5 — VEHICLE CONTROL LANGUAGE (VCL)
Curtis Model 1351 – December 2018
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pg. 100
Conguration of a Receive Mailbox
Setup_CANopen_Receive_Mailbox() Sets up the initial parameters for
a CANopen mailbox.
is CANopen specic function sets up the initial parameters for a CANopen
mailbox.
It serves the same purpose as the generic setup function, but simplies the setup
for CANopen users.
is function MUST BE called before dening the data for the mailbox or trying
to use the mailbox.
Setup_CANopen_Receive_Mailbox(Handle,Messsge_type,Node_
ID,Mask,Service)
:
Handle e mailbox ID
Message type NMT, SYNC, EMR, SDO_TX, SDO_RX, TPDO1-4,
RPDO1-4
Node ID Node ID to include in the message
Mask Set the bits in the 11 Bit ID that must match,
1 = must match,
0 = don’t care.
Default set to MATCH_ALL = 0x07FF … vs
RECEIVE_ALL = 0x0000
Service HALT_ON_RECEPTION = the Mailbox will stop
receiving any more data until the buer is read and
Cleared by command.
e Receive ag is set and counter = 1
OVERWRITE_ON_RECEPTION = the mailbox
will contain the last data, old data is lost.
e Receive ag is set and counter will increment
on each new reception
:
0 Mailbox not setup
1 Mailbox setup
:
Bad_ID Handle out of Range
BAD_MO_ID Message ID is NOT unique
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