sdo

Documentation

Index

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

Constants

const (
	ClientIntiateDownload = 0x20 // 0010 0000
	ClientSegmentDownload = 0x00 // 0110 0000

	ServerInitiateDownload = 0x60 // 0110 0000
	ServerSegmentDownload  = 0x20 // 0010 0000
)

const (
	TransferExpedited            = 0x2
	TransferSizeIndicated        = 0x1
	TransferMaskCommandSpecifier = 0xE0
	TransferMaskSize             = 0xC
	TransferSegmentToggle        = 0x10
	TransferAbort                = 0x80
)

const (
	ClientIntiateUpload = 0x40 // 0100 0000
	ClientSegmentUpload = 0x60 // 0110 0000

	ServerInitiateUpload = 0x40 // 0100 0000
	ServerSegmentUpload  = 0x00 // 0000 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

type Upload

type Upload struct {
	ObjectIndex canopen.ObjectIndex

	RequestCobID  uint16
	ResponseCobID uint16
}

Upload represents a 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)