rlCanOpen Class Reference

main class which provides canopen API functions and manages all nodes. More...

#include <rlcanopen.h>

Public Member Functions
	rlCanOpen ()
	rlCanOpen (char *_inifilename)
	~rlCanOpen ()
int	getBoardCount ()
	returns the number of available boards More...
int	getActiveBoard ()
	returns the number of currently active board More...
bool	showNodeConfiguration (int _boardnr, int _nodeid)
	prints out the configuration of a specific node More...
bool	showNodeConfiguration ()
	prints out the configuration off all available nodes from all boards More...
int	sdo_read (int _boardnr, int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
	read a certain object from the object dictionary of a node More...
int	sdo_write (int _boardnr, int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
	write data into a certain object from the object dictionary of a node More...
int	pdo_receive (int _boardnr, int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
	using the pdo_receive function you can receive a mapped object within PDO More...
int	pdo_receive (int _boardnr, int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
	using the pdo_receive function you can receive a PDO (Process Data Object) More...
int	pdo_transmit (int _boardnr, int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
	transmit a mapped object within a PDO to a specific node More...
int	pdo_transmit (int _boardnr, int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
	transmit a 8 Byte PDO to a specific node More...
int	getNodeIndex (int _boardnr, int _nodeid, int &_index)
	this function returns the listindex of a desired node More...
int	getObjectType (int _boardnr, int _nodeid, int _objectindex, int _subindex)
	returns daemontype number of a specific object More...
int	getNodeState (int _boardnr, int _nodeid, rlCanOpenTypes &_data)
	use this function to get information about a specific node More...
int	restartBoard (int _boardnr, int _restarttype)
	using this function you are able to restart a CanOpenMaster board More...
int	sendNMTCommand (int _boardnr, int _nodeid, unsigned char _cmd)
	send a NMT Command to one or all nodes (of one board) More...
bool	is_twisted_type (int _canopentype)

Private Member Functions
bool	getNodeConfiguration (int _nodeID)
int	getPdoID (int _boardnr, int _nodeid, int _objektindex, int _direction)
	return PdoId of mapped object. More...
void	read_inifile (const char *_filename)
	read properties of inifile More...
bool	ini ()
	initialize nodes and create nodelist More...
void	delmsg ()
	clear message struct by setting all elements to zero More...
bool	iniboards ()
	Read informations about installed devices. More...
short	setBoardActive (int _boardnr)
	sets a desired CanOpenMaster active, so that it can be used More...
int	refreshMappingList (int _boardnr, int _nodeid, int _pdoID, int _pdoDirection)
int	createNodes ()
	Search for nodes in all boards and append it into the nodelist. More...
int	createMappingObjects (int _boardid, int _nodeid, int _pdoDirection)
	this function writes the mapping objects for each pdo of a node More...

Private Attributes
int	activeboard
	the currently active board More...
char	err_out_buf [255]
	this string buffer is usually written with sprintf before sent to stdout More...
short	sRet
	return value for hilscher specific message functions More...
FILE *	err_fp
	Pointer to error logfile. More...
QString	logFileName
	name of logfile stdout is redirected to More...
RCS_MESSAGETELEGRAM_10	message
	hilscher specific message structur which will be sent to the master card More...
QPtrVector< rlCanNode >	nodelist
	this list contains all nodes from all boards More...
int	boardcount
	the current count of CanOpenMaster cards More...
unsigned char	messagenr
	message counter More...
bool	enableLogging

Detailed Description

main class which provides canopen API functions and manages all nodes.

This class contains a canopen specific API which accesses the canopen bus through the bus-independ Hilscher device API. It reads the configuration which has to be written previously to the device by SyCon. Based on this configuration data it searches node corresponding EDS files to create object directories. These help to enshure type security and cast warnings when users try to write incorrect data types to can nodes.

Definition at line 55 of file rlcanopen.h.

Constructor & Destructor Documentation

rlCanOpen() [1/2]

rlCanOpen::rlCanOpen

(

)

Definition at line 40 of file rlcanopen.cpp.

{
  rlDebugPrintf("Constructer nodes class\n");
  read_inifile("./canopen.ini");
  if (enableLogging){
    FILE* fp;
    fp = freopen (logFileName.ascii(),"w",stdout); // redirekt stdout to textfile
    
    /* enable linebuffering in order to write every line to the file immediately */
    setvbuf ( fp , NULL , _IOFBF , 1024 ); 
  }
  ini();
}

rlCanOpen() [2/2]

rlCanOpen::rlCanOpen

(

char *

_inifilename

)

Definition at line 29 of file rlcanopen.cpp.

{
  rlDebugPrintf("Constructer nodes class\n");
  read_inifile(_inifilename);
  if (enableLogging){
    freopen (logFileName.ascii(),"w",stdout); // redirekt stdout to textfile
  }
  ini();
}

~rlCanOpen()

rlCanOpen::~rlCanOpen

(

)

Definition at line 54 of file rlcanopen.cpp.

{
  rlDebugPrintf("destruktor rlCanOpen\n");
  for (int i=0;i<boardcount;i++)
    DevExitBoard(i);

#ifdef RLWIN32
  DevCloseDriver(0);
#else
  DevCloseDriver();
#endif    
  if (enableLogging)    
    fclose (stdout);
  
}

Member Function Documentation

createMappingObjects()

int rlCanOpen::createMappingObjects ( int  _boardid, int  _nodeid, int  _pdoDirection  )

private

this function writes the mapping objects for each pdo of a node

creates the mappings for each pdo

Definition at line 137 of file rlcanopen.cpp.

{
  int pdomax = 0;
  if (_pdoDirection == DIRECTION_RECEIVE)
    pdomax = nodelist[nodelist.size()-1]->getReceivePdoCount();
  else if(_pdoDirection == DIRECTION_TRANSMIT)
    pdomax = nodelist[nodelist.size()-1]->getTransmitPdoCount();
    
  for (int j = 1;j<=pdomax;j++)    //each receive/transmit pdo
  if(refreshMappingList(_boardid,_nodeid,j,_pdoDirection)==0) return 0;
  return 1;

}   

createNodes()

int rlCanOpen::createNodes ( )

private

Search for nodes in all boards and append it into the nodelist.

this function checks the bus for available nodes and creates a corresponding nodelist

Definition at line 103 of file rlcanopen.cpp.

{
 int nodeid;
  for (int boardid = 0;boardid<boardcount;boardid++)
  {
    setBoardActive(boardid);
    for(nodeid = 0; nodeid <= MAX_NODES; nodeid++)  // from node 0..127
      if (getNodeConfiguration(nodeid)) // writes received node-configuration 
                                        // into class-global message-struct
      {
        // new node found. insert it into the nodelist
        nodelist.resize( nodelist.size() + 1 );   
        
        // append the new node in the list
        nodelist.insert( nodelist.size()-1, 
                         new rlCanNode(boardid,nodeid,message));
        
       //append Mapping data                                  
        if (nodelist[nodelist.size()-1]->hasMapping()){
          if(!createMappingObjects(boardid,nodeid,DIRECTION_TRANSMIT))return 0;
          if(!createMappingObjects(boardid,nodeid,DIRECTION_RECEIVE))return 0;
        }
        else
        {
          rlDebugPrintf("WARNING: no Mapping available on node %d.", nodeid);
          rlDebugPrintf("Probably EDS file couldn't be found in EDS directory.\n");
        }
      }             
  }
  return 1;
}

delmsg()

void rlCanOpen::delmsg ( )

private

clear message struct by setting all elements to zero

this function resets all elements of global message struct to zero

Definition at line 859 of file rlcanopen.cpp.

