config

package
v1.3.0 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Oct 8, 2024 License: GPL-3.0 Imports: 5 Imported by: 0

Documentation

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

This section is empty.

Types

type Identity 

type Identity struct {
	VendorId       uint32
	ProductCode    uint32
	RevisionNumber uint32
	SerialNumber   uint32
}

type ManufacturerInformation 

type ManufacturerInformation struct {
	ManufacturerDeviceName      string
	ManufacturerHardwareVersion string
	ManufacturerSoftwareVersion string
}

type NodeConfigurator 

type NodeConfigurator struct {
	// contains filtered or unexported fields
}

NodeConfigurator provides helper methods for reading / updating CANopen reserved configuration objects i.e. objects between 0x1000 and 0x2000. No EDS files need to be loaded for configuring these parameters This uses an SDO client to access the different objects

func NewNodeConfigurator 

func NewNodeConfigurator(nodeId uint8, client *sdo.SDOClient) *NodeConfigurator

Create a new NodeConfigurator for given ID and SDOClient

func (*NodeConfigurator) ClearMappings 

func (config *NodeConfigurator) ClearMappings(pdoNb uint16) error

Clear all the PDO mappings Technically clearing the actual map entries is not necessary but I find it cleaner

func (*NodeConfigurator) ConsumerDisableTIME 

func (config *NodeConfigurator) ConsumerDisableTIME() error

func (*NodeConfigurator) ConsumerEnableTIME 

func (config *NodeConfigurator) ConsumerEnableTIME() error

func (*NodeConfigurator) DisablePDO 

func (config *NodeConfigurator) DisablePDO(pdoNb uint16) error

Disable PDO

func (*NodeConfigurator) EnablePDO 

func (config *NodeConfigurator) EnablePDO(pdoNb uint16) error

Enable PDO

func (*NodeConfigurator) ProducerDisableSYNC 

func (config *NodeConfigurator) ProducerDisableSYNC() error

func (*NodeConfigurator) ProducerDisableTIME 

func (config *NodeConfigurator) ProducerDisableTIME() error

func (*NodeConfigurator) ProducerEnableSYNC 

func (config *NodeConfigurator) ProducerEnableSYNC() error

func (*NodeConfigurator) ProducerEnableTIME 

func (config *NodeConfigurator) ProducerEnableTIME() error

func (*NodeConfigurator) ReadCobIdPDO 

func (config *NodeConfigurator) ReadCobIdPDO(pdoNb uint16) (uint32, error)

func (*NodeConfigurator) ReadCobIdSYNC 

func (config *NodeConfigurator) ReadCobIdSYNC() (cobId uint32, err error)

func (*NodeConfigurator) ReadCobIdTIME 

func (config *NodeConfigurator) ReadCobIdTIME() (cobId uint32, err error)

func (*NodeConfigurator) ReadCommunicationPeriod 

func (config *NodeConfigurator) ReadCommunicationPeriod() (uint32, error)

func (*NodeConfigurator) ReadConfigurationAllPDO 

func (config *NodeConfigurator) ReadConfigurationAllPDO() (
	rpdos []PDOConfigurationParameter, tpdos []PDOConfigurationParameter, err error,
)

Reads complete PDO configuration (RPDO, TPDO) Returns RPDOs and TPDOs configurations in two seperate lists

func (*NodeConfigurator) ReadConfigurationPDO 

func (config *NodeConfigurator) ReadConfigurationPDO(pdoNb uint16) (PDOConfigurationParameter, error)

Reads configuration of a single PDO

func (*NodeConfigurator) ReadConfigurationRangePDO 

func (config *NodeConfigurator) ReadConfigurationRangePDO(
	pdoStartNb uint16, pdoEndNb uint16,
) ([]PDOConfigurationParameter, error)

Reads configuration of a range of PDOs

func (*NodeConfigurator) ReadCounterOverflow 

func (config *NodeConfigurator) ReadCounterOverflow() (uint8, error)

func (*NodeConfigurator) ReadEnabledPDO 

func (config *NodeConfigurator) ReadEnabledPDO(pdoNb uint16) (bool, error)

func (*NodeConfigurator) ReadEventTimer 

func (config *NodeConfigurator) ReadEventTimer(pdoNb uint16) (uint16, error)

func (*NodeConfigurator) ReadHeartbeatPeriod 

func (config *NodeConfigurator) ReadHeartbeatPeriod() (uint16, error)

Read a nodes heartbeat period and returns it in milliseconds

func (*NodeConfigurator) ReadIdentity 

func (config *NodeConfigurator) ReadIdentity() (*Identity, error)

