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The CANopen network is organized in a master/slave communication architecture. One single CANopen device (a master or a slave) is represented within the software with a data structure, called "node". This structure is the central entry point of the application into the specific CANopen node.
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The same naming convention is realized with several modules. The following table shows the names of the provided modules and their corresponding arguments:
| Service Group | Argument | Example |
|---|---|---|
CODir...() | &demo.Dir | CODirFind(&demo.Dir, CO_DEV(0x1234,0x56)); |
COEmcy...() | &demo.Emcy | COEmcyCnt(&demo.Emcy); |
COIf...() | &demo.If | COIfSend(&demo.If, &frm); |
CONmt...() | &demo.Nmt | CONmtGetMode(&demo.Nmt); |
CONode...() | &demo | CONodeGetErr(&demo); |
COTmr...() | &demo.Tmr | COTmrCreate(&demo.Tmr, 0, 10, MyFunc, 0); |
COTPdo...() | &demo.TPdo | COTPdoTrigPdo(&demo.TPdo, 1); |