CANopen Manager / Slave Manual - esd electronics, Inc.

PDO Mapping Tables
CANopen-Slave
The following macros are used to define a default mapping of entries in the object dictionary to the
PDO of the slave node. Their only purpose is to provide the possibility of a more clearly laid out code
for the mapping data structure which is referenced in canOpenDefinePDO().
BEGIN_MAPPING_TABLE(MappingName)
Begins the definition of a PDO mapping table. You can define more than one PDO mapping
defining different values for MappingName. You have to define the PDO mapping table either
in the local scope of your source module or in the local scope of code that is implementing
DECLARE_PDO.
END_MAPPING_TABLE
Ends the definition of a PDO mapping table.
MAPPING_ENTRY(Index, Subindex)
Defines a new mapping entry. Please refer to the documentation of the parameter Mapping for
canOpenDefinePDO() for more details about the macro parameter Index and Subindex.
Internally these macros define arrays of the type unsigned short with the variable name
MappingName prefixed by the string “_Mapping_” which do not need accessed directly by the
application. At the end of the explanation of the PDO Table related macros you will find an example
using these macros.
CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 53 of 65