cos404ai.h File Reference

Detailed Description

This module implements the variables and callback functions for the object dictionary from CiA 404 (analog inputs). The module adds the following objects to the object dictionary:

Index	Description	Function / Variable	Configuration Symbol
6100h	AI input FV (float)	Cos404_AI_SetFV_Real32()	COS_DS404_DT_FLOAT
6110h	AI sensor type	Cos404_AI_Init()	-
6112h	AI operating mode	Cos404_AI_Init()	-
6126h	AI scaling factor	-	COS_DS404_AI_SCALING
6127h	AI scaling offset	-	COS_DS404_AI_SCALING
6130h	AI input PV (float)	Cos404_AI_SetFV_Real32()	COS_DS404_DT_FLOAT
6131h	AI physical unit PV	Cos404_AI_SetPhysicalUnitPV()	-
6132h	AI decimal digits PV	Cos404_AI_SetDecimalDigitsPV()	-
6150h	AI status	Cos404_AI_SetFV_Int16()	-
61A0h	AI filter type	Cos404_AI_FilterParm_ts	COS_DS404_AI_FILTER
61A1h	AI filter constant	Cos404_AI_FilterParm_ts	COS_DS404_AI_FILTER
7100h	AI input FV (int16_t)	Cos404_AI_SetFV_Int16()	COS_DS404_DT_INT16
7130h	AI input PV (int16_t)	Cos404_AI_SetFV_Int16()	COS_DS404_DT_INT16
9100h	AI input FV (int32_t)	Cos404_AI_SetFV_Int32()	COS_DS404_DT_INT32
9130h	AI input PV (int32_t)	Cos404_AI_SetFV_Int32()	COS_DS404_DT_INT32

An example for the module is given inside the file cos404ai_app.c which is located inside the template-cos directory.

Module initialization

The analog input module is initialized for each individual analog input by calling by calling Cos404_AI_Init() prior to CosMgrStart(). The order of function calls is important because CosMgrStart() may overwrite parameters of the analog input module in case a values have been stored in non-volatile memory (refer to object 1010_h).

void Cos404_AI_AppInit(void)
{
   uint8_t              ubChannelT;
   uint32_t             ulPhysicalUnitT;
   Cos404_AI_Config_ts  tsConfigurationT;
 
   //---------------------------------------------------------------------------------------------------
   // perform initial configuration for CiA 404 AI software module by user application
   //
   memset(&tsConfigurationT, 0, sizeof(Cos404_AI_Config_ts));
 
   //---------------------------------------------------------------------------------------------------
   // set sensor type and operation mode
   //
   tsConfigurationT.uwObj6110_SensorType  = eCOS404_AI_ST_THERMO_J;
   tsConfigurationT.ubObj6112_OpMode      = true;
 
   //---------------------------------------------------------------------------------------------------
   // if filter support is enabled: register function for filter parameter update
   //
   #if COS_DS404_AI_FILTER > 0
   tsConfigurationT.pfnFilterChangeEvent  = Cos404_AI_AppFilterParamEvent;
   #endif
 
   //---------------------------------------------------------------------------------------------------
   // register function for sensor type update
   //
   tsConfigurationT.pfnSensorTypeHandler  = Cos404_AI_AppSensorTypeHandler;
 
   //---------------------------------------------------------------------------------------------------
   // register function for operating mode update
   //
   tsConfigurationT.pfnOperatingModeEvent = Cos404_AI_AppOperatingModeEvent;
 
   //---------------------------------------------------------------------------------------------------
   // physical unit is degree celsius
   //
   ulPhysicalUnitT =    COS303_PHYSICAL_UNIT(eCOS303_SI_PREFIX_NONE, 
                                             eCOS303_SI_UNIT_DEGREE_CELSIUS,
                                             eCOS303_SI_UNIT_NONE,
                                             0);
 
   //---------------------------------------------------------------------------------------------------
   // now provide the same configuration to all available channels
   //
   for (ubChannelT = eCOS404_CHANNEL_1; ubChannelT < COS_DS404_AI; ubChannelT++)
   {
      Cos404_AI_Init(ubChannelT, &tsConfigurationT);
      Cos404_AI_SetDecimalDigitsPV(ubChannelT, 1);
      Cos404_AI_SetPhysicalUnitPV(ubChannelT, ulPhysicalUnitT);
   }
}
 

Analog value processing

The values for AI status, Ai field value and AI process value are provided to the module by calling Cos404_AI_SetFV_Int16() or the corresponding function for data type int32_t or float.

void Cos404_AI_AppProcess(void)
{
   int32_t slFieldValueT   = 10000;
   float   ftProcessValueT = 100.0f;
   uint8_t ubChannelT;
 
   //---------------------------------------------------------------------------------------------------
   // Process all existing AI channels
   //
   ubChannelT = eCOS404_CHANNEL_1;
   while (ubChannelT < COS_DS404_AI)
   {
      //-------------------------------------------------------------------------------------------
      // read analog values from ADC, check status
      //
      // slFieldValueT   = field value
      // 
      // ftProcessValueT = process value
      //
 
