CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
PDO Tables
The following macros are used in lieu of repetitive calls to canOpenDefinePDO()
BEGIN_PDO_TABLE(PDO_Name)
Begins the definition of a table with PDO descriptions. You can define more than one PDO table
defining different values for PDO_Name. You have to define the PDO table either in the local
scope of your source module or in the local scope of code that is implementing DECLARE_PDO.
END_PDO_TABLE
Ends the definition of a PDO table.
PDO_ENTRY(COBid, TransMode, InhibitTime, TxTout, RxTout, Reserved, Mapping)
Defines a new PDO entry with a default mapping. Please refer to the documentation of
canOpenDefinePDO() for the data types and possible values of COBid, TransMode, InhibitTime,
TxTout, and RxTout. Use the parameter MappingName of the macro BEGIN_MAPPING_TABLE
of the intended default mapping as argument for this macro parameter Mapping.
PDO_ENTRY_UNMAPPED(COBid, TransMode, InhibitTime, TxTout, RxTout, Reserved)
Defines a new PDO entry without a default mapping. Please refer to the documentation of
canOpenDefinePDO() for the data types and possible values of COBid, TransMode, InhibitTime,
TxTout, and RxTout.
DECLARE_PDO(hNode, PDO_Name)
Extends and initialize the slave node with a previously defined PDO table. The parameter hNode
is the node handle which is returned by canOpenCreateNodeEx(). The parameter PDO_Name
defines the dictionary table which is started with BEGIN_PDO_TABLE..
Internally these macros define and use arrays of the type _COS_PDO_ENTRY with the variable name
PDO_Name prefixed by the string “_PDO_Table_” which normally do not need accessed directly by
the application. If the application needs the PDO handle which is returned by canOpenDefinePDO()
to use direct PDO services for reading or writing PDOs this handle is stored in member handle of the
structure _COS_PDO_ENTRY.
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Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave