CAN::Open::Device Struct Reference

CANOpen device wrapper class. More...

#include <canopen.h>

Inherits Sink< TPDO >, and Sink< SDO >.

Inherited by mcDSA.

Collaboration diagram for CAN::Open::Device:

Public Member Functions
	Device (Dispatch &canopen, uint8_t id)
	Construct new CANOpen Device on network with given ID.
virtual void	callback (SDO rq)
	implement the callback method to handle incoming data
virtual void	callback (TPDO rq)
	implement the callback method to handle incoming data
void	read (uint16_t ix, uint8_t sub)
	read DO with given index and subindex of this device
void	w8 (uint16_t ix, uint8_t sub, uint8_t val)
	write given value to DO at given index and subindex
void	w16 (uint16_t ix, uint8_t sub, uint16_t val)
	write given value to DO at given index and subindex
void	w32 (uint16_t ix, uint8_t sub, uint32_t val)
	write given value to DO at given index and subindex
void	wPDO (const RPDO &rpdo)
	send PDO
void	enablePDO (RPDO &pdo)
	enable receiving PDO on device
void	disablePDO (RPDO &pdo)
	disable receiving PDO on device
void	enablePDO (TPDO &pdo)
	enable sending PDO on device
void	disablePDO (TPDO &pdo)
	disable sending PDO on device
bool	full () override
	check if sink is full
virtual void	push (const TPDO &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (TPDO &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
void	trypush (TPDO &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.
virtual void	push (const SDO &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (SDO &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
void	trypush (SDO &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.

Public Attributes
uint8_t const	id {}
	CANOpen node ID [1 - 127].

Detailed Description

CANOpen device wrapper class.

inherit and implement callback to use this interface on a CANOpen network

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The documentation for this struct was generated from the following file:

• comm/canopen.h