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_MASK_VALUE ((uint32_t) 0x1FFFFFFF)

#define	ID_MASK_IS_EXTENDED ((uint32_t) 0x20000000)

#define	ID_MASK_IS_DISABLED ((uint32_t) 0x80000000)

#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	CoATTR { }

enum	CoDT { CoDT_BOOLEAN = 1 , CoDT_INTEGER8 , CoDT_INTEGER16 , CoDT_INTEGER32 , CoDT_UNSIGNED8 , CoDT_UNSIGNED16 , CoDT_UNSIGNED32 , CoDT_REAL32 , CoDT_VISIBLE_STRING , CoDT_OCTET_STRING , CoDT_UNICODE_STRING , CoDT_TIME_OF_DAY , CoDT_TIME_DIFFERENCE , CoDT_reserved01 , CoDT_DOMAIN , CoDT_INTEGER24 , CoDT_REAL64 , CoDT_INTEGER40 , CoDT_INTEGER48 , CoDT_INTEGER56 , CoDT_INTEGER64 , CoDT_UNSIGNED24 , CoDT_reserved02 , CoDT_UNSIGNED40 , CoDT_UNSIGNED48 , CoDT_UNSIGNED56 , CoDT_UNSIGNED64 }

Enumeration Type Documentation

◆ CoATTR

enum CoATTR

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)

The member ubAttribute of the structure CosDicEntry_s is used for that purpose. By this enumeration the possible attributes are defined.

Enumerator
CoATTR_ACC_WO	object is read-only
CoATTR_ACC_RW	object is write-only
CoATTR_ACC_CONST	object supports read-write access
CoATTR_PDO_MAP	object is constant

◆ CoDT

enum CoDT

Data Type definitions for objects in dictionary.

Each object within the object dictionary has a specific data type. The member ubDataType of the structure CoStruct_DicEntry is used for that purpose. By this enumeration the possible data types are defined.

Enumerator
CoDT_BOOLEAN	data type: boolean value
CoDT_INTEGER8	data type: Signed Integer, 1 byte
CoDT_INTEGER16	data type: Signed Integer, 2 bytes
CoDT_INTEGER32	data type: Signed Integer, 4 bytes
CoDT_UNSIGNED8	data type: Unsigned Integer, 1 byte
CoDT_UNSIGNED16	data type: Unsigned Integer, 2 bytes
CoDT_UNSIGNED32	data type: Unsigned Integer, 4 bytes
CoDT_REAL32	data type: Float, 32 bit according to IEEE
CoDT_VISIBLE_STRING	data type: character string
CoDT_OCTET_STRING	data type: octet string
CoDT_UNICODE_STRING	data type: unicode string
CoDT_TIME_OF_DAY	data type: time of day value
CoDT_TIME_DIFFERENCE	data type: time difference value
CoDT_INTEGER64	data type: Signed Integer, 8 bytes
CoDT_UNSIGNED64	data type: Unsigned Integer, 8 bytes

◆ CoErrReg_e

enum CoErrReg_e

Error Register values.

Enumerator
eCoErrReg_GENERIC	generic error
eCoErrReg_CURRENT	current error
eCoErrReg_VOLTAGE	voltage error
eCoErrReg_TEMPERATURE	temperature error
eCoErrReg_COMMUNICATION	communication error
eCoErrReg_PROFILE	device profile specific error
eCoErrReg_MANUFACTURER	manufacturer specific error

◆ LssCmd_e

enum LssCmd_e

LSS command specifiers.

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_REVISION_LOW	Identify remote slave, revision-number low command (48h - 72dec)
eLSS_CMD_IDENT_RMT_SLAVE_REVISION_HIGH	Identify remote slave, revision-number high command (49h - 73dec)
eLSS_CMD_IDENT_RMT_SLAVE_SERIAL_LOW	Identify remote slave, serial-number low command (4Ah - 74dec)
eLSS_CMD_IDENT_RMT_SLAVE_SERIAL_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_RES	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)

◆ 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