      //-------------------------------------------------------------------------------------------
      // provide values and their status to the CiA 404
      //
      Cos404_AI_SetFV_Real32(ubChannelT, eCOS404_AI_STATUS_OK, slFieldValueT, ftProcessValueT);
 
      ubChannelT++;
   }
}
 

Include dependency graph for cos404ai.h:

Data Structures
struct	Cos404_AI_Config_s
struct	Cos404_AI_ProcessData_s

Typedefs
typedef void(*	Cos404AiEvent_fn) (uint8_t ubChannelV)
typedef uint8_t(*	Cos404AiHandler_fn) (uint8_t ubInputV, void *pvdDataV)

Enumerations
enum	Cos404_AI_OpMode_e {   eCOS404_AI_OP_MODE_OFF = 0 ,   eCOS404_AI_OP_MODE_ON }
enum	Cos404_AI_SensorType_e {   eCOS404_AI_ST_UNKNOWN = 0 ,   eCOS404_AI_ST_THERMO_J = 1 ,   eCOS404_AI_ST_THERMO_K ,   eCOS404_AI_ST_THERMO_L ,   eCOS404_AI_ST_THERMO_N ,   eCOS404_AI_ST_THERMO_R ,   eCOS404_AI_ST_THERMO_S ,   eCOS404_AI_ST_THERMO_T ,   eCOS404_AI_ST_PT100 = 30 ,   eCOS404_AI_ST_PT200 ,   eCOS404_AI_ST_PT500 ,   eCOS404_AI_ST_PT1000 ,   eCOS404_AI_ST_PT5000 ,   eCOS404_AI_ST_INFRARED ,   eCOS404_AI_ST_VOLT = 40 ,   eCOS404_AI_ST_VOLT_10V_BIP ,   eCOS404_AI_ST_VOLT_10V_UNI ,   eCOS404_AI_ST_VOLT_1V_BIP ,   eCOS404_AI_ST_VOLT_1V_UNI ,   eCOS404_AI_ST_VOLT_100mV_BIP ,   eCOS404_AI_ST_VOLT_100mV_UNI ,   eCOS404_AI_ST_CURR = 50 ,   eCOS404_AI_ST_CURR_4_20mA ,   eCOS404_AI_ST_CURR_0_20mA ,   eCOS404_AI_ST_FREQUENCY = 60 ,   eCOS404_AI_ST_GAUGE = 70 ,   eCOS404_AI_ST_GAUGE_FULL ,   eCOS404_AI_ST_GAUGE_HALF ,   eCOS404_AI_ST_GAUGE_QUARTER ,   eCOS404_AI_ST_LVDT = 80 ,   eCOS404_AI_ST_PRESSURE_TRANSDUCER = 90 ,   eCOS404_AI_ST_TEMPERATURE_TRANSDUCER = 100 ,   eCOS404_AI_ST_FORCE_TRANSDUCER = 110 ,   eCOS404_AI_ST_POTENTIOMETER = 120 ,   eCOS404_AI_ST_NTC = 140 ,   eCOS404_AI_ST_MANUFACTURER_1 = 10000 ,   eCOS404_AI_ST_MANUFACTURER_2 ,   eCOS404_AI_ST_MANUFACTURER_3 ,   eCOS404_AI_ST_MANUFACTURER_4 ,   eCOS404_AI_ST_MANUFACTURER_5 }
enum	Cos404_AI_Status_e {   eCOS404_AI_STATUS_OK = 0x00 ,   eCOS404_AI_STATUS_NOT_VALID = 0x01 ,   eCOS404_AI_STATUS_POS_OVERLOAD = 0x02 ,   eCOS404_AI_STATUS_NEG_OVERLOAD = 0x04 ,   eCOS404_AI_STATUS_SYNC_LOST = 0x08 ,   eCOS404_AI_STATUS_TEDS_ERROR = 0x10 ,   eCOS404_AI_STATUS_TEDS_PRESENT = 0x20 ,   eCOS404_AI_STATUS_DICT_CHANGED = 0x40 }

Functions
uint8_t	Cos404_AI_GetOperatingMode (uint8_t ubChannelV)
uint16_t	Cos404_AI_GetSensorType (uint8_t ubChannelV)
void	Cos404_AI_Init (uint8_t ubChannelV, Cos404_AI_Config_ts *ptsConfigurationV)
uint8_t	Cos404_AI_SetDecimalDigitsPV (uint8_t ubChannelV, uint8_t ubDigitsV)
uint8_t	Cos404_AI_SetPhysicalUnitPV (uint8_t ubChannelV, uint32_t ulPhysicalUnitV)
void	Cos404_AI_SetFV_Int16 (uint8_t ubChannelV, uint8_t ubStatusV, int16_t swFieldValueV, int16_t swProcessValueV)
void	Cos404_AI_SetFV_Int32 (uint8_t ubChannelV, uint8_t ubStatusV, int32_t slFieldValueV, int32_t slProcessValueV)
void	Cos404_AI_SetFV_Real32 (uint8_t ubChannelV, uint8_t ubStatusV, int32_t slFieldValueV, float ftProcessValueV)

Variables
Cos404_AI_ProcessData_ts	atsCos404_AI_ProcessDataG []

Typedef Documentation

Cos404AiEvent_fn

Cos404AiEvent_fn

Parameters

[in]

ubChannelV

Analog input channel

An event handler can be registered during initialization by Cos404_AI_Init() for each channel. Supported events are:

• change of filter parameter (Cos404_AI_Config_ts::pfnFilterChangeEvent)
• change of operating mode (Cos404_AI_Config_ts::pfnOperatingModeEvent)

The parameter ubChannelV defines the channel number, the first channel starts at eCOS404_CHANNEL_1.