                      {
  message.rx            =0;
  message.tx            =0;
  message.ln            =0;
  message.nr            =0;
  message.a             =0;
  message.f             =0;
  message.b             =0;
  message.e             =0;
  message.device_adr    =0;
  message.data_area     =0;
  message.data_adr      =0;
  message.data_idx      =0;
  message.data_cnt      =0;
  message.data_type     =0;
  message.function      =0;
  
  for (int i = 0; i < MAX_SDO_BUFFERSIZE; i++)
    message.d[i] = 0;

}

getActiveBoard()

int rlCanOpen::getActiveBoard

(

)

returns the number of currently active board

returns the currently active board

Definition at line 296 of file rlcanopen.cpp.

{
  return activeboard;
}                                                                                                                                                                                

getBoardCount()

int rlCanOpen::getBoardCount

(

)

returns the number of available boards

returns the current count of available CanOpenMaster cards

Definition at line 211 of file rlcanopen.cpp.

{
  return boardcount;
}  

getNodeConfiguration()

bool rlCanOpen::getNodeConfiguration ( int  _nodeID )

private

This function reads out the configuration of a specific node using special Hilscher commands (CMDCODE_GET_CONFIGURATION). If the master board isn't configurated by SyCon it is not possibly to use this function with success. It returns false if the node is not available

Device Number

Pointer to user buffer

Timeout

Definition at line 217 of file rlcanopen.cpp.

{
  //build message       
  message.rx            = CAN_TASK; 
  message.tx            = USER_AT_HOST;
  message.ln            = 8;
  message.nr            =messagenr++; 
  message.a             =0; 
  message.f             =0;
  message.b             =CMDCODE_GET_CONFIGURATION;
  message.e             =0x00;  //fragmentation
  message.device_adr    =_nodeID;  
  message.data_area     =0; 
  message.data_adr      =0; 
  message.data_idx      =0; 
  message.data_cnt      =0; 
  message.data_type     =0; 
  message.function      =0;
  
  //put configuration request
  DevPutMessage(0, (MSG_STRUC *)&message,5000L) ;  
  
  //receive answer message
  sRet = DevGetMessage (  0,                       
                          sizeof(message),      
                          (MSG_STRUC *)&message,   
                          2000L );                 

  unsigned char msgnrlocal = messagenr -1;
  
  // receive correct answer 
  if((message.a == RESPONSE_CODE_GET_CONFIGURATION) && (message.nr == msgnrlocal))
    if (message.f == ERRCODE_NOERROR) // node active, no error
      if(message.e == 0x00) //configuration fits in the message
      {
        sprintf(err_out_buf, "Board %d node %d is active. No problems found\n", 
          getActiveBoard(), _nodeID);
        
        rlDebugPrintf(err_out_buf);
        return 1;
      }
      else
      {
         sprintf(err_out_buf, "Board %d node %d is active. \n", 
           getActiveBoard(), _nodeID);
           
         rlDebugPrintf(err_out_buf);
         rlDebugPrintf("Configuration data does not fit in one message,\n");
         rlDebugPrintf("so the current node does not include the complete data\n");
         rlDebugPrintf(" - multiplex configration data is not yet implemented!!! -\n");
         return 1;
      } 
    else return 0;
  else 
  {
    sprintf(err_out_buf, "---->message.a=%d, message.nr=%d unsere msg nr: %d\n", 
      message.a, message.nr, msgnrlocal);
      
    rlDebugPrintf(err_out_buf);
    sprintf(err_out_buf, "%s\n", "Communication ERROR!!!");
    rlDebugPrintf(err_out_buf);
    return 0;
  }
}

getNodeIndex()

int rlCanOpen::getNodeIndex	(	int	_boardnr,
		int	_nodeid,
		int &	_index
	)

this function returns the listindex of a desired node

Because the nodes of all boards are stored in one list, the listindex is not equal to the nodeID(1-127). Use this function to get the listindex of a desired node

Definition at line 882 of file rlcanopen.cpp.

{
  for(unsigned int i = 0; i < nodelist.size(); i++)
  {
    if ((nodelist[i]->getNodeID() == _nodeid) && 
        (nodelist[i]->getBoardID() == _boardnr))
    {
      _index = i;
      return true;
    }           
  }
  return false; 
}

getNodeState()

int rlCanOpen::getNodeState	(	int	_boardnr,
		int	_nodeid,
		rlCanOpenTypes &	_data
	)

use this function to get information about a specific node

Use this function to get information about a specific node. The nodestate, nodeerror and a nodestateFlag will be written to the rlCanOpenTypes. Read the rlCanOpenTypes.h header to get further information about these variables. Hilscher specific function (so no CanOpoen services) are used to receive the information

Definition at line 1045 of file rlcanopen.cpp.

{ 
 
 setBoardActive(_boardnr);
 
 COM_ND_DIAGNOSTICS * diag;
 diag = (COM_ND_DIAGNOSTICS*) &message.d[0];

  message.rx = CAN_TASK         ;//receiver = user at HOST
  message.tx = USER_AT_HOST     ;// transmitter = USR_INTF-Task
  message.ln = 8                ;//length of message
  message.nr = messagenr++      ;//number of the message
  message.a  = 0                ;//no answer
  message.f  = 0                ;//error, status
  message.b  = CMDCODE_Node_Diag;//command = COM_Node_Diag
  message.e =0                  ;//extension
  message.device_adr = _nodeid  ;//k Rem_Adr
  message.data_area = 0         ;// data area, unused
  message.data_adr  = 0         ;//data address, unused
  message.data_idx  = 0         ;//data index, unused
  message.data_cnt  = 0         ;//data count, unused
  message.data_type = 5         ;// data type byte string
  message.function =  1         ;//function read
  
  
 if ( (sRet = DevPutMessage(_boardnr, (MSG_STRUC *)&message, 5000L)) 
       == DRV_NO_ERROR )
 {
   while( (sRet = DevGetMessage(_boardnr, sizeof(message), 
                                (MSG_STRUC *)&message, 0)) 
          == DRV_DEV_GET_NO_MESSAGE )       
   {
     continue;
   }
   if ( sRet == DRV_NO_ERROR )
   {
     rlDebugPrintf("message successfully received\n");
     // continue;
   }
   else
   {
     rlDebugPrintf("Error  Message (f = %d))\n",message.f);
     rlDebugPrintf("\nDevGetMessage(%d, sizeof(message), &message, 500): %d\n",
             _boardnr, (int)sRet);
             
     return 0;
    } 
  }
  else
  {
    rlDebugPrintf("\nDevPutMessage(%d, &message, 5000): %d\n",_boardnr, (int)sRet);
    return 0;
  }   
  _data.set_nodestateFlags( diag->bNodeStatus_1.bNodeNoResponse, 
                            diag->bNodeStatus_1.bEmcyBuffOverflow,
                            diag->bNodeStatus_1.bPrmFault, 
                            diag->bNodeStatus_1.bGuardActive,
                            diag->bNodeStatus_1.bDeactivated );
                       
