canopen.h File Reference

Detailed Description

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

Include dependency graph for canopen.h:

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 }

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_INTEGER64	data type: Signed Integer, 8 bytes
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_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)

SdoCmd_e

enum SdoCmd_e

Command values for SDO transfer

Command values for USDO 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

UsdoAbort_e

enum UsdoAbort_e

The enumeration defines USDO abort codes.

Enumerator
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_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_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.

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