canopen.h File Reference

Detailed Description

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

Include dependency graph for canopen.h:

Macros
#define	ID_BASE_EMCY   0x080
#define	ID_BASE_SDO_TX   0x580
#define	ID_BASE_SDO_RX   0x600
#define	ID_BASE_NMT_ERR   0x700
#define	ID_FLAG_EXTENDED   ((uint32_t) 0x20000000)
#define	ID_FLAG_NO_RTR   ((uint32_t) 0x40000000)
#define	ID_FLAG_DISABLED   ((uint32_t) 0x80000000)
#define	ID_MASK_VALUE   ((uint32_t) 0x1FFFFFFF)
#define	NODE_ID_MIN   ((uint8_t) 1)
#define	NODE_ID_MAX   ((uint8_t) 127)
#define	NODE_ID_INVALID   ((uint8_t) 255)
#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
#define	SDO_ERR_MEMORY   0x05040005
#define	SDO_ERR_ACCESS_UNSUPPORTED   0x06010000
#define	SDO_ERR_ACCESS_WO   0x06010001
#define	SDO_ERR_ACCESS_RO   0x06010002
#define	SDO_ERR_NO_OBJECT   0x06020000
#define	SDO_ERR_MAPPING_OBJECT   0x06040041
#define	SDO_ERR_MAPPING_LENGTH   0x06040042
#define	SDO_ERR_GENERAL_PARAMETER   0x06040043
#define	SDO_ERR_GENERAL_DEVICE   0x06040047
#define	SDO_ERR_HARDWARE   0x06060000
#define	SDO_ERR_DATATYPE   0x06070010
#define	SDO_ERR_DATATYPE_HIGH   0x06070012
#define	SDO_ERR_DATATYPE_LOW   0x06070013
#define	SDO_ERR_NO_SUB_INDEX   0x06090011
#define	SDO_ERR_VALUE_RANGE   0x06090030
#define	SDO_ERR_VALUE_HIGH   0x06090031
#define	SDO_ERR_VALUE_LOW   0x06090032
#define	SDO_ERR_VALUE_MIN_MAX   0x06090036
#define	SDO_ERR_SDO_CONNECTION   0x060A0023
#define	SDO_ERR_GENERAL   0x08000000
#define	SDO_ERR_DATA_STORE   0x08000020
#define	SDO_ERR_DATA_STORE_LOCAL   0x08000021
#define	SDO_ERR_DATA_STORE_STATE   0x08000022
#define	SDO_ERR_OBJECT_DICTIONARY   0x08000023
#define	SDO_ERR_NO_DATA   0x08000024

Enumerations
enum	UsdoAbort_e { }
enum	CoAttr_e {   eCO_ATTR_ACC_RO = 0x01 ,   eCO_ATTR_ACC_WO = 0x02 ,   eCO_ATTR_ACC_RW = 0x03 ,   eCO_ATTR_ACC_CONST = 0x05 ,   eCO_ATTR_PDO_MAP = 0x10 ,   eCO_ATTR_RES_1 = 0x20 ,   eCO_ATTR_RES_2 = 0x40 ,   eCO_ATTR_FUNCTION = 0x80 }
enum	CoDataType_e {   eCO_DT_BOOLEAN = 1 ,   eCO_DT_INTEGER8 = 2 ,   eCO_DT_INTEGER16 = 3 ,   eCO_DT_INTEGER32 = 4 ,   eCO_DT_UNSIGNED8 = 5 ,   eCO_DT_UNSIGNED16 = 6 ,   eCO_DT_UNSIGNED32 = 7 ,   eCO_DT_REAL32 = 8 ,   eCO_DT_VISIBLE_STRING = 9 ,   eCO_DT_OCTET_STRING = 10 ,   eCO_DT_UNICODE_STRING = 11 ,   eCO_DT_TIME_OF_DAY = 12 ,   eCO_DT_TIME_DIFFERENCE = 13 ,   eCO_DT_DOMAIN = 15 ,   eCO_DT_REAL64 = 17 ,   eCO_DT_INTEGER64 = 21 ,   eCO_DT_UNSIGNED64 = 27 }

Enumeration Type Documentation

CoAttr_e

enum CoAttr_e

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, value in device does not change)

The member ubAttribute of the structure ComDicEntry_s is used for that purpose. This enumeration defines possible attribute values.

Enumerator
eCO_ATTR_ACC_RO	object is read-only
eCO_ATTR_ACC_WO	object is write-only
eCO_ATTR_ACC_RW	object supports read-write access
eCO_ATTR_ACC_CONST	object is constant
eCO_ATTR_FUNCTION	function callback

CoDataType_e

enum CoDataType_e

Data Type definitions for objects in dictionary.

Each object within the object dictionary has a specific data type. By this enumeration the possible data types are defined, which can be used in the SDO server.

