Function CO_process_SRDO

CANopen.c:1475–1510

#if ((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0
CO_SRDO_state_t
CO_process_SRDO(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us) {
    static bool_t NMTisOperationalPrevius = false;
    uint8_t i;
    CO_ReturnError_t err;

    if (co->nodeIdUnconfigured) {
        return CO_SRDO_state_unknown;
    }

    bool_t NMTisOperational = CO_NMT_getInternalState(co->NMT) == CO_NMT_OPERATIONAL;

    if (NMTisOperationalPrevius != NMTisOperational) {
        NMTisOperationalPrevius = NMTisOperational;
        if (NMTisOperational) {
            for (i = 0; i < CO_GET_CNT(SRDO); i++) {
                err = CO_SRDO_config(&co->SRDO[i], i, co->SRDOGuard, NULL);

                if (err != CO_ERROR_NO) {
                    return CO_SRDO_state_error_internal;
                }
            }
        }
    }

    CO_SRDO_state_t lowestState = CO_SRDO_state_deleted;

    for (i = 0; i < CO_GET_CNT(SRDO); i++) {
        CO_SRDO_state_t state = CO_SRDO_process(&co->SRDO[i], timeDifference_us, timerNext_us, NMTisOperational);
        if (state < lowestState) {
            lowestState = state;
        }
    }

    return lowestState;
}
#endif