Detailed Description

The file canopen.h holds common definitions and structures required for the CANopen protocol stack.

#include "mc_compiler.h"

Include dependency graph for canopen.h:

This graph shows which files directly or indirectly include this file:

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_MASK_IS_EXTENDED ((uint32_t) 0x20000000)

#define	ID_MASK_NO_RTR ((uint32_t) 0x40000000)

#define	ID_MASK_IS_DISABLED ((uint32_t) 0x80000000)

#define	ID_MASK_STANDARD_FRAME ((uint32_t) 0x000007FF)

#define	ID_MASK_EXTENDED_FRAME ((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 ((uint32_t)(0x05030000))

#define	SDO_ERR_TIMEOUT ((uint32_t)(0x05040000))

#define	SDO_ERR_COMMAND ((uint32_t)(0x05040001))

#define	SDO_ERR_BLOCK_SIZE ((uint32_t)(0x05040002))

#define	SDO_ERR_BLOCK_SEQUENCE ((uint32_t)(0x05040003))

#define	SDO_ERR_BLOCK_CRC ((uint32_t)(0x05040004))

#define	SDO_ERR_MEMORY ((uint32_t)(0x05040005))

#define	SDO_ERR_ACCESS_UNSUPPORTED ((uint32_t)(0x06010000))

#define	SDO_ERR_ACCESS_WO ((uint32_t)(0x06010001))

#define	SDO_ERR_ACCESS_RO ((uint32_t)(0x06010002))

#define	SDO_ERR_NO_OBJECT ((uint32_t)(0x06020000))

#define	SDO_ERR_MAPPING_OBJECT ((uint32_t)(0x06040041))

#define	SDO_ERR_MAPPING_LENGTH ((uint32_t)(0x06040042))

#define	SDO_ERR_GENERAL_PARAMETER ((uint32_t)(0x06040043))

#define	SDO_ERR_GENERAL_DEVICE ((uint32_t)(0x06040047))

#define	SDO_ERR_HARDWARE ((uint32_t)(0x06060000))

#define	SDO_ERR_DATATYPE ((uint32_t)(0x06070010))

#define	SDO_ERR_DATATYPE_HIGH ((uint32_t)(0x06070012))

#define	SDO_ERR_DATATYPE_LOW ((uint32_t)(0x06070013))

#define	SDO_ERR_NO_SUB_INDEX ((uint32_t)(0x06090011))

#define	SDO_ERR_VALUE_RANGE ((uint32_t)(0x06090030))

#define	SDO_ERR_VALUE_HIGH ((uint32_t)(0x06090031))

#define	SDO_ERR_VALUE_LOW ((uint32_t)(0x06090032))

#define	SDO_ERR_VALUE_MIN_MAX ((uint32_t)(0x06090036))

#define	SDO_ERR_SDO_CONNECTION ((uint32_t)(0x060A0023))

#define	SDO_ERR_GENERAL ((uint32_t)(0x08000000))

#define	SDO_ERR_DATA_STORE ((uint32_t)(0x08000020))

#define	SDO_ERR_DATA_STORE_LOCAL ((uint32_t)(0x08000021))

#define	SDO_ERR_DATA_STORE_STATE ((uint32_t)(0x08000022))

#define	SDO_ERR_OBJECT_DICTIONARY ((uint32_t)(0x08000023))

#define	SDO_ERR_NO_DATA ((uint32_t)(0x08000024))

Enumerations
enum	SdoCmd_e { }

enum	UsdoAbort_e { }

enum	CoAttr_e { eCO_ATTR_ACC_RO = 0x01 , eCO_ATTR_ACC_CONST = 0x01 , eCO_ATTR_ACC_WO = 0x02 , eCO_ATTR_ACC_RW = 0x03 , eCO_ATTR_ACC_HIDDEN = 0x04 , eCO_ATTR_RES1 = 0x08 , eCO_ATTR_NOT_IN_CC = 0x10 , eCO_ATTR_NOT_IN_FD = 0x20 , eCO_ATTR_RES2 = 0x40 , eCO_ATTR_FUNCTION = 0x80 }

