com_defs.h File Reference

Detailed Description

The file com_defs.h holds global definitions, constants and structures for the CANopen Master protocol stack. The files 'canopen.h' and 'com_conf.h' are included by this header.

Include dependency graph for com_defs.h:

Macros
#define	COM_VERSION_MAJOR   6
#define	COM_VERSION_MINOR   06
#define	COM_VERSION_BUILD   04
#define	ComNetValid(a)   ( (a >= COM_NET_MAX) ? eCOM_ERR_NET_VALUE : eCOM_ERR_NONE)

Typedefs
typedef int32_t	ComStatus_tv
typedef uint8_t	ComSdoStatus_tv

Enumerations
enum	ComErr_e {   eCOM_ERR_NONE = 0 ,   eCOM_ERR_CAN = -1 ,   eCOM_ERR_CAN_BITRATE = -2 ,   eCOM_ERR_CAN_FUNCTION = -3 ,   eCOM_ERR_PARM = -10 ,   eCOM_ERR_NET = -20 ,   eCOM_ERR_NET_VALUE = -21 ,   eCOM_ERR_NODE = -30 ,   eCOM_ERR_NODE_ID = -31 ,   eCOM_ERR_NODE_DEFINED = -32 ,   eCOM_ERR_NODE_UNDEFINED = -33 ,   eCOM_ERR_COB = -40 ,   eCOM_ERR_COB_ID_VALUE = -41 ,   eCOM_ERR_COB_TYPE = -42 ,   eCOM_ERR_COB_DLC = -43 ,   eCOM_ERR_COB_TIMER = -44 ,   eCOM_ERR_SERVICE = -50 ,   eCOM_ERR_SERVICE_MODE = -52 ,   eCOM_ERR_SERVICE_PARAM = -53 ,   eCOM_ERR_SDO_CLIENT = -60 ,   eCOM_ERR_SDO_CLIENT_VALUE = -61 ,   eCOM_ERR_SDO_CLIENT_BUSY = -62 ,   eCOM_ERR_PDO = -70 ,   eCOM_ERR_PDO_NUMBER = -71 }
enum	ComBuf_e {   eCOM_BUF_NMT = eCP_BUFFER_1 ,   eCOM_BUF_SYNC = eCP_BUFFER_2 ,   eCOM_BUF_EMCY_PROD = eCP_BUFFER_3 ,   eCOM_BUF_NMT_HB_PROD = eCP_BUFFER_4 ,   eCOM_BUF_NMT_HB_CONS = eCP_BUFFER_5 ,   eCOM_BUF_LSS_CLN_RCV = eCP_BUFFER_8 ,   eCOM_BUF_LSS_SRV_TRM = eCP_BUFFER_8 ,   eCOM_BUF_LSS_CLN_TRM = eCP_BUFFER_9 ,   eCOM_BUF_LSS_SRV_RCV = eCP_BUFFER_9 ,   eCOM_BUF_MASTER_RCV = eCP_BUFFER_10 ,   eCOM_BUF_MASTER_TRM = eCP_BUFFER_11 ,   eCOM_BUF_TIME = eCP_BUFFER_12 ,   eCOM_BUF_EMCY_CONS = eCP_BUFFER_13 ,   eCOM_BUF_SDO_CLN_RCV = eCP_BUFFER_14 ,   eCOM_BUF_SDO_CLN_TRM = eCOM_BUF_SDO_CLN_RCV + COM_SDO_CLIENT_MAX ,   eCOM_BUF_PDO_PROD = eCOM_BUF_SDO_CLN_TRM + COM_SDO_CLIENT_MAX ,   eCOM_BUF_GLOBAL_EXT_RCV ,   eCOM_BUF_GLOBAL_STD_RCV }
enum	ComSdo_e {   eCOM_SDO_READ_OK ,   eCOM_SDO_READ1_OK ,   eCOM_SDO_READ2_OK ,   eCOM_SDO_READ3_OK ,   eCOM_SDO_READ4_OK ,   eCOM_SDO_READ_SEG_OK ,   eCOM_SDO_WRITE_OK ,   eCOM_SDO_ERR_TOGGLE_BIT = 20 ,   eCOM_SDO_ERR_TIMEOUT ,   eCOM_SDO_ERR_COMMAND ,   eCOM_SDO_ERR_BLOCK_SIZE ,   eCOM_SDO_ERR_BLOCK_SEQUENCE ,   eCOM_SDO_ERR_BLOCK_CRC ,   eCOM_SDO_ERR_MEMORY ,   eCOM_SDO_ERR_ACCESS_UNSUPPORTED ,   eCOM_SDO_ERR_ACCESS_WO ,   eCOM_SDO_ERR_ACCESS_RO ,   eCOM_SDO_ERR_NO_OBJECT ,   eCOM_SDO_ERR_MAPPING_OBJECT ,   eCOM_SDO_ERR_MAPPING_LENGTH ,   eCOM_SDO_ERR_GENERAL_PARAMETER ,   eCOM_SDO_ERR_GENERAL_DEVICE ,   eCOM_SDO_ERR_HARDWARE ,   eCOM_SDO_ERR_DATATYPE ,   eCOM_SDO_ERR_DATATYPE_HIGH ,   eCOM_SDO_ERR_DATATYPE_LOW ,   eCOM_SDO_ERR_NO_SUB_INDEX ,   eCOM_SDO_ERR_VALUE_RANGE ,   eCOM_SDO_ERR_VALUE_HIGH ,   eCOM_SDO_ERR_VALUE_LOW ,   eCOM_SDO_ERR_VALUE_MIN_MAX ,   eCOM_SDO_ERR_GENERAL ,   eCOM_SDO_ERR_DATA_STORE ,   eCOM_SDO_ERR_DATA_STORE_LOCAL ,   eCOM_SDO_ERR_DATA_STORE_STATE ,   eCOM_SDO_ERR_OBJECT_DICTIONARY ,   eCOM_SDO_ERR_NO_DATA ,   eCOM_SDO_ERR_DEFER_RESPONSE ,   eCOM_SDO_ERR_MAX }
enum	ComNet_e {   eCOM_NET_1 = 0 ,   eCOM_NET_2 ,   eCOM_NET_3 ,   eCOM_NET_4 ,   eCOM_NET_5 ,   eCOM_NET_6 ,   eCOM_NET_7 ,   eCOM_NET_8 }