  _data.set_nodestate(diag->bNodeState);
  _data.set_nodeerror(diag->bActualError);
                       
  _data.set_DaemonType(rlCanOpenTypes::RL_NODESTATE);
  
  return 1;
}

getObjectType()

int rlCanOpen::getObjectType	(	int	_boardnr,
		int	_nodeid,
		int	_objectindex,
		int	_subindex
	)

returns daemontype number of a specific object

returns daemontype number of an object. The type is retrieved from the node's objectdir. When no objectdir exists (e.g. because of a missing EDS file) or when the requested object does not exist, this function will return 0xFF (the corresponding value to rlCanOpenTypes::RL_NOTYPE)

Definition at line 897 of file rlcanopen.cpp.

{
  int nodeindex;
  if (getNodeIndex(_boardnr, _nodeid, nodeindex)){
    if (nodelist[nodeindex]->hasMapping())
      return nodelist[nodeindex]->objecttype(_objectindex, _subindex);
    else
      return rlCanOpenTypes::RL_BUFFER;
  }
  else{
    return rlCanOpenTypes::RL_NOTYPE;
  }
}

getPdoID()

int rlCanOpen::getPdoID ( int  _boardnr, int  _nodeid, int  _objektindex, int  _direction  )

private

return PdoId of mapped object.

this function iterates through the recieve/tramsmit pdo lists and returns the ID number of the pdo that fits the given objektindex. The PdoId identifies the send/receive PDO on the given node

Definition at line 1015 of file rlcanopen.cpp.

                                        {
  int pdomax=0;
  int nodeindex=0;
  int madress=0;
  // get index of node in nodelist depending on boardid and nodeid
  // index is stored in nodeindex variable
  getNodeIndex(_boardnr, _nodeid, nodeindex); 
  
  // get number of elements in particular PDO list
  if (_direction == DIRECTION_RECEIVE)
    pdomax = nodelist[nodeindex]->getReceivePdoCount();
  if (_direction == DIRECTION_TRANSMIT)
    pdomax = nodelist[nodeindex]->getTransmitPdoCount();
   
   /* iterate through every element of particular list until mapping 
      object adress matches given objectindex */
   for (int j=1;j<=pdomax;j++)  
   {                                                                                                    
      
     madress = nodelist[nodeindex]->pdoList[_direction][j-1]->mappingOvAdress;    
     if (madress == _objektindex)
       return j;  
   }
   return 0;
}

ini()

bool rlCanOpen::ini ( )

private

initialize nodes and create nodelist

Definition at line 71 of file rlcanopen.cpp.

{
  messagenr = 0;
  nodelist.setAutoDelete(true);

  time_t rawtime;
  struct tm * timeinfo;
  time ( &rawtime );
  timeinfo = localtime ( &rawtime );

  sprintf(err_out_buf, "\nnew session startet: %s\n", asctime(timeinfo));
  rlDebugPrintf(err_out_buf);
 
  if (iniboards()){
    rlDebugPrintf("at least one board initialize!\n");
  }
  else
  {
    rlDebugPrintf("no board available or no board could be initialized correctly!\n");
    rlDebugPrintf("Programm -> Close\n");
    exit(0); 
  }
  
  // search for active nodes and create them
  
  createNodes();
  
 
  return 1;
}

iniboards()

bool rlCanOpen::iniboards ( )

private

Read informations about installed devices.

Definition at line 154 of file rlcanopen.cpp.

{
  
  int currentboardcount=0;
  
  BOARD_INFO tBoardInfo;

#ifdef RLWIN32
    if ( (sRet = DevOpenDriver(0)) == DRV_NO_ERROR) 
#else
    if ( (sRet = DevOpenDriver()) == DRV_NO_ERROR) 
#endif    
  {
    // Driver successfully opend, read board information
#ifdef RLWIN32
    if ( (sRet = DevGetBoardInfo( 0, sizeof(tBoardInfo), &tBoardInfo)) != DRV_NO_ERROR) 
#else
    if ( (sRet = DevGetBoardInfo( &tBoardInfo)) != DRV_NO_ERROR) 
#endif    
          {
          // Function error
            rlDebugPrintf( "DevGetBoardInfo RetWert = %5d \n", sRet );
          } else 
          {
            // Information successfully read, save for further use
            // Check out which boards are available
            for ( int usIdx = 0; usIdx < MAX_DEV_BOARDS; usIdx++)
            {
              if ( tBoardInfo.tBoard[usIdx].usAvailable == TRUE) {
              // Board is configured, try to init the board
                sRet = DevInitBoard(
#ifdef RLWIN32
                tBoardInfo.tBoard[usIdx].usBoardNumber, NULL);
#else
                tBoardInfo.tBoard[usIdx].usBoard);
#endif    
                if ( sRet != DRV_NO_ERROR) {
                  // Function error
                  rlDebugPrintf( "DevInitBoard RetWert = %5d \n", sRet );
                } else {
                // DEVICE is available and ready............
                currentboardcount++;
                       }
              }
            }
          }
   }
  boardcount = currentboardcount;       
 
  if (currentboardcount!=0)
    return 1;   
  else
   return 0;    
}

is_twisted_type()

bool rlCanOpen::is_twisted_type

(

int

_canopentype

)

Definition at line 1226 of file rlcanopen.cpp.

{
  switch (_canopentype){
  
    case rlCanOpenTypes::INTEGER24_t :return true;  
    case rlCanOpenTypes::INTEGER40_t :return true;  
    case rlCanOpenTypes::INTEGER48_t :return true;  
    case rlCanOpenTypes::INTEGER56_t :return true;  
    case rlCanOpenTypes::UNSIGNED24_t:return true;  
    case rlCanOpenTypes::UNSIGNED40_t:return true;  
    case rlCanOpenTypes::UNSIGNED48_t:return true; 
    case rlCanOpenTypes::UNSIGNED56_t:return true;   
    default                          :return false;
  };

}

pdo_receive() [1/2]

int rlCanOpen::pdo_receive	(	int	_boardnr,
		int	_nodeid,
		int	_pdonr,
		int	_mappingnr,
		rlCanOpenTypes &	_pdo_data
	)

using the pdo_receive function you can receive a mapped object within PDO

using the pdo_receive function you can receive a PDO (Process Data Object), which is send from the specific node to the device. The enquired object will be written to the rlCanOpenTypes class. The mapping is only available if mapping is configurated during the node creation of the rlcanopen constructer. Therefore a eds file (electronic data sheet) is needed. Use the cannode::hasMapping() function to check if mapping is available. To read out the correct value from this class use one of the get_TYPE() {e.g. get_int() } functions you can assert the type in the class using rlCanOpenTypes::get_DaemonType();

Definition at line 544 of file rlcanopen.cpp.

