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general.h File Reference

Contains general functions for handling CANopen messages. More...

#include <def.h>

Go to the source code of this file.

Data Structures
struct	td_s_message
union	td_u_short
Defines
#define	RX_CAN_BUFFER_SIZE   5
#define	MAX_CAN_MESSAGE_ANALYSE   5
Typedefs
typedef td_u_short	SHORT
typedef td_s_message	Message
Functions
void	proccessRxCanMessages (void)

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Detailed Description

Contains general functions for handling CANopen messages.

The functions in this file helps the other functions to perform general can/canopen related things such as analysing all received can-messages and sending them to the correct function (nmt-processor, pdo-processor, ...

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Define Documentation

#define MAX_CAN_MESSAGE_ANALYSE   5

this is the maximum of messages which will be processed by one call of Process_remoteRecv_PDO. this makes sure, the application has enough time to do its job.

#define RX_CAN_BUFFER_SIZE   5

proccessRxCanMessages processes 5 messages from the queue. before the messages are processed by proccessRxCanMessages, they are stored in an receivebuffer (by interrupt). the size of this buffer can be specified here: maximum size: 256!

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Typedef Documentation

typedef struct td_s_message Message

incoming and outgoing messages are stored in this datatype. this datatype was taken from CanFestival

typedef union td_u_short SHORT

Union short. (taken from CanFestival)

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Function Documentation

void proccessRxCanMessages (  void    )

this function calles readRxBuffer( ), which reads all arrived can-message from the can-controller( if there's empty space to but the data in the buffer). then this function analyses every of the received CAN-message (up to MAX_CAN_MESSAGE_ANALYSE). analysing means: it checks wheter the message is a NMT, PDO, SDO, ... and sends the message to the correct function, which does the rest.

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