Curtis Instruments 1351 - Example Transmit SRDO Setup

5 — VEHICLE CONTROL LANGUAGE (VCL)
pg. 107
Return to TOC Curtis Model 1351 – December 2018
Example Transmit SRDO Setup
e example below assumes the variables have been setup previously for the mailbox handles, Node
IDs and message data. Aer this set up, the main loop of VCL must call the Send_SRDO(SRDO_
XMT_Handle) command to cause the 1351 to send the two linked SRDO messages.
Note that only the Primary port mailbox Data is dened. In an SRDO transmit, the Supervisor will
use the same data denition as the Primary, but will invert the data when sent from the Supervisor.
; ==================== SETUP SRDO Transmit =============
; Set the CAN cross connect parameter ON by CSS or the 1313MH
; Setup two mailbox, one is for primary (rst message), another is for supervisor (inverted data/second message)
Primary_Mailbox = assign_can_mailbox(CAN_PORT_1, C_XMT);
Supervisor_Mailbox = assign_can_mailbox(CAN_PORT_2, C_XMT);
; Congure the two mailboxes as the SRDO type
setup_canopen_transmit_mailbox(Primary_Mailbox, SRDO, SRDO_FIRST_MESSAGE_ID, 0)
setup_canopen_transmit_mailbox(Supervisor_Mailbox, SRDO, SRDO_SECOND_MESSAGE_ID, 0)
; Congure mailbox data
dene_canopen_transmit_data(Primary_Mailbox, SRDO_XMT_Data_1, 0, 8)
dene_canopen_transmit_data(Primary_Mailbox, SRDO_XMT_Data_2, 0, 8)
dene_canopen_transmit_data(Primary_Mailbox, SRDO_XMT_Data_3, 0, 8)
dene_canopen_transmit_data(Primary_Mailbox, SRDO_XMT_Data_4, 0, 8)
; Setup SRDO to event driven with a 20mS interval between rst and second messages
SRDO_XMT_Handle = Setup_transmit_SRDO(Primary_Mailbox, Supervisor_Mailbox, 0, 20)
; Enable SRDO
; Enable_transmit_mailbox(Primary_Mailbox)
; Enable_transmit_mailbox(Supervisor_Mailbox)
; Enable_Transmit_SRDO(SRDO_XMT_Handle)
; ======================================================