4. Application program interface
Herebelow you will find the description of all the primitive function of the CANopen Support
Library from CJB.
4.1 int openCANUnits(int, baudRateCode, UNITINFO *ui)
Programmes the units as they are defined in the received array: ui , then generates the
threads to manage CAN, then puts all the units into RUN status. Before making this call, the
application program must write the numbers of the units to be configured into the field: unit of
each structure of the array: ui .
The array is ended when the first item with unit number = 0 has been found.
The fields to be written in the structure: UNITINFO before calling the function from the
application program are:
unit It must include the unit number
numSER Must include the number of serial comm channels in the
module (if WAGO), or 0
Diperiod Polling period for Digital Inputs, expressed in milli-seconds
(Notice: if Digital Inputs are managed in “asynch mode”,
i.e. the unit itself communicates the status of its inputs, this
field must be set at 0)
DofaultMode Specifies the status of the Digital Outputs when faulty. If 0
the Digital Outputs get the status defined by DofaultState. If
1 they retain their actual value.
DofaultState If DofaultMode was set to 0, then if this field is set to 0 the
outputs will be switched off, instead if this field is set to 1
the outputs will be switched on.
Aiperiod Specifies the polling period for Analog Inputs, in milli-
seconds. If 0 then the polling period is the default 100 ms.
Aitype Specifies the type and, consequently, the coding for the
Analog Inputs. If 0 the field gets the default type
(2 = +/-10Vdc)
Aotype Specifies the type and, consequently, the coding for the
Analog Outputs. If 0 the field gets the default type
(2 = +/-10Vdc)
AofaultMode Defines the status of the Analog Outputs when faulty. If 0
then the Analog Outputs will be forced to 0 Vdc, if 1 the
Analog Outputs will retain their actual value.
All fields (except the unit number field) may be set to 0 .
~
After calling the function, for each unit you will have the following informations updated in these
field of the UNITINFO structure:
linkDown If different from 0 then the unit is NOT correctly connected
or it does not give any answer to the system
wordsDI Number of groups of 16 inputs each, managed by the unit
wordsDO Number of groups of 16 outputs each, managed by the unit
numAI Number of Analog Inputs managed by the unit
numAO Number of Analog Outputs managed by the unit
numSER Number of Serial comm lines managed by the unit
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ALExyin012014-04-26是操作说明书