enum	CoDT_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_reserved01 = 14 , eCO_DT_DOMAIN = 15 , eCO_DT_INTEGER24 = 16 , eCO_DT_REAL64 = 17 , eCO_DT_INTEGER40 = 18 , eCO_DT_INTEGER48 = 19 , eCO_DT_INTEGER56 = 20 , eCO_DT_INTEGER64 = 21 , eCO_DT_UNSIGNED24 = 22 , eCO_DT_reserved02 = 23 , eCO_DT_UNSIGNED40 = 24 , eCO_DT_UNSIGNED48 = 25 , eCO_DT_UNSIGNED56 = 26 , eCO_DT_UNSIGNED64 = 27 }

enum	LssCmd_e { eLSS_CMD_MODE_GLOBAL = 4 , eLSS_CMD_CONFIG_NODE_ID = 17 , eLSS_CMD_CONFIG_BIT_TIMING = 19 , eLSS_CMD_ACTIVE_BIT_TIMING = 21 , eLSS_CMD_CONFIG_STORE = 23 , eLSS_CMD_MODE_SEL_VENDOR_ID = 64 , eLSS_CMD_MODE_SEL_PRODUCT_CODE = 65 , eLSS_CMD_MODE_SEL_REVISION_NUM = 66 , eLSS_CMD_MODE_SEL_SERIAL_NUM = 67 , eLSS_CMD_MODE_SEL_RESPONSE = 68 , eLSS_CMD_IDENT_RMT_SLAVE_VENDOR_ID = 70 , eLSS_CMD_IDENT_RMT_SLAVE_PRODUCT_CODE = 71 , eLSS_CMD_IDENT_RMT_SLAVE_REV_LOW = 72 , eLSS_CMD_IDENT_RMT_SLAVE_REV_HIGH = 73 , eLSS_CMD_IDENT_RMT_SLAVE_SER_LOW = 74 , eLSS_CMD_IDENT_RMT_SLAVE_SER_HIGH = 75 , eLSS_CMD_IDENT_SLAVE_NCFG_REQ = 76 , eLSS_CMD_IDENT_SLAVE_RESP = 79 , eLSS_CMD_IDENT_SLAVE_NCFG_RESP = 80 , eLSS_CMD_FASTSCAN = 81 , eLSS_CMD_INQUIRE_VENDOR_ID = 90 , eLSS_CMD_INQUIRE_PRODUCT_CODE = 91 , eLSS_CMD_INQUIRE_REVISION_NUM = 92 , eLSS_CMD_INQUIRE_SERIAL_NUM = 93 , eLSS_CMD_INQUIRE_NODE_ID = 94 , eLSS_CMD_UNKNOWN = 99 }

enum	CoErrReg_e { eCO_ERR_REG_GENERIC = 0x01 , eCO_ERR_REG_CURRENT = 0x02 , eCO_ERR_REG_VOLTAGE = 0x04 , eCO_ERR_REG_TEMPERATURE = 0x08 , eCO_ERR_REG_COMMUNICATION = 0x10 , eCO_ERR_REG_PROFILE = 0x20 , eCO_ERR_REG_RESERVED = 0x40 , eCO_ERR_REG_MANUFACTURER = 0x80 }

Macro Definition Documentation

◆ ID_BASE_PDO1_RX

#define ID_BASE_PDO1_RX 0x200

◆ ID_BASE_PDO1_TX

#define ID_BASE_PDO1_TX 0x180

◆ ID_BASE_PDO2_RX

#define ID_BASE_PDO2_RX 0x300

◆ ID_BASE_PDO2_TX

#define ID_BASE_PDO2_TX 0x280

◆ NODE_ID_INVALID

#define NODE_ID_INVALID ((uint8_t) 255)

Value for an invalid node-ID.

◆ NODE_ID_MAX

#define NODE_ID_MAX ((uint8_t) 127)

Maximum value for valid node-ID.

◆ NODE_ID_MIN

#define NODE_ID_MIN ((uint8_t) 1)

Minimum value for valid node-ID.

Enumeration Type Documentation

◆ CoAttr_e

enum CoAttr_e

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

Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
function	reserved	not in FD	not in CC	reserved	hidden	write	read

The member CosDicEntry_ts::ubAttribute is used for this purpose.