Macro Definition Documentation

ComNetValid

#define ComNetValid

(

a

)

( (a >= COM_NET_MAX) ? eCOM_ERR_NET_VALUE : eCOM_ERR_NONE)

Check valid network.

This macro returns an error code if the parameter is not within the valid network range.

Typedef Documentation

ComSdoStatus_tv

ComSdoStatus_tv

Callback handler used by the object dictionary (see ComSdoHandler_Fn) return a value of type ComSdoStatus_tv, which is defined as data type uint8_t by default.

ComStatus_tv

ComStatus_tv

All functions of the CANopen Master Protocol Stack have a generic return value, which is defined as data type int32_t by default. A negative value of ComStatus_tv denotes an error, defined by the enumeration ComErr_e.

Enumeration Type Documentation

ComBuf_e

enum ComBuf_e

Message buffer allocation.

Each CANopen service (i.e. identifier) is assigned to a specific message buffer in the CAN controller. For BasicCAN controllers the message buffers must be emulated in software (refer to CANpie).

Enumerator
eCOM_BUF_NMT	Buffer 1 : NMT Identifier: 000h (fixed) Direction : Transmit / Receive
eCOM_BUF_SYNC	Buffer 2 : SYNC Identifier: 080h (variable) Direction : Transmit / Receive
eCOM_BUF_EMCY_PROD	Buffer 3 : EMCY producer Identifier: 080h + Node-ID (variable) Direction : Transmit
eCOM_BUF_NMT_HB_PROD	Buffer 4 : Heartbeat producer Identifier: 700h + Node-ID (fixed) Direction : Transmit
eCOM_BUF_NMT_HB_CONS	Buffer 5 : Heartbeat consumer Identifier: 700h (masked) Direction : Receive
eCOM_BUF_LSS_CLN_RCV	Buffer 8 : LSS client Identifier: 7E4h (fixed) Direction : Receive
eCOM_BUF_LSS_CLN_TRM	Buffer 9 : LSS client Identifier: 7E5h (fixed) Direction : Transmit
eCOM_BUF_MASTER_RCV	Buffer 10 : NMT master Identifier: 070h (masked) Direction : Receive
eCOM_BUF_MASTER_TRM	Buffer 11 : NMT master Identifier: 072h, 073h, 075h, 076h Direction : Transmit
eCOM_BUF_TIME	Buffer 12 : TIME Identifier: 100h (variable) Direction : Transmit / Receive
eCOM_BUF_EMCY_CONS	Buffer 13 : EMCY consumer Identifier: 80h (masked) Direction : Receive
eCOM_BUF_SDO_CLN_RCV	SDO client receive, (Buffer 14)
eCOM_BUF_SDO_CLN_TRM	SDO client transmit, (Buffer = 13 + COM_SDO_CLIENT_MAX)
eCOM_BUF_PDO_PROD	Buffer for PDO transmission (Buffer = 12 + 2 * COM_SDO_CLIENT_MAX) The FIFO size of this buffer is configured by COM_PDO_TRM_FIFO_SIZE.
eCOM_BUF_GLOBAL_EXT_RCV	Buffer for global message reception, extended frame (2.0B)
eCOM_BUF_GLOBAL_STD_RCV	Buffer for global message reception, standard frame (2.0A)

ComErr_e

enum ComErr_e

Error Codes of CANopen Master protocol stack.

All error codes of the CANopen Master protocol stack have the prefix eCOM_ERR_. Error return values are always negative, so it is quite simple to check in general if a functions fails.

Example:

if(ComMgrStart(eCOM_NET_3) < eCOM_ERR_NONE)
{
   // handle error here
}

Enumerator
eCOM_ERR_NONE	No error
eCOM_ERR_CAN	Generic CAN driver error
eCOM_ERR_CAN_BITRATE	Setting of CAN bit-rate failed
eCOM_ERR_CAN_FUNCTION	CAN function failed
eCOM_ERR_PARM	Parameter out of range (generic)
eCOM_ERR_NET	Generic Network error
eCOM_ERR_NET_VALUE	Network index out of range, not valid
eCOM_ERR_NODE	Generic Node error
eCOM_ERR_NODE_ID	Node ID (device address) is not valid or out of range
eCOM_ERR_NODE_DEFINED	Node is already defined
eCOM_ERR_NODE_UNDEFINED	Node is not defined
eCOM_ERR_COB	Generic COB error
eCOM_ERR_COB_ID_VALUE	Identifier is out of range
eCOM_ERR_COB_TYPE	COB type out of range
eCOM_ERR_COB_DLC	COB DLC out of range
eCOM_ERR_COB_TIMER	COB timer out of range
eCOM_ERR_SERVICE	Generic Service error
eCOM_ERR_SERVICE_MODE	Service mode error The service (NMT, SYNC, etc) is in a mode that does not allow this operation
eCOM_ERR_SERVICE_PARAM	Service parameter error The service (NMT, SYNC, etc) does not accept this parameter
eCOM_ERR_SDO_CLIENT	Generic SDO / USDO client error
eCOM_ERR_SDO_CLIENT_VALUE	Value for SDO / USDO client is out of range
eCOM_ERR_SDO_CLIENT_BUSY	All available SDO / USDO clients are busy
eCOM_ERR_PDO	Generic PDO error
eCOM_ERR_PDO_NUMBER	Number for PDO is out of range

ComNet_e

enum ComNet_e

This enumeration defines logical network numbers for the CANopen Master protocol stack. The logical network number is assigned to a physical CAN interface by means of the ComMgrInit() function. Please note that the maximum value that can be used from this enumeration is limited by the configuration symbol COM_NET_MAX.

