22 #ifndef LELY_CO_RPDO_H_
23 #define LELY_CO_RPDO_H_
45 size_t n,
void *data);
57 co_unsigned8_t er,
void *data);
59 void *__co_rpdo_alloc(
void);
60 void __co_rpdo_free(
void *ptr);
63 void __co_rpdo_fini(
struct __co_rpdo *pdo);
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...
void co_rpdo_get_err(const co_rpdo_t *pdo, co_rpdo_err_t **perr, void **pdata)
Retrieves the error handling function of a Receive-PDO service.
int co_rpdo_rtr(co_rpdo_t *pdo)
Requests the transmission of a PDO.
void co_rpdo_err_t(co_rpdo_t *pdo, co_unsigned16_t eec, co_unsigned8_t er, void *data)
The type of a CANopen Receive-PDO error handling function, invoked in case of a timeout or length mis...
co_dev_t * co_rpdo_get_dev(const co_rpdo_t *pdo)
Returns a pointer to the CANopen device of a Receive-PDO.
co_rpdo_t * co_rpdo_create(can_net_t *net, co_dev_t *dev, co_unsigned16_t num)
Creates a new CANopen Receive-PDO service.
int co_rpdo_sync(co_rpdo_t *pdo, co_unsigned8_t cnt)
Triggers the actuation of a received synchronous PDO.
void co_rpdo_set_err(co_rpdo_t *pdo, co_rpdo_err_t *err, void *data)
Sets the error handling function of a Receive-PDO service.
void co_rpdo_destroy(co_rpdo_t *pdo)
Destroys a CANopen Receive-PDO service.
const struct co_pdo_map_par * co_rpdo_get_map_par(const co_rpdo_t *pdo)
Returns a pointer to the PDO mapping parameter record of a Receive-PDO.
void co_rpdo_get_ind(const co_rpdo_t *pdo, co_rpdo_ind_t **pind, void **pdata)
Retrieves the indication function invoked when a Receive-PDO error occurs.
co_unsigned16_t co_rpdo_get_num(const co_rpdo_t *pdo)
Returns the PDO number of a Receive-PDO.
can_net_t * co_rpdo_get_net(const co_rpdo_t *pdo)
Returns a pointer to the CAN network of a Receive-PDO.
void co_rpdo_ind_t(co_rpdo_t *pdo, co_unsigned32_t ac, const void *ptr, size_t n, void *data)
The type of a CANopen Receive-PDO indication function, invoked when a PDO is received or an error occ...
void co_rpdo_set_ind(co_rpdo_t *pdo, co_rpdo_ind_t *ind, void *data)
Sets the indication function invoked when a Receive-PDO error occurs.
const struct co_pdo_comm_par * co_rpdo_get_comm_par(const co_rpdo_t *pdo)
Returns a pointer to the PDO communication parameter record of a Receive-PDO.
can_net_t * net
A pointer to a CAN network interface.
co_unsigned16_t num
The PDO number.
co_dev_t * dev
A pointer to a CANopen device.
A PDO communication parameter record.
A PDO mapping parameter record.