00001 /*************************************************************************** 00002 pdo.h - description 00003 ------------------- 00004 begin : Fri May 17 2002 00005 copyright : (C) 2002 by Raphael Zulliger 00006 email : zulli@hsr.ch 00007 ***************************************************************************/ 00008 00009 /*************************************************************************** 00010 * * 00011 * This library is Copyright (c) Raphael Zulliger <zulli@gmx.net>. * 00012 * It is licensed under the GNU Library General Public License (LGPL). * 00013 * * 00014 ***************************************************************************/ 00015 00016 00025 #ifndef __pdo_h__ 00026 #define __pdo_h__ 00027 00028 #include <canop.h> 00029 #include <def.h> 00030 #include <objdict.h> 00031 00036 typedef struct td_s_variable_mapping 00037 { 00040 void* pObject; 00043 BYTE value; 00046 BYTE size; 00047 } s_variable_mapping; 00048 00049 00052 typedef struct td_s_pdo_receive_transfer_table 00053 { 00056 BYTE transmissionType; 00059 BOOL processed; 00062 BYTE count; 00065 s_variable_mapping mappingEntry[MAPPING_PARAMETER_COUNT]; 00066 } s_pdo_receive_transfer_table; 00067 00068 00069 00076 void processSendPDO( void ); 00077 00084 void processReceivedPDO( s_rx_buffer_message* canopenMessage ); 00085 00094 void sendPDO( const WORD wID, const BYTE* pbData, const BYTE bLength, const BOOL bRemoteReceive ); 00095 00096 00097 00109 BOOL resetTxPDOData( BYTE bPDONr ); 00110 00111 #endif // __pdo_h__