables must be a multiple</span><a name="l00066"></a>00066 <span class="comment">// of 8 bits long.</span><a name="l00067"></a>00067 <span class="keywordflow">if</span>( bits & 0x07 )<a name="l00068"></a>00068 <span class="keywordflow">return</span> &<a class="code" href="classPDO__Error.html#s2">PDO_Error::BitSizeError</a>;<a name="l00069"></a>00069 <a name="l00070"></a>00070 <span class="comment">// Looks good, map it.</span><a name="l00071"></a>00071 <a class="code" href="classPDO.html#p4">map</a>[<a class="code" href="classPDO.html#p2">mapCt</a>++] = &var;<a name="l00072"></a>00072 <a class="code" href="classPDO.html#p3">bitCt</a> += bits;<a name="l00073"></a>00073 <span class="keywordflow">return</span> 0;<a name="l00074"></a>00074 }<a name="l00075"></a>00075 <a name="l00076"></a>00076 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00077"></a>00077 <span class="comment">/**</span><a name="l00078"></a>00078 <span class="comment">New frame handler. Split the data passed in the frame up among the variables</span><a name="l00079"></a>00079 <span class="comment">in my map. After all variables have been updated, the virtual function </span><a name="l00080"></a>00080 <span class="comment">Received() is called. This can be used in sub-classes to indicate new data </span><a name="l00081"></a>00081 <span class="comment">is available.</span><a name="l00082"></a>00082 <span class="comment">*/</span><a name="l00083"></a>00083 <span class="comment">/***************************************************************************/</span><a name="l00084"></a><a class="code" href="classTPDO.html#a9">00084</a> <span class="keywordtype">int</span> <a class="code" href="classTPDO.html#a9">TPDO::NewFrame</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &frame )<a name="l00085"></a>00085 {<a name="l00086"></a>00086 <span class="keywordflow">if</span>( frame.<a class="code" href="structCanFrame.html#o0">type</a> != <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a> )<a name="l00087"></a>00087 <span class="keywordflow">return</span> 0;<a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *cptr = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *)frame.<a class="code" href="structCanFrame.html#o3">data</a>;<a name="l00090"></a>00090 <a name="l00091"></a>00091 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<<a class="code" href="classPDO.html#p2">mapCt</a>; i++ )<a name="l00092"></a>00092 {<a name="l00093"></a>00093 <a class="code" href="classPDO.html#p4">map</a>[i]-><a class="code" href="classPmap.html#a5">Set</a>( cptr );<a name="l00094"></a>00094 cptr += (<a class="code" href="classPDO.html#p4">map</a>[i]-><a class="code" href="classPmap.html#a9">GetBits</a>()>>3);<a name="l00095"></a>00095 }<a name="l00096"></a>00096 <a name="l00097"></a>00097 <a class="code" href="classTPDO.html#a7">Received</a>();<a name="l00098"></a>00098 <span class="keywordflow">return</span> 0;<a name="l00099"></a>00099 }<a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00102"></a>00102 <span class="comment">/**</span><a name="l00103"></a>00103 <span class="comment">Transmit the RPDO.</span><a name="l00104"></a>00104 <span class="comment">*/</span><a name="l00105"></a>00105 <span class="comment">/***************************************************************************/</span><a name="l00106"></a><a class="code" href="classRPDO.html#a4">00106</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classRPDO.html#a4">RPDO::Transmit</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co )<a name="l00107"></a>00107 {<a name="l00108"></a>00108 <a class="code" href="structCanFrame.html">CanFrame</a> frame;<a name="l00109"></a>00109 <a name="l00110"></a>00110 <span class="comment">// Initialize the CAN frame</span><a name="l00111"></a>00111 frame.<a class="code" href="structCanFrame.html#o1">id</a> = id;<a name="l00112"></a>00112 frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a>;<a name="l00113"></a>00113 frame.<a class="code" href="structCanFrame.html#o2">length</a> = (<a class="code" href="classPDO.html#p3">bitCt</a>+7)>>3;<a name="l00114"></a>00114 <a name="l00115"></a>00115 <span class="comment">// Load the data from the mapping objects</span><a name="l00116"></a>00116 <a class="code" href="CML__Utils_8h.html#a2">byte</a> *cptr = frame.<a class="code" href="structCanFrame.html#o3">data</a>;<a name="l00117"></a>00117 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<<a class="code" href="classPDO.html#p2">mapCt</a>; i++ )<a name="l00118"></a>00118 {<a name="l00119"></a>00119 <a class="code" href="classPDO.html#p4">map</a>[i]-><a class="code" href="classPmap.html#a4">Get</a>( cptr );<a name="l00120"></a>00120 cptr += (<a class="code" href="classPDO.html#p4">map</a>[i]-><a class="code" href="classPmap.html#a9">GetBits</a>()>>3);<a name="l00121"></a>00121 }<a name="l00122"></a>00122 <a name="l00123"></a>00123 <span class="comment">// Transmit the frame</span><a name="l00124"></a>00124 <span class="keywordflow">return</span> co.<a class="code" href="classCanOpen.html#a5">Xmit</a>( frame );<a name="l00125"></a>00125 }<a name="l00126"></a>00126 </pre></div><hr><address style="align: right;"><small>Copley Motion Library, Copyright (c) 2002-2003<a href="http://www.copleycontrols.com"><img src="CCC_logo.gif" alt="Copley Controls Corp." align="middle" border=0 ></a></small></address></body></html>⌨️ 快捷键说明
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