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Add a config option for PDO bitwise mapping

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Sl-Alex 2024-10-31 10:28:51 +01:00
parent f454a3d82d
commit cdc8cb872a
1 changed files with 11 additions and 6 deletions
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17
301/CO_config.h
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@ -482,6 +482,10 @@ extern "C" {
* flexibility for application program, but consumes some additional memory
* and processor resources. If this option is not enabled, then data from OD
* variables are fetched directly from memory allocated by Object dictionary.
* - CO_CONFIG_PDO_BITWISE_MAPPING - Use bitwise mapping instead of byte-wise
* By default, the OD_IO structure contains the number of bytes mapped to
* the PDO in the OD_IO.dataOffset field. If the bitwise mapping is enabled,
* this fild stores the number of bits mapped to the PDO.
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received RPDO CAN message.
* Callback is configured by CO_RPDO_initCallbackPre().
@ -495,12 +499,13 @@ extern "C" {
| CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_RPDO_ENABLE 0x01
#define CO_CONFIG_TPDO_ENABLE 0x02
#define CO_CONFIG_RPDO_TIMERS_ENABLE 0x04
#define CO_CONFIG_TPDO_TIMERS_ENABLE 0x08
#define CO_CONFIG_PDO_SYNC_ENABLE 0x10
#define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
#define CO_CONFIG_RPDO_ENABLE 0x01
#define CO_CONFIG_TPDO_ENABLE 0x02
#define CO_CONFIG_RPDO_TIMERS_ENABLE 0x04
#define CO_CONFIG_TPDO_TIMERS_ENABLE 0x08
#define CO_CONFIG_PDO_SYNC_ENABLE 0x10
#define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
#define CO_CONFIG_PDO_BITWISE_MAPPING 0x40
/** @} */ /* CO_STACK_CONFIG_SYNC_PDO */
/**