Curtis Instruments 1351

5 — VEHICLE CONTROL LANGUAGE (VCL)
pg. 109
Return to TOC Curtis Model 1351 – December 2018
Example Receive 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 check for the valid operation of
the SRDO reception using the VCL function check_SRDO_receive(SRDO_RCV_Handle). If
it returns a non-zero value, there is a SRDO fault and the data received nay not be valid.
Note that only the rst message Primary port Receive mailbox Data is dened. In an SRDO Receive,
the Supervisor and Primary will use the same data denition for both messages, but will check for the
inverted the data and timing automatically
; ==================== SETUP SRDO Receive =============
; Assign four mailboxes, two for primary and two for supervisor:
SRDO_Primary_First_Mailbox = assign_can_mailbox(0, C_RCV)
SRDO_Primary_Second_Mailbox = assign_can_mailbox(0, C_RCV)
SRDO_Supervisor_First_Mailbox = assign_can_mailbox(1, C_RCV)
SRDO_Supervisor_Second_mailbox = assign_can_mailbox(1, C_RCV)
; Congure these four mailboxes as SRDO type
setup_canopen_receive_mailbox(SRDO_Primary_First_Mailbox, SRDO, SRDO_RCV_ODD_ID, 0x7FF, 0)
setup_canopen_receive_mailbox(SRDO_Primary_Second_Mailbox, SRDO, SRDO_RCV_EVEN_ID, 0x7FF, 0)
setup_canopen_receive_mailbox(SRDO_Supervisor_First_Mailbox, SRDO, SRDO_RCV_ODD_ID, 0x7FF, 0)
setup_canopen_receive_mailbox(SRDO_Supervisor_Second_mailbox, SRDO, SRDO_RCV_EVEN_ID, 0x7FF, 0)
; Dene the received data for the mailboxes
; e dual message SRDO data is compared in the rmware,
; Only valid data will be received into variables dened below:
dene_canopen_receive_data(SRDO_Primary_First_Mailbox, CAN_1_RPDO1_byte_1, 0, 8)
dene_canopen_receive_data(SRDO_Primary_First_Mailbox, CAN_1_RPDO1_byte_2, 0, 8)
dene_canopen_receive_data(SRDO_Primary_First_Mailbox, CAN_1_RPDO1_byte_3, 0, 8)
dene_canopen_receive_data(SRDO_Primary_First_Mailbox, CAN_1_RPDO1_byte_4, 0, 8)
; Setup this SRDO: 800 ms between message packages, 300ms between rst and second (inverted data) messages
SRDO_RCV_Handle = setup_receive_SRDO(SRDO_Primary_First_Mailbox,
SRDO_Primary_Second_Mailbox, SRDO_Supervisor_First_Mailbox,
SRDO_Supervisor_Second_mailbox, 800, 300)
; Enable SRDO
Enable_Receive_SRDO(SRDO_RCV_Handle)