The interface component provides an interface to the hardware driver.
Structure
classDiagram
CO_NODE o-- CO_IF : Node
CO_IF_DRV *-- CO_IF : Drv
CO_IF_FRM -- CO_IF
class CO_IF {
+COIfCanClose()
+COIfCanRead(destination) int16_t
+COIfCanReset()
+COIfCanSend(source) int16_t
}
Data
The class CO_IF
is defined within co_if.h
and is responsible for the interface management. The following data members are in this class
Data Member | Type | Description |
---|---|---|
Node | CO_NODE* |
pointer to parent node |
Drv | CO_IF_DRV |
driver specific CAN bus identification |
Note: The data within this structure must never be manipulated without the corresponding class member functions. This can lead to unpredictable behavior of the node.
Functions
The following table describes the API functions of the CANopen interface module. These functions are implemented within the source file: co_if.c/h
Function | Description |
---|---|
COIfCanClose() | This function closes the CAN interface. |
COIfCanRead() | This function waits for the next CAN frame on the interface without a timeout. |
COIfCanReset() | This function resets the CAN interface and flushes all already buffered CAN frames. |
COIfCanSend() | This function sends the given CAN frame to the interface without delay. |