Table of Contents - TG Drives

140
LAN1, Local area network 1
LAN1, DOUBLE BUFFERING
EXTENDED REGISTER GROUPS
The firmware uses a double buffering method to communicate between the CAN
lower protocol and the PL interpreter. The Read and Write instructions are used for
manipulating the buffers.
LAN1, SPECIFIC INSTRUCTIONS
SetObjLAN1
GetObjLAN1
ReadLAN1
,
,
This instruction will map a previously defined
MsgObjLan1 to a , priority level, in the
CAN low protocol, thereby activating the
content of the MsgObjLAN1 (make it alive).
Lower numbers yield higher priority.
A MsgObjLAN1 is mapped to a priority level.
The number of usable priority levels depends
on the setting of LANx.lowprot as:
Standard = 8 priority levels.
Extended = 15 priority levels where level 15
has special possibilities.
Note. Priority level 13, 14 and 15 are reserved
for system usage and may not be available in
future releases.
It is possible to remap an already activated
object, just issue a new SetObjLAN1
instruction with the same priority level.
Example:
...
MsgObjLAN1.Id, 1234
MsgObjLAN1.Type = 1 ; receive
MsgObjLAN1.....
...
SetObjLAN1 1
The Message Object with the ID 1234 is made
active and mapped to priority level 1.
For each message object received with ID
1234 the content will be stored in the buffer
related to priority level 1.
To read the content into a register, the
following code should be executed:
ReadLAN1 r45, 4, 1
This code is typically put into a interrupt
service routine.
Here is how to deactivate a message object:
MsgObjLAN1.Type = 0
SetObjLAN1 1
A previous defined Message Object is
deactivated.
Fill in the MsgObjLAN1 with the message object at
.
Read bytes and put in register from the
buffer for message object at .
Multiple reads after the initial first, can be done by
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001