Enumerator
eCO_DT_BOOLEAN	boolean value, this data type is deprecated in CANopen FD
eCO_DT_INTEGER8	Signed Integer, 1 byte
eCO_DT_INTEGER16	Signed Integer, 2 bytes
eCO_DT_INTEGER32	Signed Integer, 4 bytes
eCO_DT_UNSIGNED8	Unsigned Integer, 1 byte
eCO_DT_UNSIGNED16	Unsigned Integer, 2 bytes
eCO_DT_UNSIGNED32	Unsigned Integer, 4 bytes
eCO_DT_REAL32	Float, 32 bit according to IEEE
eCO_DT_VISIBLE_STRING	character string
eCO_DT_OCTET_STRING	octet string
eCO_DT_UNICODE_STRING	unicode string
eCO_DT_TIME_OF_DAY	time of day value
eCO_DT_TIME_DIFFERENCE	time difference value
eCO_DT_DOMAIN	binary data
eCO_DT_REAL64	Double, 64 bit according to IEEE
eCO_DT_INTEGER64	Signed Integer, 8 bytes
eCO_DT_UNSIGNED64	Unsigned Integer, 8 bytes

CoErrReg_e

enum CoErrReg_e

Error Register values.

Enumerator
eCO_ERR_REG_GENERIC	generic error
eCO_ERR_REG_CURRENT	current error
eCO_ERR_REG_VOLTAGE	voltage error
eCO_ERR_REG_TEMPERATURE	temperature error
eCO_ERR_REG_COMMUNICATION	communication error
eCO_ERR_REG_PROFILE	device profile specific error
eCO_ERR_REG_MANUFACTURER	manufacturer specific error

SdoCmd_e

enum SdoCmd_e

Command values for SDO transfer.

Enumerator
eSDO_WRITE_REQ_SEG	response to segmented write request
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_END_RESP	Init Block upload
eSDO_BLK_UP_REQ_1	Block Upload / Download end response
eSDO_BLK_UP_REQ_DAT	Init Block upload, size info
eSDO_BLK_UP_REQ_2	Start Block data transfer
eSDO_BLK_DOWN_REQ_0	Init Block upload, CRC info
eSDO_BLK_END_REQ	Initiate Block download
eSDO_BLK_DOWN_REQ_1	Block Upload / Download end request
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

UsdoAbort_e

enum UsdoAbort_e

USDO abort codes.

The enumeration defines USDO abort codes.

Enumerator
eUSDO_ABORT_UNKNOWN	The error reason is unknown and does not match to one of the errors listed in this enumeration.
eUSDO_ABORT_PROTOCOL	An error in the USDO protocol was detected and the error reason does not match to any of the reasons listed in this table.
eUSDO_ABORT_TIMEOUT	There had been no response during the time out time.
eUSDO_ABORT_COMMAND	The command specifier is either incorrect, unexpected or not supported.
eUSDO_ABORT_DATA_SIZE	The value in size field differs from amount of transferred bytes of application data.
eUSDO_ABORT_MEMORY	Because of missing memory resources the transfer is aborted.
eUSDO_ABORT_ROUTING	The remote USDO cannot be processed because of a routing error that does not match to one of the errors listed in this enumeration.
eUSDO_ABORT_DESTINATION_NET	USDO destination network unknown: The remote USDO cannot be processed because the destination network is unknown.
eUSDO_ABORT_DESTINATION_NODE	USDO destination node unknown: The remote USDO cannot be processed because the destination node-id is unknown.
eUSDO_ABORT_SOURCE_NET	USDO source network unknown: USDO cannot be processed because the source network is unknown; to be used by tools e.g. for debugging purposes.
eUSDO_ABORT_SOURCE_NODE	USDO source node unknown: The remote USDO cannot be processed because the source node-id is unknown; to be used by tools e.g. for debugging purposes.
eUSDO_ABORT_CAN_DLC	USDO is not processed as the length of the data field differs from the expected one.
eUSDO_ABORT_MULTIPLEXER	Unexpected multiplexer: The multiplexer provided in the USDO server’s response does not match to the multiplexer in USDO client’s request.
eUSDO_ABORT_USDO_PARALLEL	Data transfer not possible; parallel USDO access to the very same sub-index
eUSDO_ABORT_SESSION_ID	Session-ID wrong or unknown
eUSDO_ABORT_ACC_WRITE_ONLY	The data element is of access type write-only and thus it cannot be read.
eUSDO_ABORT_ACC_READ_ONLY	The data element is of access type read-only and thus it cannot be written.
eUSDO_ABORT_ACC_NO_OBJECT	At this index, no data object is implemented. Thus no data can be transferred from or to this data object.
eUSDO_ABORT_ACC_NO_SUB_INDEX	At this sub-index, no data element is implemented. Thus no data can be transferred from or to this data element.
eUSDO_ABORT_PARAM_VALUE_INVALID	Invalid value for parameter: Value to be written is out of the valid value range.
eUSDO_ABORT_PARAM_VALUE_HIGH	Invalid value for parameter: Value to be written is out of the valid value range.
eUSDO_ABORT_PDO_MAPPING	Data element cannot be mapped to the PDO: Because of an unknown error, the data element cannot be added to the PDO mapping.

UsdoCommand_e

enum UsdoCommand_e

Enumerator
eUSDO_CMD_DOWN_EXP_RQST	Download expedited request
eUSDO_CMD_UPLD_RQST	Upload request
eUSDO_CMD_DOWN_EXP_RESP	Download expedited response
eUSDO_CMD_UPLD_RESP_EXP	Upload expedited response