Enumerator
eCO_ATTR_ACC_RO	object is read-only
eCO_ATTR_ACC_CONST	object is constant
eCO_ATTR_ACC_WO	object is write-only
eCO_ATTR_ACC_RW	object supports read-write access
eCO_ATTR_ACC_HIDDEN	object is hidden
eCO_ATTR_RES1	reserved flag
eCO_ATTR_NOT_IN_CC	object not supported in CANopen CC
eCO_ATTR_NOT_IN_FD	object not supported in CANopen FD
eCO_ATTR_RES2	reserved flag
eCO_ATTR_FUNCTION	function callback

◆ CoDT_e

enum CoDT_e

Each object within the object dictionary has a specific data type. By this enumeration the possible data types are defined.

Enumerator
eCO_DT_BOOLEAN	data type: boolean value (deprecated)
eCO_DT_INTEGER8	data type: Signed Integer, 1 byte
eCO_DT_INTEGER16	data type: Signed Integer, 2 bytes
eCO_DT_INTEGER32	data type: Signed Integer, 4 bytes
eCO_DT_UNSIGNED8	data type: Unsigned Integer, 1 byte
eCO_DT_UNSIGNED16	data type: Unsigned Integer, 2 bytes
eCO_DT_UNSIGNED32	data type: Unsigned Integer, 4 bytes
eCO_DT_REAL32	data type: Float, 32 bit according to IEEE
eCO_DT_VISIBLE_STRING	data type: character string
eCO_DT_OCTET_STRING	data type: octet string
eCO_DT_UNICODE_STRING	data type: unicode string
eCO_DT_TIME_OF_DAY	data type: time of day value
eCO_DT_TIME_DIFFERENCE	data type: time difference value
eCO_DT_reserved01
eCO_DT_DOMAIN
eCO_DT_INTEGER24
eCO_DT_REAL64
eCO_DT_INTEGER40
eCO_DT_INTEGER48
eCO_DT_INTEGER56
eCO_DT_INTEGER64	data type: Signed Integer, 8 bytes
eCO_DT_UNSIGNED24
eCO_DT_reserved02
eCO_DT_UNSIGNED40
eCO_DT_UNSIGNED48
eCO_DT_UNSIGNED56
eCO_DT_UNSIGNED64	data type: Unsigned Integer, 8 bytes

◆ CoErrReg_e

enum CoErrReg_e

Error Register (object 1001_h) 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_RESERVED
eCO_ERR_REG_MANUFACTURER	manufacturer specific error

◆ LssCmd_e

enum LssCmd_e

LSS service command specifier

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_ACTIVE_BIT_TIMING	Activate bit-timing command (15h - 21dec)
eLSS_CMD_CONFIG_STORE	Store configuration command (17h - 23dec)
eLSS_CMD_MODE_SEL_VENDOR_ID	Switch mode selective - vendor ID (40h - 64dec)
eLSS_CMD_MODE_SEL_PRODUCT_CODE	Switch mode selective - product code (41h - 65dec)
eLSS_CMD_MODE_SEL_REVISION_NUM	Switch mode selective - revision number (42h - 66dec)
eLSS_CMD_MODE_SEL_SERIAL_NUM	Switch mode selective - serial number (43h - 67dec)
eLSS_CMD_MODE_SEL_RESPONSE	Switch mode selective - LSS slave response (44h - 68dec)
eLSS_CMD_IDENT_RMT_SLAVE_VENDOR_ID	Identify remote slave, vendor-id command (46h - 70dec)
eLSS_CMD_IDENT_RMT_SLAVE_PRODUCT_CODE	Identify remote slave, product-code command (47h - 71dec)
eLSS_CMD_IDENT_RMT_SLAVE_REV_LOW	Identify remote slave, revision-number low command (48h - 72dec)
eLSS_CMD_IDENT_RMT_SLAVE_REV_HIGH	Identify remote slave, revision-number high command (49h - 73dec)
eLSS_CMD_IDENT_RMT_SLAVE_SER_LOW	Identify remote slave, serial-number low command (4Ah - 74dec)
eLSS_CMD_IDENT_RMT_SLAVE_SER_HIGH	Identify remote slave, serial-number high command (4Bh - 75dec)
eLSS_CMD_IDENT_SLAVE_NCFG_REQ	Identify non-configured slave request (4Ch - 76dec)
eLSS_CMD_IDENT_SLAVE_RESP	Identify slave response (4Fh - 79dec)
eLSS_CMD_IDENT_SLAVE_NCFG_RESP	Identify non-configured slave response (50h - 80dec)
eLSS_CMD_FASTSCAN	Fastscan command (51h - 81dec)
eLSS_CMD_INQUIRE_VENDOR_ID	Inquire identity, vendor ID command (5Ah - 90dec)
eLSS_CMD_INQUIRE_PRODUCT_CODE	Inquire identity, product code command (5Bh - 91dec)
eLSS_CMD_INQUIRE_REVISION_NUM	Inquire identity, revision number command (5Ch - 92dec)
eLSS_CMD_INQUIRE_SERIAL_NUM	Inquire identity, serial number command (5Dh - 93dec)
eLSS_CMD_INQUIRE_NODE_ID	Inquire identity, node ID command (5Eh - 94dec)
eLSS_CMD_UNKNOWN