{
 
 int nodeindex;
 unsigned char buffer[8];
 
 if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
 {
   rlDebugPrintf("ERROR: specified node does not exist! PDO receive failed!");
   rlDebugPrintf("BoardId: %d NodeId: %d PDO ID: %d Mappingnr: %d\n", 
     _boardnr, _nodeid, _pdonr, _mappingnr);
     
   _pdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
   return 0;
 }
 if (nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT].size() < (unsigned int) _pdonr){
   rlDebugPrintf("ERROR: specified PDO ID does not exist! PDO receive failed!");
   rlDebugPrintf("BoardId: %d NodeId: %d PDO ID: %d Mappingnr: %d\n", 
     _boardnr, _nodeid, _pdonr, _mappingnr);
   
   _pdo_data.set_rlmsgerr(ERRCODE_INVALID_PDOID);
   return 0;
 }
 else if (nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr -1]->mappingList.size() 
          < (unsigned int) _mappingnr){
   rlDebugPrintf("ERROR: specified Mappingnr does not exist! PDO receive failed!");
   rlDebugPrintf("BoardId: %d NodeId: %d PDO ID: %d Mappingnr: %d\n", 
     _boardnr, _nodeid, _pdonr, _mappingnr);
     
   _pdo_data.set_rlmsgerr(ERRCODE_INVALID_MAPID);
   return 0;
 }      
 
 // PDO No.1 has the index 0 !!!
 int pdosize = nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr-1]->bPDOSize;      
 int pdooffset = nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr-1]->usPDOAddress; 
 
 //cout<<"size ="<<pdosize<<" offset = "<<pdooffset<<"\n";
 
 if ( (sRet =  DevExchangeIO( _boardnr,   // Board NO
                      0,                  //offset send data
                      0,                  //Length of the send IO data
                      NULL,               //Pointer to the user send data buffer
                      pdooffset,          //Byte offset in the receive IO data area
                      pdosize,            //Length of the receive IO data
                      &buffer[0],         //Pointer to the user read data buffer
                      100L)               //timeout in milliseconds
      ) == DRV_NO_ERROR)
 {
   
   int length_in_byte = nodelist[nodeindex]->
         pdoList[DIRECTION_TRANSMIT][_pdonr-1]->mappingList[_mappingnr-1]->length/8;
           
   int position_in_byte = nodelist[nodeindex]->
         pdoList[DIRECTION_TRANSMIT][_pdonr-1]->mappingList[_mappingnr-1]->position/8; 
         
   _pdo_data.clearBuffer();
   
   for(int i = position_in_byte; i< length_in_byte+position_in_byte;i++)
   {
        _pdo_data.set_buffer(i-position_in_byte,buffer[i]);
   }
        
   _pdo_data.set_DaemonType( nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr-1]->
          mappingList[_mappingnr-1]->etype);
     
       
   _pdo_data.set_rlmsgerr(ERRCODE_NOERROR);
   
   
    // if CanOpen-Type is a twistet integer (etc. 52Bit ) the value will be converted
   int canopentype = nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr-1]->
          mappingList[_mappingnr-1]->canopentype;
           
   if (is_twisted_type(canopentype))
     _pdo_data.translate_CanOpenType(canopentype);   
   
   return 1;  
 }
 rlDebugPrintf("ERROR: PDO receive failed!");
 rlDebugPrintf("BoardId: %d NodeId: %d PDO ID: %d Mappingnr: %d\n", 
   _boardnr, _nodeid, _pdonr, _mappingnr);
 
 _pdo_data.set_rlmsgerr(ERRCODE_PDORCV_FAIL);
 
  return 0;     
}

pdo_receive() [2/2]

int rlCanOpen::pdo_receive	(	int	_boardnr,
		int	_nodeid,
		int	_pdonr,
		rlCanOpenTypes &	_pdo_data
	)

using the pdo_receive function you can receive a PDO (Process Data Object)

using the pdo_receive function you can receive a PDO (Process Data Object), which is send from the specific node to the canOpen master card. The data will be written to the rlCanOpenTypes class. This function doesn't use mapping. So the whole 8Byte PDO data, will be received. To read out use the rlCanOpenTypes::get_buffer({0-7}) function

Definition at line 637 of file rlcanopen.cpp.

{
   
   int nodeindex;
   if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
   {
     sprintf(err_out_buf, "ERROR: specified node does not exist! PDO \
                           receive failed! BoardId: %d NodeId: %d PDO \
                           ID: %d\n", _boardnr, _nodeid, _pdonr);
     rlDebugPrintf(err_out_buf);
     
     //cout<<"ERROR: specified node does not exist!\n";
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
     return 0;
   }
   
   if (nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT].size() < (unsigned int) _pdonr){
     sprintf(err_out_buf, "ERROR: specified PDO ID does not exist! \
                           PDO receive failed! BoardId: %d NodeId: \
                           %d PDO ID: %d\n", _boardnr, _nodeid, _pdonr);
     rlDebugPrintf(err_out_buf);

     //cout<<"PDO ID does not exists!\n";
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_PDOID);
     return 0;
   }
   
   int pdosize = nodelist[nodeindex]->pdoList[DIRECTION_TRANSMIT][_pdonr-1]->bPDOSize;
   
   int pdooffset = nodelist[nodeindex]->
                                pdoList[DIRECTION_TRANSMIT][_pdonr-1]->usPDOAddress;
   
   //cout<<"\nsize ="<<pdosize<<" offset = "<<pdooffset;
     
   if ( (sRet =  DevExchangeIO( _boardnr, // Board NO
                  0,                      //offset send data
                  0,                      //Length of the send IO data
                  NULL,                   //Pointer to the user send data buffer
                  pdooffset,              //Byte offset in the receive IO data area
                  pdosize,                //Length of the receive IO data
                  &_pdo_data.pdobuffer[0],//Pointer to the user read data buffer
                  100L)                   //timeout in milliseconds
        ) == DRV_NO_ERROR)
   {
     _pdo_data.pdobuf2buf();
     //rlDebugPrintf("PDO recieve successfull!\n");
     _pdo_data.set_rlmsgerr(ERRCODE_NOERROR);
     return 1;
   
   }
   sprintf(err_out_buf, "ERROR: PDO receive failed! \
                         BoardId: %d NodeId: %d PDO \
                         ID: %d\n", _boardnr, _nodeid, _pdonr);
   rlDebugPrintf(err_out_buf);

   //rlDebugPrintf("ERROR: PDO RECEIVE FAILED\n");
   _pdo_data.set_rlmsgerr(ERRCODE_PDORCV_FAIL);
     return 0;                          
}

pdo_transmit() [1/2]

int rlCanOpen::pdo_transmit	(	int	_boardnr,
		int	_nodeid,
		int	_pdonr,
		int	_mappingnr,
		rlCanOpenTypes &	_pdo_data
	)

transmit a mapped object within a PDO to a specific node

Using the pdo_transmit function you can transmit a PDO (Process Data Object) to a specific node. The desired data must be written to the rlCanOpenTypes class. The mapping is only available if mapping is configurated during the node creation of the rlcanopen constructer. Therefore an eds file (electronic data sheet) is needed. Use the cannode::hasMapping() function to check if mapping is available

Definition at line 703 of file rlcanopen.cpp.

