Transmission Type
These settings specify the kind of the PDO transmission
and determine the value of sub-index 2 of the PDO communication parameter.
Optional Settings
These settings specify the following communication properties of the PDO:
Dynamic Mapping
The activation of Enable dynamic PDO Mapping allows to change
the PDO mapping parameter during runtime.
General PDO Settings
The following settings are valid for all PDOs:
- Use bitwise Encoding for PDOs - CONFIG_BIT_ENCODING - |
If bitwise encoding is enabled, it is possible to map values of data type BOOLEAN into a PDO. If bitwise encoding is disabled you can only map byte variables (8, 16 or 32 bit). Bitwise encoding shall only be activated if it is necessary, because it needs a lot of code size and time resources. |
- No automatic mapping for SYNC PDOs before sending - CONFIG_NO_MAP_SYNC_PDO - |
Normally at SYNC the CANopen Library fills the PDO with the current data from the object dictionary before transmitting the synchronous TPDO. After activation of this setting the application has to fill the PDO with data by calling of writePdoReq() or updateSyncTpdo(). |
- Enable RTR-PDO Indication Function - CONFIG_PDO_RTR_IND - |
This setting enables the indication function rtrPdoInd() which is triggered by a RTR for a PDO. |
- Enable PDO Event Timer Indication - CONFIG_PDO_EVENTTIMER_INDICATION - |
This setting enables the indication function pdoEventTimerInd() which is triggered by the PDO event timer. pdoEventTimerInd() is only called for TPDOs and before the TPDO is sent. |
- Enable Wrong PDO Length Indication - CONFIG_PDO_BAD_LEN_INDICATION - |
This setting enables the indication function pdoLenInd() which is triggered if a RPDO is received, which length is shorter than the configured RPDO. |
- Enable usage of virtual objects in PDO - CONFIG_VIRTUAL_OBJECTS_PDO - |
This setting allows to map virtual objects
into a PDO. The condition is that one or more objects
are specified as virtual about Line
> Object Dictionary
> Manufacturer Segment
> Main-Index of one or more objects
>> tab Optimization
> Virtual object. Because the application is
responsible for the PDO data of virtual object,
the CANopen Library calls the following indication functions:
|