Read identity object (od.EntryIdentityObject, mandatory)

func (*NodeConfigurator) ReadInhibitTime 

func (config *NodeConfigurator) ReadInhibitTime(pdoNb uint16) (uint16, error)

func (*NodeConfigurator) ReadManufacturerDeviceName 

func (config *NodeConfigurator) ReadManufacturerDeviceName() (string, error)

Read manufacturer device name

func (*NodeConfigurator) ReadManufacturerHardwareVersion 

func (config *NodeConfigurator) ReadManufacturerHardwareVersion() (string, error)

Read Manufacturer hardware version

func (*NodeConfigurator) ReadManufacturerInformation 

func (config *NodeConfigurator) ReadManufacturerInformation() ManufacturerInformation

Read manufacturer objects (od.EntryManufacturerDeviceName,od.EntryManufacturerHardwareVersion,od.EntryManufacturerSoftwareVersion, these are all optional)

func (*NodeConfigurator) ReadManufacturerSoftwareVersion 

func (config *NodeConfigurator) ReadManufacturerSoftwareVersion() (string, error)

Read manufacturer software version

func (*NodeConfigurator) ReadMappings 

func (config *NodeConfigurator) ReadMappings(pdoNb uint16) ([]PDOMappingParameter, error)

func (*NodeConfigurator) ReadMaxMonitorableNodes 

func (config *NodeConfigurator) ReadMaxMonitorableNodes() (uint8, error)

Read max available entries for monitoring

func (*NodeConfigurator) ReadMonitoredNodes 

func (config *NodeConfigurator) ReadMonitoredNodes() ([][]uint16, error)

Read current monitored nodes Returns a list of all the entries composed as the id of the monitored node And the expected heartbeat period in ms

func (*NodeConfigurator) ReadNbMappings 

func (config *NodeConfigurator) ReadNbMappings(pdoNb uint16) (uint8, error)

func (*NodeConfigurator) ReadTransmissionType 

func (config *NodeConfigurator) ReadTransmissionType(pdoNb uint16) (uint8, error)

func (*NodeConfigurator) ReadWindowLengthPdos 

func (config *NodeConfigurator) ReadWindowLengthPdos() (uint32, error)

func (*NodeConfigurator) WriteCanIdPDO 

func (config *NodeConfigurator) WriteCanIdPDO(pdoNb uint16, canId uint16) error

func (*NodeConfigurator) WriteCanIdSYNC 

func (config *NodeConfigurator) WriteCanIdSYNC(canId uint16) error

Change sync can id, sync should be disabled before changing this

func (*NodeConfigurator) WriteCommunicationPeriod 

func (config *NodeConfigurator) WriteCommunicationPeriod(periodUs uint32) error

func (*NodeConfigurator) WriteConfigurationPDO 

func (config *NodeConfigurator) WriteConfigurationPDO(pdoNb uint16, conf PDOConfigurationParameter) error

Update hole configuration

func (*NodeConfigurator) WriteCounterOverflow 

func (config *NodeConfigurator) WriteCounterOverflow(counter uint8) error

Sync should have communication period of 0 before changing this

func (*NodeConfigurator) WriteEventTimer 

func (config *NodeConfigurator) WriteEventTimer(pdoNb uint16, eventTimer uint16) error

func (*NodeConfigurator) WriteHeartbeatPeriod 

func (config *NodeConfigurator) WriteHeartbeatPeriod(periodMs uint16) error

Update a nodes heartbeat period in milliseconds

func (*NodeConfigurator) WriteInhibitTime 

func (config *NodeConfigurator) WriteInhibitTime(pdoNb uint16, inhibitTime uint16) error

func (*NodeConfigurator) WriteMappings 

func (config *NodeConfigurator) WriteMappings(pdoNb uint16, mappings []PDOMappingParameter) error

Write new PDO mapping Takes a list of objects to map and will fill them up in the given order This will first clear the current mapping

func (*NodeConfigurator) WriteMonitoredNode 

func (config *NodeConfigurator) WriteMonitoredNode(index uint8, nodeId uint8, periodMs uint16) error

Add or update a node to monitor with the expected heartbeat period Index needs to be between 1 & the max nodes that can be monitored

func (*NodeConfigurator) WriteTransmissionType 

func (config *NodeConfigurator) WriteTransmissionType(pdoNb uint16, transType uint8) error

func (*NodeConfigurator) WriteWindowLengthPdos 

func (config *NodeConfigurator) WriteWindowLengthPdos(windowPeriodUs uint32) error

type PDOConfigurationParameter 

type PDOConfigurationParameter struct {
	CanId            uint16
	TransmissionType uint8
	InhibitTime      uint16
	EventTimer       uint16
	Mappings         []PDOMappingParameter
}

Holds a PDO configuration

type PDOMappingParameter 

type PDOMappingParameter struct {
	Index      uint16
	Subindex   uint8
	LengthBits uint8
}

Source Files

View all Source files

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.