Lely core libraries  2.2.5
tpdo.h
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1 
22 #ifndef LELY_CO_TPDO_H_
23 #define LELY_CO_TPDO_H_
24 
25 #include <lely/can/net.h>
26 #include <lely/co/pdo.h>
27 
28 #ifdef __cplusplus
29 extern "C" {
30 #endif
31 
45 typedef void co_tpdo_ind_t(co_tpdo_t *pdo, co_unsigned32_t ac, const void *ptr,
46  size_t n, void *data);
47 
48 void *__co_tpdo_alloc(void);
49 void __co_tpdo_free(void *ptr);
50 struct __co_tpdo *__co_tpdo_init(struct __co_tpdo *pdo, can_net_t *net,
51  co_dev_t *dev, co_unsigned16_t num);
52 void __co_tpdo_fini(struct __co_tpdo *pdo);
53 
68 co_tpdo_t *co_tpdo_create(can_net_t *net, co_dev_t *dev, co_unsigned16_t num);
69 
71 void co_tpdo_destroy(co_tpdo_t *pdo);
72 
75 
78 
80 co_unsigned16_t co_tpdo_get_num(const co_tpdo_t *pdo);
81 
86 const struct co_pdo_comm_par *co_tpdo_get_comm_par(const co_tpdo_t *pdo);
87 
89 const struct co_pdo_map_par *co_tpdo_get_map_par(const co_tpdo_t *pdo);
90 
102 void co_tpdo_get_ind(const co_tpdo_t *pdo, co_tpdo_ind_t **pind, void **pdata);
103 
114 void co_tpdo_set_ind(co_tpdo_t *pdo, co_tpdo_ind_t *ind, void *data);
115 
125 int co_tpdo_event(co_tpdo_t *pdo);
126 
138 int co_tpdo_sync(co_tpdo_t *pdo, co_unsigned8_t cnt);
139 
141 void co_tpdo_get_next(const co_tpdo_t *pdo, struct timespec *tp);
142 
143 #ifdef __cplusplus
144 }
145 #endif
146 
147 #endif // !LELY_CO_TPDO_H_
This header file is part of the CAN library; it contains the CAN network interface declarations.
This header file is part of the CANopen library; it contains the Process Data Object (PDO) declaratio...
A CAN network interface.
Definition: net.c:37
A CANopen device.
Definition: dev.c:41
A CANopen Transmit-PDO.
Definition: tpdo.c:40
co_unsigned16_t num
The PDO number.
Definition: tpdo.c:46
co_dev_t * dev
A pointer to a CANopen device.
Definition: tpdo.c:44
can_net_t * net
A pointer to a CAN network interface.
Definition: tpdo.c:42
A PDO communication parameter record.
Definition: pdo.h:43
A PDO mapping parameter record.
Definition: pdo.h:69
const struct co_pdo_map_par * co_tpdo_get_map_par(const co_tpdo_t *pdo)
Returns a pointer to the PDO mapping parameter record of a Transmit-PDO.
Definition: tpdo.c:338
int co_tpdo_event(co_tpdo_t *pdo)
Triggers the transmission of an acyclic or event-driven PDO.
Definition: tpdo.c:366
void co_tpdo_destroy(co_tpdo_t *pdo)
Destroys a CANopen Transmit-PDO service.
Definition: tpdo.c:296
can_net_t * co_tpdo_get_net(const co_tpdo_t *pdo)
Returns a pointer to the CAN network of a Transmit-PDO.
Definition: tpdo.c:306
void co_tpdo_get_next(const co_tpdo_t *pdo, struct timespec *tp)
Retrieves the time at which the next event-driven TPDO may be sent.
Definition: tpdo.c:462
void co_tpdo_get_ind(const co_tpdo_t *pdo, co_tpdo_ind_t **pind, void **pdata)
Retrieves the indication function invoked when a Transmit-PDO error occurs.
Definition: tpdo.c:346
void co_tpdo_ind_t(co_tpdo_t *pdo, co_unsigned32_t ac, const void *ptr, size_t n, void *data)
The type of a CANopen Transmit-PDO indication function, invoked when a PDO is sent or an error occurs...
Definition: tpdo.h:45
co_tpdo_t * co_tpdo_create(can_net_t *net, co_dev_t *dev, co_unsigned16_t num)
Creates a new CANopen Transmit-PDO service.
Definition: tpdo.c:269
void co_tpdo_set_ind(co_tpdo_t *pdo, co_tpdo_ind_t *ind, void *data)
Sets the indication function invoked when a Transmit-PDO error occurs.
Definition: tpdo.c:357
int co_tpdo_sync(co_tpdo_t *pdo, co_unsigned8_t cnt)
Triggers the transmission of a synchronous PDO.
Definition: tpdo.c:412
co_dev_t * co_tpdo_get_dev(const co_tpdo_t *pdo)
Returns a pointer to the CANopen device of a Transmit-PDO.
Definition: tpdo.c:314
co_unsigned16_t co_tpdo_get_num(const co_tpdo_t *pdo)
Returns the PDO number of a Transmit-PDO.
Definition: tpdo.c:322
const struct co_pdo_comm_par * co_tpdo_get_comm_par(const co_tpdo_t *pdo)
Returns a pointer to the PDO communication parameter record of a Transmit-PDO.
Definition: tpdo.c:330