Detailed Description
The structure ComNode_s keeps information about a CANopen device with a specific node-ID. In fact it holds a copy of several values from a CANopen slave device.
The elements within this structure are not ordered by index, they are ordered by data type (starting with unit32_t) in order to allow better packing, thus avoiding unaligned access.
Collaboration diagram for ComNode_s:
Data Fields | |
| uint32_t | ulIdx1000_DT |
| uint32_t | ulIdx1010_SP |
| uint32_t | ulIdx1011_RP |
| uint32_t | ulIdx1018_VI |
| uint32_t | ulIdx1018_PC |
| uint32_t | ulIdx1018_RN |
| uint32_t | ulIdx1018_SN |
| uint16_t | uwIdx1017_HB |
| uint8_t | ubIdx1001_ER |
| uint8_t | aubIdx1008_DN [COM_NODE_DEVICE_NAME_SIZE] |
| uint32_t | ulIdx1F81_SA |
| uint32_t | ulIdx1F84_DT |
| uint32_t | ulIdx1F85_VI |
| uint32_t | ulIdx1F86_PC |
| uint32_t | ulIdx1F87_RN |
| uint32_t | ulIdx1F88_SN |
Field Documentation
◆ aubIdx1008_DN
| uint8_t ComNode_s::aubIdx1008_DN[COM_NODE_DEVICE_NAME_SIZE] |
Device name
◆ ubIdx1001_ER
| uint8_t ComNode_s::ubIdx1001_ER |
Error Register
◆ ulIdx1000_DT
| uint32_t ComNode_s::ulIdx1000_DT |
Device type
◆ ulIdx1010_SP
| uint32_t ComNode_s::ulIdx1010_SP |
Store parameters
◆ ulIdx1011_RP
| uint32_t ComNode_s::ulIdx1011_RP |
Restore parameters
◆ ulIdx1018_PC
| uint32_t ComNode_s::ulIdx1018_PC |
Product code
◆ ulIdx1018_RN
| uint32_t ComNode_s::ulIdx1018_RN |
Revision number
◆ ulIdx1018_SN
| uint32_t ComNode_s::ulIdx1018_SN |
Serial number
◆ ulIdx1018_VI
| uint32_t ComNode_s::ulIdx1018_VI |
Vendor identification
◆ ulIdx1F81_SA
| uint32_t ComNode_s::ulIdx1F81_SA |
NMT slave assignment.
This object shall assign CANopen devices to the NMT master, the device that shall implement this object. Each sub-index of this object shall correspond to the node-ID of the according CANopen device in the network. The sub-index corresponding to its own node-ID shall be ignored.
NMT Slave (Bit 0)
| Bit | Value | Description |
|---|---|---|
| 0 | 0 | NMT master or not available in the network |
| 0 | 1 | NMT slave and available in the network |
◆ ulIdx1F84_DT
| uint32_t ComNode_s::ulIdx1F84_DT |
Device type identification.
This object is used for verification of the device type of the CANopen devices in the network. The device type (object 1000h) of the CANopen device in the network shall be matched against the value of this object in case the value is unequal 0. An error event shall be generated if the values mismatch. In case the value of this object is 0 the device type of the CANopen device in the network may not be verified.
◆ ulIdx1F85_VI
| uint32_t ComNode_s::ulIdx1F85_VI |
Vendor identification.
This object shall be used for verification of the vendor-ID of the CANopen devices in the network. The vendor-ID (object 1018h:01h) of the CANopen device in the network shall be matched against the value of this object in case the value is unequal 0. An error event shall be generated if the values mismatch. In case the value of this object is 0 the vendor-ID of the CANopen device in the network may not be verified.
◆ ulIdx1F86_PC
| uint32_t ComNode_s::ulIdx1F86_PC |
Product code identification.
This object shall be used for verification of the product code of the CANopen devices in the network. The product code (object 1018h:02h) of the CANopen device in the network shall be matched against the value of this object in case the value is unequal 0. An error event shall be generated if the values mismatch. In case the value of this object is 0 the product code of the CANopen device in the network may not be verified.
◆ ulIdx1F87_RN
| uint32_t ComNode_s::ulIdx1F87_RN |
Revision number identification.
This object shall be used for verification of the revision number of the CANopen devices in the network. The revision number (object 1018h:03h) of the CANopen device in the network shall be matched against the value of this object in case the value is unequal 0. An error event shall be generated if the values mismatch. A mismatch is defined as:
- the major revision number is unequal to the expected major revision number
- the minor revision number is less than the expected minor revision number
In case the value of this object is 0 the revision number of the CANopen device in the network shall not be verified.
◆ ulIdx1F88_SN
| uint32_t ComNode_s::ulIdx1F88_SN |
Serial number identification.
This object shall be used for verification of the serial number of the CANopen devices in the network. The serial number (object 1018h:04h) of the CANopen device in the network shall be matched against the value of this object in case the value is unequal 0. An error event shall be generated if the values mismatch. In case the value of this object is 0 the serial number of the CANopen device in the network may not be verified.
◆ uwIdx1017_HB
| uint16_t ComNode_s::uwIdx1017_HB |
Heartbeat producer