PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 69
4.5.35. CPM100_GetMultiPDOData
Description:
This can get the last data of the RxPDO and TxPDO from the PDO
data buffer such as the function CPM100_GetPDOLastData. But the
difference between these two functions is that user can use the
function CPM100_GetMultiPDOData to get maximum 50 PDO data at
the same time.
Syntax:
WORD
CPM100_GetMuliPDOData (
BYTE
BoardNo,
BYTE
PDOCnt,
WORD
*Cobid,
BYTE
*IsNew,
BYTE
*DLen,
BYTE
*RData,
BYTE
BlockMode)
Parameter:
BoardNo:
[input] CPM100 board number (0~7).
PDOCnt:
[input] Total PDO number that want to get.
*Cobid:
[input] Maximum 50 COB-ID used by the PDO objects.
*IsNew:
[output] Check these PDO data if they have been read before.
0 is to be read before, and 1 is new one.
*DLen:
[output] The total data length obtained from the PDO buffer.
*RData:
[output] The PDO messages get from the PDO buffer.
BlockMode:
[input] 0 means this function is non-block-function, and 1
means this function is block-function. If set this parameter to 1, the
running procedure of the users’ application will be held in the
function until return. If set to 0, this function will return “CPM_
Processing” directly. This function will return its process status
while users apply it with the same “BoardNo” and “Cobid” again. If
the procedure is still not complete, it will return “CPM_Wait”.