{
   int nodeindex;
   if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
   {
     sprintf(err_out_buf, "ERROR: specified node does not exist! PDO transmit \
                           failed! BoardId: %d NodeId: %d PDO ID: %d Mappingnr:\
                            %d\n", _boardnr, _nodeid, _pdonr, _mappingnr);
     rlDebugPrintf(err_out_buf);
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
     return 0;
   }
   if (nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE].size() < (unsigned int) _pdonr){
     sprintf(err_out_buf, "ERROR: specified PDO ID does not exist! PDO transmit\
                           failed! BoardId: %d NodeId: %d PDO ID: %d Mappingnr:\
                            %d\n", _boardnr, _nodeid, _pdonr, _mappingnr);
     rlDebugPrintf(err_out_buf);
        
     //cout<<"PDO ID does not exists!\n";
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_PDOID);
     return 0;
   }
   else if (nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr -1]->mappingList.size()
              < (unsigned int) _mappingnr){
     sprintf(err_out_buf, "ERROR: specified mappingnr does not exist! PDO \
                           transmit failed! BoardId: %d NodeId: %d PDO \
                           ID: %d Mappingnr: %d\n", 
                           _boardnr, _nodeid, _pdonr, _mappingnr);
     rlDebugPrintf(err_out_buf);

     //cout<<"mapping ID does not exists!\n";
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_MAPID);
     return 0;
   }    
   
   // PDO No.1 has the index 0 !!!
   int pdosize = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->bPDOSize; 
   int pdooffset = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->usPDOAddress;

   int length_in_byte = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->
                          mappingList[_mappingnr-1]->length/8;
                          
   int position_in_byte = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->
                          mappingList[_mappingnr-1]->position/8; 
   
   if (_pdo_data.get_DaemonType() != (nodelist[nodeindex]->
               pdoList[DIRECTION_RECEIVE][_pdonr-1]->mappingList[_mappingnr-1]->etype))
   {  
     
     sprintf(err_out_buf, "ERROR: invalid type! Expected type: %d  Your Type:\
                            %d! PDO transmit failed! BoardId: %d NodeId: %d \
                            PDO ID: %d Mappingnr: %d\n", 
          nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->
            mappingList[_mappingnr-1]->etype, 
          _pdo_data.get_DaemonType(), _boardnr, _nodeid, _pdonr, _mappingnr);
       
       
     rlDebugPrintf(err_out_buf);
     _pdo_data.get_DaemonType();
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_RLTYPE);
     return 0;
   }
   
    _pdo_data.buf2pdobuf();
   
   // no conversion necessary. correct length in mapping list

   pdooffset = pdooffset + position_in_byte;
   pdosize = length_in_byte;
   
   
   
   //cout<<"size ="<<pdosize<<" offset = "<<pdooffset<<"\n";
   
   if ( (sRet =  DevExchangeIO( _boardnr,       // Board NO
                        pdooffset,              //offset send data
                        pdosize,                //Length of the send IO data
                        &_pdo_data.pdobuffer[0],//Pointer to the user send data buffer
                        0,                      //Byte offset in the receive IO data area
                        0,                      //Length of the receive IO data
                        NULL,                   //Pointer to the user read data buffer
                        100L)                   //timeout in milliseconds
        ) == DRV_NO_ERROR)
   {
     _pdo_data.set_rlmsgerr(0);
     //rlDebugPrintf("PDO transmit successful! \n");
     return 1;  
   }
   sprintf(err_out_buf, "ERROR: PDO transmit failed! BoardId: %d NodeId: %d \
                         PDO ID: %d Mappingnr: %d\n", 
                         _boardnr, _nodeid, _pdonr, _mappingnr);
   rlDebugPrintf(err_out_buf);
   
   _pdo_data.set_rlmsgerr(ERRCODE_PDOSND_FAIL);
   return 0;    
}

pdo_transmit() [2/2]

int rlCanOpen::pdo_transmit	(	int	_boardnr,
		int	_nodeid,
		int	_pdonr,
		rlCanOpenTypes &	_pdo_data
	)

transmit a 8 Byte PDO to a specific node

Using the pdo_transmit function you can transmit a PDO (Process Data Object) to a specific node. The desired data must be written to the rlCanOpenTypes class. This function does not support mapping. So the whole 8byte PDO data, will be send to write to the rlCanOpenTypes use the rlCanOpenTypes::set_buffer({0-7}) function

Definition at line 806 of file rlcanopen.cpp.

{
   int nodeindex;
   _pdo_data.buf2pdobuf();
   
   if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
   {
     sprintf(err_out_buf, "ERROR: specified node does not exist! PDO transmit\
                           failed! BoardId: %d NodeId: %d PDO ID: %d \n",
                            _boardnr, _nodeid, _pdonr);
                            
     rlDebugPrintf(err_out_buf);
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
     return 0;
   }
   if (nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE].size() < (unsigned int) _pdonr){
     sprintf(err_out_buf, "ERROR: specified PDO ID does not exist! PDO \
                           transmit failed! BoardId: %d NodeId: %d PDO \
                           ID: %d \n", _boardnr, _nodeid, _pdonr);
     rlDebugPrintf(err_out_buf);
     _pdo_data.set_rlmsgerr(ERRCODE_INVALID_PDOID);
     return 0;
   }
   
   int pdosize = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->bPDOSize;
   int pdooffset = nodelist[nodeindex]->pdoList[DIRECTION_RECEIVE][_pdonr-1]->usPDOAddress; 
   
   if ( (sRet =  DevExchangeIO( _boardnr,       // Board NO
                        pdooffset,              //offset send data
                        pdosize,                //Length of the send IO data
                        &_pdo_data.pdobuffer[0],//Pointer to the user send data buffer
                        0,                      //Byte offset in the receive IO data area
                        0,                      //Length of the receive IO data
                        NULL,                   //Pointer to the user read data buffer
                        100L)                   //timeout in milliseconds
        ) == DRV_NO_ERROR)
   {
     _pdo_data.set_rlmsgerr(ERRCODE_NOERROR);
     return 1;
   }
   sprintf(err_out_buf, "ERROR: PDO transmit failed! BoardId: %d NodeId: %d \
                         PDO ID: %d \n", _boardnr, _nodeid, _pdonr);
   rlDebugPrintf(err_out_buf);
   
   _pdo_data.set_rlmsgerr(ERRCODE_PDOSND_FAIL);
    return 0;                           
}

read_inifile()

void rlCanOpen::read_inifile ( const char *  _filename )

private

read properties of inifile

read properties of inifile. EDS path, logfile location and user-specific options are set on startup

Definition at line 1189 of file rlcanopen.cpp.