◆ SdoCmd_e

enum SdoCmd_e

Command values for SDO transfer

Command values for USDO transfer

Enumerator
eSDO_WRITE_RESP_SEG
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

The enumeration defines USDO abort codes.

Enumerator
eUSDO_ABORT_NONE
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_COUNTER_VALUE	Counter value (segmented transfer) not valid
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_ACC_HARDWARE
eUSDO_ABORT_ACC_DATATYPE
eUSDO_ABORT_ACC_DATATYPE_HIGH
eUSDO_ABORT_ACC_DATATYPE_LOW
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_PARAM_VALUE_LOW
eUSDO_ABORT_PARAM_VALUE_MAX
eUSDO_ABORT_PARAM_VALUE_MIN
eUSDO_ABORT_PARAM_CAN_ID
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.
eUSDO_ABORT_PDO_MAPPING_LENGTH
eUSDO_ABORT_PDO_MAPPING_PARAM
eUSDO_ABORT_PDO_MAPPING_RPDO
eUSDO_ABORT_PDO_MAPPING_TPDO
eUSDO_ABORT_PDO_MAPPING_VALID
eUSDO_ABORT_DATA_NO_STORE
eUSDO_ABORT_DATA_LOCAL
eUSDO_ABORT_DATA_STATE
eUSDO_ABORT_DATA_DICTIONARY
eUSDO_ABORT_DATA_NOT_AVAILABLE
eUSDO_ABORT_USDO_BUSY

◆ UsdoCommand_e

enum UsdoCommand_e

Enumerator
eUSDO_CMD_DOWN_EXP_RQST	Download expedited request
eUSDO_CMD_DOWN_SEG_RQST_START	Download segmented request, first segment
eUSDO_CMD_DOWN_SEG_RQST_INTER	Download segmented request, intermediate segments
eUSDO_CMD_DOWN_SEG_RQST_FINAL	Download segmented request, final segment
eUSDO_CMD_UPLD_RQST	Upload request
eUSDO_CMD_UPLD_RQST_INTER	Upload request, intermediate segments
eUSDO_CMD_DOWN_EXP_RESP	Download expedited response
eUSDO_CMD_DOWN_SEG_RESP_START	Download segmented response, first segment
eUSDO_CMD_DOWN_SEG_RESP_INTER	Download segmented response, intermediate segments
eUSDO_CMD_DOWN_SEG_RESP_FINAL	Download segmented response, final segment
eUSDO_CMD_UPLD_RESP_EXP	Upload expedited response
eUSDO_CMD_UPLD_RESP_SEG_START	Upload segmented response, first segment
eUSDO_CMD_UPLD_RESP_SEG_INTER	Upload segmented response, intermediate segments
eUSDO_CMD_UPLD_RESP_SEG_FINAL	Upload segmented response, last segment
eUSDO_CMD_ABORT