sdoClient

Documentation

Index

• Constants
• type Download
  • func (download Download) Do(bus *can.Bus) error
  • func (download Download) DoBlock(bus *can.Bus) error
• type Upload
  • func (upload Upload) Do(bus *can.Bus) ([]byte, error)

Constants

const (
	DownloadInitiateRequest  = 0x20 // 0010 0000
	DownloadInitiateResponse = 0x60 // 0110 0000

	DownloadSegmentRequest  = 0x00 // 0000 0000
	DownloadSegmentResponse = 0x20 // 0010 0000
)

Types

type Download

type Download struct {
	ObjectIndex canopen.ObjectIndex

	Data          []byte
	RequestCobID  uint16
	ResponseCobID uint16
}

Download represents a SDO download process to write data to a CANopen device – download because the receiving node downloads data.

func (Download) Do

func (download Download) Do(bus *can.Bus) error

func (Download) DoBlock

func (download Download) DoBlock(bus *can.Bus) error

type Upload

type Upload struct {
	ObjectIndex canopen.ObjectIndex

	RequestCobID  uint16
	ResponseCobID uint16
}

Upload represents an SDO upload process to read data from a CANopen device – upload because the receiving node uploads data to another node.

func (Upload) Do

func (upload Upload) Do(bus *can.Bus) ([]byte, error)