                                                 {
  rlIniFile ini;   
  QString buffer;
  if (ini.read(_filename)!=-1){
    rlDebugPrintf("used inifile: %s\n", _filename);
    
    // read EDS directory location
    buffer=QString(ini.text("DIRECTORIES","EdsDir"));
    buffer.remove((char) ACSII_CODE_CARRIAGE_RETURN);
    rlDebugPrintf("EdsDir: %s\n", buffer.ascii());
    // store EDS directory location in environmet variable
#ifdef RLWIN32
    SetEnvironmentVariable("EdsDir", buffer.ascii());
#else
    setenv("EdsDir", buffer.ascii(), 1);
#endif    
    
    // read Logfilename
    logFileName=QString(ini.text("DIRECTORIES","LogFileName"));
    logFileName.remove((char) ACSII_CODE_CARRIAGE_RETURN);
    rlDebugPrintf("Log Filename: %s\n", logFileName.ascii());
    
    // read loggin-option 
    buffer=QString(ini.text("OPTIONS","enableLoggin"));
    if (buffer.contains("yes", false)==1)
      enableLogging=true;  
    else
      enableLogging=false;  
  }
  else
  {
    logFileName=  "./outfile.txt";
    rlDebugPrintf("ERROR: INIFILE NOT FOUND\n");
  }
}

refreshMappingList()

int rlCanOpen::refreshMappingList ( int  _boardnr, int  _nodeid, int  _pdoID, int  _pdoDirection  )

private

if the user changes the mapping of a node using SDO functions, the internal mapping list should be changed

Definition at line 917 of file rlcanopen.cpp.

{
  //rlDebugPrintf("refresh mappinglist1\n");
  int nodeindex;
  int madress=0;
  
   
    madress = nodelist[nodelist.size()-1]->
                pdoList[_pdoDirection][_pdoID -1]->mappingOvAdress;
      
  if (getNodeIndex(_boardnr,_nodeid,nodeindex)== false) 
  {
    sprintf(err_out_buf, "ERROR: specified node does not exist! refresh \
                          mapping list failed! BoardId: %d NodeId: %d \
                          PDO ID: %d \n", _boardnr, _nodeid, _pdoID);
    rlDebugPrintf(err_out_buf);
    return 0;
  }
  
 
  if(nodelist[nodeindex]->pdoList[_pdoDirection].size() < (unsigned int) _pdoID)
  {
    sprintf(err_out_buf, "ERROR: PDO does not exist! refresh \
                          mapping list failed! BoardId: %d NodeId: %d \
                          PDO ID: %d \n", _boardnr, _nodeid, _pdoID);
    rlDebugPrintf(err_out_buf);
    return 0;
  }
   
  //append Mapping data                                 
  rlCanOpenTypes sdobuffer;                            
  int mappingcount;
  rlCanMapping * mappingobject; 
                                            
  //get mapping count                       
  if (sdo_read(_boardnr,_nodeid,madress,0,sdobuffer) == 0){
    sprintf(err_out_buf, "ERROR: read sdo data! refresh mapping list failed! \
                          BoardId: %d NodeId: %d PDO ID: %d \n", 
                          _boardnr, _nodeid, _pdoID);
    rlDebugPrintf(err_out_buf);
  }
  
  mappingcount = sdobuffer.get_uchar();   
  
  sprintf(err_out_buf, "Current mappingcount: %d\n", mappingcount);
  rlDebugPrintf(err_out_buf);                                           
  
  nodelist[nodeindex]->pdoList[_pdoDirection][_pdoID-1]->
                  mappingList.resize(mappingcount);

  int currentposition = 0;
  for (int mcount = 1; mcount <= mappingcount;mcount++)  //each mappingobject
  {
    mappingobject = new rlCanMapping;  //create new mappingobject in memory
    mappingobject->mappingId = mcount;
        
   
   if (sdo_read(_boardnr,_nodeid,madress,mcount,sdobuffer) == 0){
     sprintf(err_out_buf, "ERROR: read sdo data! refresh mapping list failed! \
                           BoardId: %d NodeId: %d PDO ID: %d \n", 
                           _boardnr, _nodeid, _pdoID);
     rlDebugPrintf(err_out_buf);
     //cout<<"Error during create Mappinglist!\n";
    }
       
    //get length of mapping object
    int mlength  = sdobuffer.get_buffer(0);
    mappingobject->length = mlength;
    
    //calculate the mapping position
    if (mcount>1)
      mappingobject->position = currentposition;         
    else       
      mappingobject->position = 0;           
    currentposition+=mlength;
    
    // get the ov adress of the current mapped object
    int mi  = (int) (sdobuffer.get_buffer(3)*pow(256,1) 
                                          + sdobuffer.get_buffer(2));
                                          
    unsigned char msi = sdobuffer.get_buffer(1);
        
    rlCanOpenTypes temptype;
    mappingobject->etype = temptype.canOpenType2DeamonType
                           (nodelist[nodelist.size()-1]->objecttype(mi, msi));
        
    // insert the mappingobject to mappinglist
    nodelist[nodeindex]->pdoList[_pdoDirection][_pdoID-1]->
                         mappingList.insert(mcount-1,mappingobject);
       
  }
  return 1;                                                   
}                                                               

restartBoard()

int rlCanOpen::restartBoard	(	int	_boardnr,
		int	_restarttype
	)

using this function you are able to restart a CanOpenMaster board

Using this function you are able to restart a CanOpenMaster board (device). There are 3 possibly kinds of restarting the master: coldstart, warmstart, bootstart. The corresponding '#defines' are declared in canopenstructs.h Hilscher specific function (so no CanOpoen services) are used to execute this command

Definition at line 1114 of file rlcanopen.cpp.

{
   //COLDSTART           2
   //WARMSTART           3
   //BOOTSTART           4
   
   if ( (sRet = DevReset(_boardnr, _restarttype, 5000L) != DRV_NO_ERROR ))
  {
    rlDebugPrintf("restart failed!\n");
    rlDebugPrintf("DevReset(%d, Restart, 5000): %d\n", _boardnr, sRet);
    return 0;
  }
  
   rlDebugPrintf("restart successfully\n");
   return 1;
}

sdo_read()

int rlCanOpen::sdo_read	(	int	_boardnr,
		int	_nodeid,
		int	_objectindex,
		int	_subindex,
		rlCanOpenTypes &	_sdo_data
	)

read a certain object from the object dictionary of a node

using the sdo_read function you can read a certain object from the object dictionary of a node. For this the SDO (Service Data Object) service will be used. The enquired object will be written to the rlCanOpenTypes class. To read out the correct value from this class use one of the get_TYPE() {e.g. get_int() } functions. You can assert the type in the class using rlCanOpenTypes::get_DaemonType(); if sdo_read failures the current error can be read out using rlCanOpenTypes::get_rlmsgerr()

Definition at line 332 of file rlcanopen.cpp.

