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32 |
32 |
33 #include "data.h" |
33 #include "data.h" |
34 |
34 |
35 /* Status of the TPDO : */ |
35 /* Status of the TPDO : */ |
36 #define PDO_INHIBITED 0x01 |
36 #define PDO_INHIBITED 0x01 |
|
37 #define PDO_RTR_SYNC_READY 0x01 |
37 |
38 |
38 /** The PDO structure */ |
39 /** The PDO structure */ |
39 struct struct_s_PDO_status { |
40 struct struct_s_PDO_status { |
40 UNS8 transmit_type_parameter; |
41 UNS8 transmit_type_parameter; |
41 TIMER_HANDLE event_timer; |
42 TIMER_HANDLE event_timer; |
70 /** Transmit a PDO request frame on the bus bus_id |
71 /** Transmit a PDO request frame on the bus bus_id |
71 * to the slave. |
72 * to the slave. |
72 * bus_id is hardware dependant |
73 * bus_id is hardware dependant |
73 * Returns 0xFF if error, other in success. |
74 * Returns 0xFF if error, other in success. |
74 */ |
75 */ |
75 UNS8 sendPDOrequest (CO_Data* d, UNS32 cobId); |
76 UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex ); |
76 |
77 |
77 /** Compute a PDO frame reception |
78 /** Compute a PDO frame reception |
78 * bus_id is hardware dependant |
79 * bus_id is hardware dependant |
79 * return 0xFF if error, else return 0 |
80 * return 0xFF if error, else return 0 |
80 */ |
81 */ |