org.lsst.ccs.drivers.canopenjni

Class CanopenMaster

java.lang.Object

org.lsst.ccs.drivers.canopenjni.CanopenMaster

public class CanopenMaster
extends Object

Implementation of a master node. Initializes a master node.

Author:

emarin

Constructor Summary

Constructors

Constructor and Description
CanopenMaster(CanOpenInterface coi)

Method Summary

Modifier and Type	Method and Description
void	addSlave(CanopenSlave slave)
String	info(int nodeID) Returns the information for the given nodeID.
void	init(int master, String baud, String busName, int nodeID) Initialization of the master node.
long	rsdo(int nodeId, int index, int subindex) Read device entry
void	sync() Sends a sync message on the canbus and synchronously waits for the received pdo configured in the master to be received.
void	wsdo(int nodeId, int index, int subindex, int size, int data)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CanopenMaster

public CanopenMaster(CanOpenInterface coi)

Method Detail

init

@Command
public void init(int master,
                          String baud,
                          String busName,
                          int nodeID)
                   throws org.lsst.ccs.drivers.commons.DriverException

Initialization of the master node. This command has to be issued first for the subsequent one to be successful.

Parameters:

master - 1 for master, 0 for slave.

baud - "125K","1M",...

busName - the bus name (0 for can0, 1 for can1)

nodeID - the nodeID

Throws:

org.lsst.ccs.drivers.commons.DriverException

addSlave

public void addSlave(CanopenSlave slave)
              throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

sync

@Command
public void sync()
                   throws org.lsst.ccs.drivers.commons.DriverException

Sends a sync message on the canbus and synchronously waits for the received pdo configured in the master to be received. For it to work, all received pdos configured on the master node must have a transmission type equal to Ox1, otherwise the behaviour is undefined.

Throws:

org.lsst.ccs.drivers.commons.DriverException

info

@Command
public String info(int nodeID)
                     throws org.lsst.ccs.drivers.commons.DriverException

Returns the information for the given nodeID.

Parameters:

nodeID - the node id

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

wsdo

@Command
public void wsdo(int nodeId,
                          int index,
                          int subindex,
                          int size,
                          int data)
                   throws org.lsst.ccs.drivers.commons.DriverException

Parameters:

nodeId - the node id

index - the index

subindex - the sub index

size - the size

data - the data

Throws:

org.lsst.ccs.drivers.commons.DriverException

rsdo

@Command
public long rsdo(int nodeId,
                          int index,
                          int subindex)
                   throws SDOException,
                          org.lsst.ccs.drivers.commons.DriverException

Read device entry

Parameters:

nodeId - the node id

index - the index

subindex - the subindex

Returns:

the data

Throws:

org.lsst.ccs.drivers.commons.DriverException

SDOException