{
    int datalength;
    int canopentype;
    int nodeindex; 
    
    if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
    {
      rlDebugPrintf("ERROR: specified node does not exist! SDO write failed!");
      rlDebugPrintf("BoardId: %d NodeId: %d Objektindex: %d Subindex: %d\n", 
        _boardnr, _nodeid, _objectindex, _subindex);
        
      _sdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
      return 0;
    }


    delmsg();
    setBoardActive(_boardnr);
    
    message.rx          = CAN_TASK; 
    message.tx          = USER_AT_HOST;
    message.ln          = 8;
    message.nr          = messagenr++; 
    message.a           = 0; 
    message.f           = 0;
    message.b           = CMDCODE_SDO_UPDOWNLOAD;
    message.e           = 0;
    message.device_adr  = _nodeid;  
    message.data_area   = 0; 
    message.data_adr    = _objectindex; 
    message.data_idx    = _subindex; 
    message.data_cnt    = 0; 
    message.data_type   = 0; 
    message.function    = TASK_TFC_READ; 
 
   if(DevPutMessage(0, (MSG_STRUC *)&message,5000L) != DRV_NO_ERROR) return 0;
   
   delmsg();
   // receive the answer
  
   sRet = DevGetMessage( getActiveBoard(),                       // Device Number            
                         sizeof(message), 
                         (MSG_STRUC *)&message,   // Pointer to user buffer  
                         2000L );                 // Timeout   
   unsigned char msgnrlocal;
   msgnrlocal = messagenr - 1;                       
   
   // receive correct answer   
   if((message.a == CMDCODE_SDO_UPDOWNLOAD)&&(message.nr == msgnrlocal)){ 
      _sdo_data.set_rlmsgerr(message.f);
      if (message.f == ERRCODE_NOERROR) // node active, no error
      {
        canopentype=getObjectType(_boardnr, _nodeid, _objectindex, _subindex);
        if (canopentype!=rlCanOpenTypes::RL_NOTYPE){
          _sdo_data.set_CanOpenType(canopentype);
          datalength = _sdo_data.getLength();
        }
        else 
        {
          _sdo_data.set_DaemonType(rlCanOpenTypes::RL_BUFFER);
          datalength = MAX_SDO_BUFFERSIZE;
        }
        _sdo_data.clearBuffer();   
        for(int i = 0; i < datalength; i++)
          _sdo_data.set_buffer(i, message.d[i]);         
        
        // if CanOpen-Type is a twistet integer (etc. 52Bit ) the value will be converted
        if ((is_twisted_type(canopentype)) && (nodelist[nodeindex]->hasMapping()))
          _sdo_data.translate_CanOpenType(canopentype);
        
        return 1;
      }
      else
      {
        rlDebugPrintf("message.f = %d  message.f = %x Hex \n", message.f, message.f);
      }
    }
    else
    {
      rlDebugPrintf("message.a = %d message.nr = %d vergleich mit: %d\n", 
         message.a, message.nr, msgnrlocal);
         
      _sdo_data.set_rlmsgerr(-1);
    }
    rlDebugPrintf("ERROR during read SDO message!");
    rlDebugPrintf("BoardId: %d NodeId: %d Obj: %x Sub: %x\n", 
      _boardnr, _nodeid, _objectindex, _subindex);
      
      
    return 0;
}

sdo_write()

int rlCanOpen::sdo_write	(	int	_boardnr,
		int	_nodeid,
		int	_objectindex,
		int	_subindex,
		rlCanOpenTypes &	_sdo_data
	)

write data into a certain object from the object dictionary of a node

using the sdo_write function you can write to a certain object from the object dictionary of a node. For this the SDO (Service Data Object) Service will be used. The relevant data must be written into the rlCanOpenTypes class before. To write the data into the rlCanOpenTypes class use one of the datatype depending functions like rlCanOpenTypes::set_int(int _value); if sdo_write failures the current error can be read out using rlCanOpenTypes::get_rlmsgerr()

Definition at line 431 of file rlcanopen.cpp.

{
    int length;
    int pdoid;
    length = _sdo_data.getLength();
    int nodeindex;
    if (getNodeIndex(_boardnr,_nodeid,nodeindex)== 0) 
    {
      rlDebugPrintf("ERROR: specified node does not exist! SDO write failed!");
      rlDebugPrintf("BoardId: %d NodeId: %d Objektindex: %d Subindex: %d\n", 
        _boardnr, _nodeid, _objectindex, _subindex);
      
      _sdo_data.set_rlmsgerr(ERRCODE_INVALID_NODEID);
      return 0;
    }
    
    // if CanOpen-Type is a twistet integer (etc. 52Bit ) the datalength must be adjusted
    int canopentype = getObjectType(_boardnr, _nodeid, _objectindex, _subindex);
   
    if ((is_twisted_type(canopentype)) && (nodelist[nodeindex]->hasMapping()))
      length = _sdo_data.get_CanOpenTypeLength(canopentype);
   
     for(int i = 0;i<length;i++)
        message.d[i] = _sdo_data.get_buffer(i);

    
    setBoardActive(_boardnr);
    
    message.rx          = CAN_TASK; 
    message.tx          = USER_AT_HOST;
    message.ln          = 8+ length;
    message.nr          = messagenr++; 
    message.a           = 0; 
    message.f           = 0;
    message.b           = CMDCODE_SDO_UPDOWNLOAD;
    message.e           = 0;
    message.device_adr  = _nodeid;  
    message.data_area   = 0; 
    message.data_adr    = _objectindex; 
    message.data_idx    = _subindex; 
    message.data_cnt    = length; 
    message.data_type   = 0; 
    message.function    = TASK_TFC_WRITE; 
    
    if(DevPutMessage(0, (MSG_STRUC *)&message,5000L) != DRV_NO_ERROR) return 0;
         
    
  // receive the answer
  
  sRet = DevGetMessage ( _boardnr,                // Device Number            
                         sizeof(message), 
                         (MSG_STRUC *)&message,   // Pointer to user buffer  
                         2000L );                 // Timeout   
   
   unsigned char msgnrlocal = messagenr - 1;
   
