Detailed Description

The file canopen.h holds all definitions and structures that are necessary for a CANopen protocol stack.

Include dependency graph for canopen.h:

Macros
#define	SDO_ERR_TOGGLE_BIT 0x05030000

#define	SDO_ERR_TIMEOUT 0x05040000

#define	SDO_ERR_COMMAND 0x05040001

#define	SDO_ERR_BLOCK_SIZE 0x05040002

#define	SDO_ERR_BLOCK_SEQUENCE 0x05040003

#define	SDO_ERR_BLOCK_CRC 0x05040004

Enumerations
enum	CoATTR { }

enum	CoDT { CoDT_BOOLEAN = 1 , CoDT_INTEGER8 , CoDT_INTEGER16 , CoDT_INTEGER32 , CoDT_UNSIGNED8 , CoDT_UNSIGNED16 , CoDT_UNSIGNED32 , CoDT_REAL32 , CoDT_VISIBLE_STRING , CoDT_OCTET_STRING , CoDT_UNICODE_STRING , CoDT_TIME_OF_DAY , CoDT_TIME_DIFFERENCE , CoDT_reserved01 , CoDT_DOMAIN }

Enumeration Type Documentation

◆ CoATTR

enum CoATTR

Access Attributes for objects in dictionary.

Each object within the object dictionary can have the following access attributes:

Read/Write
Write Only
Read Only
Constant (value is Read Only)

The member ubAttribute of the structure CblDicEntry_s is used for that purpose. By this enumeration the possible attributes are defined.

Enumerator
CoATTR_ACC_WO	object is read-only
CoATTR_ACC_RW	object is write-only
CoATTR_ACC_CONST	object supports read-write access
CoATTR_PDO_MAP	object is constant

◆ CoDT

enum CoDT

Data Type definitions for objects in dictionary.

Each object within the object dictionary has a specific data type. The member ubDataType of the structure CblDicEntry_s is used for that purpose. By this enumeration the possible data types are defined.

Enumerator
CoDT_BOOLEAN	data type: boolean value
CoDT_INTEGER8	data type: Signed Integer, 1 byte
CoDT_INTEGER16	data type: Signed Integer, 2 bytes
CoDT_INTEGER32	data type: Signed Integer, 4 bytes
CoDT_UNSIGNED8	data type: Unsigned Integer, 1 byte
CoDT_UNSIGNED16	data type: Unsigned Integer, 2 bytes
CoDT_UNSIGNED32	data type: Unsigned Integer, 4 bytes
CoDT_REAL32	data type: Float, 32 bit according to IEEE
CoDT_VISIBLE_STRING	data type: character string
CoDT_OCTET_STRING	data type: octet string
CoDT_UNICODE_STRING	data type: unicode string
CoDT_TIME_OF_DAY	data type: time of day value
CoDT_TIME_DIFFERENCE	data type: time difference value
CoDT_DOMAIN	data type: domain

◆ CoErrReg_e

enum CoErrReg_e

Error Register values.

Enumerator
eCoErrReg_GENERIC	generic error
eCoErrReg_CURRENT	current error
eCoErrReg_VOLTAGE	voltage error
eCoErrReg_TEMPERATURE	temperature error
eCoErrReg_COMMUNICATION	communication error
eCoErrReg_PROFILE	device profile specific error
eCoErrReg_MANUFACTURER	manufacturer specific error

◆ LssCmd_e

enum LssCmd_e

LSS command specifiers.

Enumerator
eLSS_CMD_MODE_GLOBAL	Switch mode global command ( 04h - 4dec)
eLSS_CMD_CONFIG_NODE_ID	Configure node-ID command (11h - 17dec)
eLSS_CMD_CONFIG_BIT_TIMING	Configure bit-timing command (13h - 19dec)
eLSS_CMD_CONFIG_STORE	Store configuration command (17h - 23dec)

◆ SdoCmd_e

enum SdoCmd_e

Command values for SDO transfer.

Enumerator
eSDO_WRITE_REQ_0	segmented write request
eSDO_WRITE_REQ_4	write request, unspecified length
eSDO_WRITE_REQ_3	write request, 4 bytes data
eSDO_WRITE_REQ_2	write request, 3 bytes data
eSDO_WRITE_REQ_1	write request, 2 bytes data
eSDO_WRITE_RESP	write request, 1 byte data
eSDO_READ_REQ	response to write request
eSDO_READ_RESP_SEG	read request
eSDO_READ_RESP_0	read response, segmented data
eSDO_READ_RESP_4	read response, unspecified length
eSDO_READ_RESP_3	read response, 4 bytes data
eSDO_READ_RESP_2	read response, 3 bytes data
eSDO_READ_RESP_1	read response, 2 bytes data
eSDO_READ_REQ_SEG_0	read response, 1 byte data
eSDO_READ_REQ_SEG_1	read request, segmented data
eSDO_BLK_UP_REQ_0	read request, segmented data
eSDO_BLK_UP_REQ_1	Init Block upload
eSDO_BLK_DOWN_REQ_0	Init Block upload, CRC Info
eSDO_BLK_DOWN_REQ_1	Initiate Block download
eSDO_BLK_DOWN_REQ_2	Initiate Block download, size info
eSDO_BLK_DOWN_REQ_3	Initiate Block download, CRC info
eSDO_ABORT	Initiate Block download, CRC & size