Enumerator
eCOM_NET_1	CANopen Master network #1
eCOM_NET_2	CANopen Master network #2
eCOM_NET_3	CANopen Master network #3
eCOM_NET_4	CANopen Master network #4
eCOM_NET_5	CANopen Master network #5
eCOM_NET_6	CANopen Master network #6
eCOM_NET_7	CANopen Master network #7
eCOM_NET_8	CANopen Master network #8

ComSdo_e

enum ComSdo_e

Return code for SDO callbacks.

The following codes are used by callback functions for object dictionary access by Service Data Objects.

Enumerator
eCOM_SDO_READ_OK	Generic read success (any number of bytes)
eCOM_SDO_READ1_OK	Read success, 1 byte of data in expedited SDO
eCOM_SDO_READ2_OK	Read success, 2 bytes of data in expedited SDO
eCOM_SDO_READ3_OK	Read success, 3 bytes of data in expedited SDO
eCOM_SDO_READ4_OK	Read success, 4 bytes of data in expedited SDO
eCOM_SDO_READ_SEG_OK	Read success, start segmented SDO
eCOM_SDO_WRITE_OK	Write success
eCOM_SDO_ERR_TOGGLE_BIT	Toggle bit not alternated
eCOM_SDO_ERR_TIMEOUT	SDO protocol timed out
eCOM_SDO_ERR_COMMAND	Client/server command specifier not valid or unknown
eCOM_SDO_ERR_BLOCK_SIZE	Invalid block size (block mode only)
eCOM_SDO_ERR_BLOCK_SEQUENCE	Invalid sequence number (block mode only)
eCOM_SDO_ERR_BLOCK_CRC	CRC error (block mode only)
eCOM_SDO_ERR_MEMORY	Out of memory
eCOM_SDO_ERR_ACCESS_UNSUPPORTED	Unsupported access to an object
eCOM_SDO_ERR_ACCESS_WO	Attempt to read a write only object
eCOM_SDO_ERR_ACCESS_RO	Attempt to write a read only object
eCOM_SDO_ERR_NO_OBJECT	Object does not exist in the object dictionary
eCOM_SDO_ERR_MAPPING_OBJECT	Object cannot be mapped to the PDO
eCOM_SDO_ERR_MAPPING_LENGTH	The number and length of the objects to be mapped would exceed PDO length
eCOM_SDO_ERR_GENERAL_PARAMETER	General parameter incompatibility reason
eCOM_SDO_ERR_GENERAL_DEVICE	General internal incompatibility in the device
eCOM_SDO_ERR_HARDWARE	Access failed due to an hardware error
eCOM_SDO_ERR_DATATYPE	Data type does not match, length of service parameter does not match
eCOM_SDO_ERR_DATATYPE_HIGH	Data type does not match, length of service parameter too high
eCOM_SDO_ERR_DATATYPE_LOW	Data type does not match, length of service parameter too low
eCOM_SDO_ERR_NO_SUB_INDEX	Sub-index does not exist
eCOM_SDO_ERR_VALUE_RANGE	Invalid value for parameter (download only).
eCOM_SDO_ERR_VALUE_HIGH	Value of parameter written too high (download only). See also SDO_ERR_VALUE_HIGH
eCOM_SDO_ERR_VALUE_LOW	Value of parameter written too low (download only). See also SDO_ERR_VALUE_LOW
eCOM_SDO_ERR_VALUE_MIN_MAX	Maximum value is less than minimum value. See also SDO_ERR_VALUE_MIN_MAX
eCOM_SDO_ERR_GENERAL	General error
eCOM_SDO_ERR_DATA_STORE	Data cannot be transferred or stored to the application.
eCOM_SDO_ERR_DATA_STORE_LOCAL	Data cannot be transferred or stored to the application because of local control.
eCOM_SDO_ERR_DATA_STORE_STATE	Data cannot be transferred or stored to the application because of the present device state. See also SDO_ERR_DATA_STORE_STATE
eCOM_SDO_ERR_OBJECT_DICTIONARY	Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error).
eCOM_SDO_ERR_NO_DATA	Data actually not available for access