   // receive correct answer   
   if((message.a == CMDCODE_SDO_UPDOWNLOAD)&&(message.nr == msgnrlocal)){  
      _sdo_data.set_rlmsgerr(message.f);
      if (message.f == ERRCODE_NOERROR) // node active, no error
      {
        //check if the mapping has changed
        if( (_objectindex >= TRANSMIT_PDO_MAPPING_STARTADRESS) &&
            (_objectindex <= TRANSMIT_PDO_MAPPING_MAXADRESS) && 
            (nodelist[nodeindex]->hasMapping()) )
        { 
          rlDebugPrintf("Mapping has changed: boardid %d, nodeid %d, objectindex %x\n", 
            _boardnr, _nodeid, _objectindex);
            
          pdoid = getPdoID(_boardnr, _nodeid, _objectindex, DIRECTION_TRANSMIT);
          refreshMappingList(_boardnr,_nodeid,pdoid,DIRECTION_TRANSMIT);
        }
        else if ( (_objectindex >= RECEIVE_PDO_MAPPING_STARTADRESS) && 
                  (_objectindex <= RECEIVE_PDO_MAPPING_MAXADRESS) &&
                  (nodelist[nodeindex]->hasMapping()) )
        {
          rlDebugPrintf("Mapping has changed: boardid %d, nodeid %d, objectindex %x\n", 
            _boardnr, _nodeid, _objectindex);
          pdoid = getPdoID(_boardnr, _nodeid, _objectindex, DIRECTION_RECEIVE);
          refreshMappingList(_boardnr,_nodeid,pdoid,DIRECTION_RECEIVE);
        }
        return 1;
      }
      else
      {
        sprintf(err_out_buf, "message.f = %d  message.f = %x Hex \n", 
          message.f, message.f);
          
        rlDebugPrintf(err_out_buf);
        _sdo_data.set_rlmsgerr(message.f);
      }
    }
    else
    {
      _sdo_data.set_rlmsgerr(-1);
      sprintf(err_out_buf, "message.a = %d message.nr = %d vergleich mit: %d\n", 
        message.a, message.nr, msgnrlocal);
        
      rlDebugPrintf(err_out_buf);
    }
    rlDebugPrintf("ERROR during read SDO message!");
    rlDebugPrintf("BoardId: %d NodeId: %d Obj: %x Sub: %x\n", 
      _boardnr, _nodeid, _objectindex, _subindex);
      
    rlDebugPrintf(err_out_buf);
    return 0;
}

sendNMTCommand()

int rlCanOpen::sendNMTCommand	(	int	_boardnr,
		int	_nodeid,
		unsigned char	_cmd
	)

send a NMT Command to one or all nodes (of one board)

Using this function you can send a NMT Command to one or all nodes (of one board). NMT (Network Management) is a CanOpen service. Because of the device there are constrictions for the user. You can only execute the follow NMT commands: START_REMOTE_NODE, STOP_REMOTE_NODE, ENTER_PREOPERATIONAL, RESET_NODE, RESET_COMMUNICATION The corresponding '#defines' are declared in canopenstructs.h

Definition at line 1132 of file rlcanopen.cpp.

{
  MSG_STRUC message;
  setBoardActive(_boardnr);
  
  message.rx = CAN_TASK         ;//receiver = user at HOST
  message.tx = USER_AT_HOST     ;// transmitter = USR_INTF-Task
  message.ln = 2                ;//length of message
  message.nr = messagenr++      ;//number of the message
  message.a  = 0                ;//no answer
  message.f  = 0                ;//error, status
  message.b  = CMD_NMT_Module_Protocol;//command = COM_Node_Diag
  message.e =  0                ;//extension

        // NMT Command specifier
        //1     Start Remote Node
        //2     Stop Remote Node
        //128   Enter Pre-Operational
        //129   Reset Node
        //130   Reset Communication
  message.data[0] = _cmd                ;//NMT Command specifier
  message.data[1] = _nodeid     ;//NodeID
  
   if ( (sRet = DevPutMessage(_boardnr, (MSG_STRUC *)&message, 5000L)) 
         == DRV_NO_ERROR )
 {
   while( (sRet = DevGetMessage(_boardnr, sizeof(message), 
                               (MSG_STRUC *)&message, 0)) 
           == DRV_DEV_GET_NO_MESSAGE )
   {
     continue;
   }
   if ( sRet == DRV_NO_ERROR )
   {
     rlDebugPrintf("NMT message successfully received\n");
     // continue;
   }
   else
   {
     rlDebugPrintf("Error  Message (f = %d))\n",message.f);
     rlDebugPrintf("\nDevGetMessage(%d, sizeof(message), &message, 500): %d\n",
             _boardnr, (int)sRet);
     
     return 0;
    }
  }
  else
  {
    rlDebugPrintf("\nDevPutMessage(NMT)(%d, &message, 5000): %d\n",_boardnr, (int)sRet);
    return 0;
  } /* if ( (sRet = DevPutMessage(...)) == DRV_NO_ERROR ) else */
  
  return 1;     
}

setBoardActive()

short rlCanOpen::setBoardActive ( int  _boardnr )

private

sets a desired CanOpenMaster active, so that it can be used

Definition at line 285 of file rlcanopen.cpp.

{
                        
  if ( (sRet = DevSetHostState( _boardnr, HOST_READY, 0L) == DRV_NO_ERROR) )   
    activeboard = _boardnr;
 
  return sRet;
}

showNodeConfiguration() [1/2]

bool rlCanOpen::showNodeConfiguration	(	int	_boardnr,
		int	_nodeid
	)

prints out the configuration of a specific node

Definition at line 303 of file rlcanopen.cpp.

{
  for( unsigned int i = 0; i < nodelist.size(); i++)
  {
    if ((nodelist[i]->getNodeID() == _nodeid) && 
        (nodelist[i]->getBoardID() == _boardnr))
    {
      nodelist[i]->showConfiguration();
      return true;
      
    }           
  }

  return false; 
} 

showNodeConfiguration() [2/2]

bool rlCanOpen::showNodeConfiguration

(

)

prints out the configuration off all available nodes from all boards

Definition at line 320 of file rlcanopen.cpp.

{
  if(nodelist.size() == 0) return 0;
  for(unsigned int i = 0; i < nodelist.size(); i++)
  {
    nodelist[i]->showConfiguration();   
  }
   return 1;
}

Member Data Documentation

activeboard

int rlCanOpen::activeboard

private

the currently active board

Definition at line 219 of file rlcanopen.h.

boardcount

int rlCanOpen::boardcount

private

the current count of CanOpenMaster cards

Definition at line 253 of file rlcanopen.h.

enableLogging

bool rlCanOpen::enableLogging

private

this indicator is true when stdout is redirected to file. it is set in the ini-file

Definition at line 281 of file rlcanopen.h.

err_fp

FILE* rlCanOpen::err_fp

private

Pointer to error logfile.

Definition at line 241 of file rlcanopen.h.

err_out_buf

char rlCanOpen::err_out_buf[255]

private

this string buffer is usually written with sprintf before sent to stdout

Definition at line 235 of file rlcanopen.h.

logFileName

QString rlCanOpen::logFileName

private

name of logfile stdout is redirected to

Definition at line 244 of file rlcanopen.h.

message

RCS_MESSAGETELEGRAM_10 rlCanOpen::message

private

hilscher specific message structur which will be sent to the master card

Definition at line 247 of file rlcanopen.h.

messagenr

unsigned char rlCanOpen::messagenr

private

message counter

Definition at line 256 of file rlcanopen.h.

nodelist

QPtrVector<rlCanNode> rlCanOpen::nodelist

private

this list contains all nodes from all boards

Definition at line 250 of file rlcanopen.h.

sRet

short rlCanOpen::sRet

private

return value for hilscher specific message functions

Definition at line 238 of file rlcanopen.h.

---

The documentation for this class was generated from the following files:

• rlcanopen.h
• rlcanopen.cpp