Detailed Description

The structure ComDicEntry_s describes a single dictionary entry. Each entry is defined by the index, sub-index, access-attribute and data type. The pointer pfnFunction points to a callback function.

Collaboration diagram for ComDicEntry_s:

Data Fields
uint16_t	uwIndex

uint8_t	ubSubIndex

uint8_t	ubAttribute

uint8_t	ubDataType

union {

ComSdoHandler_Fn pfnFunction

void * pvdValue

}	tuValue

Field Documentation

◆ pfnFunction

ComSdoHandler_Fn ComDicEntry_s::pfnFunction

Pointer to callback function

◆ pvdValue

void* ComDicEntry_s::pvdValue

Pointer to variable

◆ [union]

union { ... } ComDicEntry_s::tuValue

Pointer to the actual value or SDO callback.

◆ ubAttribute

uint8_t ComDicEntry_s::ubAttribute

The member attribute holds the access attribute defines in the enumeration CoAttr_e in canopen.h, the PDO mapping information and the object search method.

Bit 0 .. Bit 3: object access (read/write/const)
Bit 4: set to 1 means PDO mapping possible
Bit 5: reserved
Bit 6: reserved
Bit 7: don't check sub-index for searching

◆ ubDataType

uint8_t ComDicEntry_s::ubDataType

The data type may be one of the definitions made in the enumeration CoDT.

◆ ubSubIndex

uint8_t ComDicEntry_s::ubSubIndex

The sub-index is a 8-bit value.

◆ uwIndex

uint16_t ComDicEntry_s::uwIndex

The index is a 16 bit value. Possible values (according to CANopen specification) are:

1000 - 1FFF (CiA-301, Communication profile)
2000 - 5FFF (CiA-301, vendor specific)
6000 - 9FFF (CiA-4xx, device profile)