co_pdo.h

在pic单片机上实现canopen协议通讯

 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	UNSIGNED32, CAN id in MCHP format	
 *
 * Side Effects:    none
 *
 * Overview:        Get the can identifier used by the RPDO.
 *
 * Note:            
 ********************************************************************/
#define mRPDOGetCOB(PDOn)			uRPDOComm##PDOn##.word


/*********************************************************************
 * Function:        UNSIGNED8 mRPDOGetLen(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	UNSIGNED8, the length of the RPDO	
 *
 * Side Effects:    none
 *
 * Overview:        Get the length of the RPDO.
 *
 * Note:            
 ********************************************************************/
#define	mRPDOGetLen(PDOn)			(_uPDO##PDOn##.RPDO.len)


/*********************************************************************
 * Function:        BOOL mRPDOGetRTR(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	BOOL, the RTR bit	
 *
 * Side Effects:    none
 *
 * Overview:        Get the status of the RTR for the RPDO.
 *
 * Note:            
 ********************************************************************/
#define	mRPDOGetRTR(PDOn)			(_uPDO##PDOn##.RPDO.len & 0x40)


/*********************************************************************
 * Function:        UNSIGNED8* mRPDOGetRxPtr(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	UNSIGNED8*, pointer to the buffer	
 *
 * Side Effects:    none
 *
 * Overview:        Get the pointer to the RPDO buffer.
 *
 * Note:            
 ********************************************************************/
#define	mRPDOGetRxPtr(PDOn)			(_uPDO##PDOn##.RPDO.buf)


/*********************************************************************
 * Function:        void mRPDOSetRxPtr(PDOn, pRXBUF)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  pRXBUF, pointer to the buffer
 *
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Set the pointer to the RDPO buffer.
 *
 * Note:            
 ********************************************************************/
#define	mRPDOSetRxPtr(PDOn, pRXBUF)	_uPDO##PDOn##.RPDO.buf = pRXBUF



/*********************************************************************
 * Function:        void mTPDOOpen(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Open the TPDO.
 *
 * Note:            
 ********************************************************************/
#define mTPDOOpen(PDOn)				COMM_TPDO_##PDOn##_EN = 1


/*********************************************************************
 * Function:        BOOL mTPDOIsOpen(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	BOOL, true if the TPDO is open	
 *
 * Side Effects:    none
 *
 * Overview:        Query if the TPDO is open.
 *
 * Note:            
 ********************************************************************/
#define mTPDOIsOpen(PDOn)			COMM_TPDO_##PDOn##_EN


/*********************************************************************
 * Function:        void mTPDOClose(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Close the PDO.
 *
 * Note:            
 ********************************************************************/
#define mTPDOClose(PDOn)			COMM_TPDO_##PDOn##_EN = 0


/*********************************************************************
 * Function:        BOOL mTPDOIsPutRdy(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	BOOL, true if the TPDO buffer is available.	
 *
 * Side Effects:    none
 *
 * Overview:        Query if the TPDO is ready to load.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOIsPutRdy(PDOn)			(!COMM_PDO_##PDOn##_TF)


/*********************************************************************
 * Function:        void mTPDOWritten(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Indicate to the stack that the TPDO has been 
 *					loaded and is ready to send.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOWritten(PDOn)			COMM_PDO_##PDOn##_TF = 1


/*********************************************************************
 * Function:        void mTPDOSetCOB(PDOn, tpdoCOB)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4	
 *					tpdoCOB, TPDO CAN ID in MCHP format	
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Set the CAN identifier for the TPDO.
 *
 * Note:            
 ********************************************************************/
#define mTPDOSetCOB(PDOn, tpdoCOB)	uTPDOComm##PDOn##.word = tpdoCOB


/*********************************************************************
 * Function:        UNSIGNEED32 mTPDOGetCOB(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4		
 *                  
 * Output:      	UNSIGNEED32, the CAN ID in MCHP format	
 *
 * Side Effects:    none
 *
 * Overview:        Get the CAN identifier for the TPDO.
 *
 * Note:            
 ********************************************************************/
#define mTPDOGetCOB(PDOn)			uTPDOComm##PDOn##.word


/*********************************************************************
 * Function:        void mTPDOSetLen(PDOn, length)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4
 *					length, the length of the PDO		
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Set length of the TPDO.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOSetLen(PDOn, length)	_uPDO##PDOn##.TPDO.len = length


/*********************************************************************
 * Function:        void mTPDOSetRTR(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4	
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Set the RTR for this PDO.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOSetRTR(PDOn)			_uPDO##PDOn##.TPDO.len |= 0x40


/*********************************************************************
 * Function:        UNSIGNED8* mTPDOGetTxPtr(PDOn)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4	
 *                  
 * Output:      	UNSIGNED8*, pointer to the TPDO buffer	
 *
 * Side Effects:    none
 *
 * Overview:        Get the pointer to the TPDO buffer.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOGetTxPtr(PDOn)			(_uPDO##PDOn##.TPDO.buf)


/*********************************************************************
 * Function:        void mTPDOSetTxPtr(PDOn, PTXBUF)
 *
 * PreCondition:    none
 *
 * Input:       	PDOn, this must be a constant from 1 to 4
 *					PTXBUF, pointer to the TPDO buffer	
 *                  
 * Output:      	none	
 *
 * Side Effects:    none
 *
 * Overview:        Set the pointer to the TPDO buffer.
 *
 * Note:            
 ********************************************************************/
#define	mTPDOSetTxPtr(PDOn, PTXBUF)	_uPDO##PDOn##.TPDO.buf = PTXBUF




#endif	//__CO_PDO_H