Cos404AiHandler_fn

Cos404AiHandler_fn

Parameters

[in]	ubChannelV	Analog input channel
[in]	pvdDataV	Pointer to handler specific data

Returns

eCosSdo_WRITE_OK on success or any other value from CosSdo_e in case of an error

A data handler can be registered during initialization by Cos404_AI_Init() for each channel. Supported handlers are:

• change of sensor type (Cos404_AI_Config_ts::pfnSensorTypeHandler)

The parameter ubChannelV defines the channel number, the first channel starts at eCOS404_CHANNEL_1. The data contents of pointer pvdDataV is specific for every handler.

Enumeration Type Documentation

Cos404_AI_OpMode_e

enum Cos404_AI_OpMode_e

Values for AI operating mode object at index 6112_h.

Enumerator
eCOS404_AI_OP_MODE_OFF	channel is switched off
eCOS404_AI_OP_MODE_ON	channel is switched on

Cos404_AI_SensorType_e

enum Cos404_AI_SensorType_e

Values for AI Sensor Types corresponding to CiA 404, object 6110

Enumerator
eCOS404_AI_ST_UNKNOWN	Sensor type is unknown
eCOS404_AI_ST_THERMO_J	Thermocouple type J
eCOS404_AI_ST_THERMO_K	Thermocouple type K
eCOS404_AI_ST_THERMO_L	Thermocouple type L
eCOS404_AI_ST_THERMO_N	Thermocouple type N
eCOS404_AI_ST_THERMO_R	Thermocouple type R
eCOS404_AI_ST_THERMO_S	Thermocouple type S
eCOS404_AI_ST_THERMO_T	Thermocouple type T
eCOS404_AI_ST_PT100	PT100
eCOS404_AI_ST_PT200	PT200
eCOS404_AI_ST_PT500	PT500
eCOS404_AI_ST_PT1000	PT1000
eCOS404_AI_ST_PT5000	PT5000
eCOS404_AI_ST_INFRARED	IR-sensor
eCOS404_AI_ST_VOLT	Voltage
eCOS404_AI_ST_VOLT_10V_BIP	± 10 V
eCOS404_AI_ST_VOLT_10V_UNI	0 to 10 V
eCOS404_AI_ST_VOLT_1V_BIP	± 1 V
eCOS404_AI_ST_VOLT_1V_UNI	0 to 1 V
eCOS404_AI_ST_VOLT_100mV_BIP	± 100 mV
eCOS404_AI_ST_VOLT_100mV_UNI	0 to 100 mV
eCOS404_AI_ST_CURR	Current
eCOS404_AI_ST_CURR_4_20mA	4 to 20 mA
eCOS404_AI_ST_CURR_0_20mA	0 to 20 mA
eCOS404_AI_ST_FREQUENCY	Frequency
eCOS404_AI_ST_GAUGE	Strain gauge
eCOS404_AI_ST_GAUGE_FULL	Strain gauge full bridge
eCOS404_AI_ST_GAUGE_HALF	Strain gauge half bridge
eCOS404_AI_ST_GAUGE_QUARTER	Strain gauge quarter bridge
eCOS404_AI_ST_LVDT	Inductive sensors
eCOS404_AI_ST_PRESSURE_TRANSDUCER	Pressure transducer
eCOS404_AI_ST_TEMPERATURE_TRANSDUCER	Temperature transducer
eCOS404_AI_ST_FORCE_TRANSDUCER	Sensors for vibration measurement
eCOS404_AI_ST_POTENTIOMETER	Potentiometer
eCOS404_AI_ST_NTC	NTC
eCOS404_AI_ST_MANUFACTURER_1	Manufacturer-specific senor type 1
eCOS404_AI_ST_MANUFACTURER_2	Manufacturer-specific senor type 2
eCOS404_AI_ST_MANUFACTURER_3	Manufacturer-specific senor type 3
eCOS404_AI_ST_MANUFACTURER_4	Manufacturer-specific senor type 4
eCOS404_AI_ST_MANUFACTURER_5	Manufacturer-specific senor type 5

Cos404_AI_Status_e

enum Cos404_AI_Status_e

Values for AI Status from CiA 404, object 6150h

Enumerator
eCOS404_AI_STATUS_OK	All OK
eCOS404_AI_STATUS_NOT_VALID	Not valid
eCOS404_AI_STATUS_POS_OVERLOAD	Positive overload
eCOS404_AI_STATUS_NEG_OVERLOAD	Negative overload
eCOS404_AI_STATUS_SYNC_LOST	Synchronization of the signal lost
eCOS404_AI_STATUS_TEDS_ERROR	TEDS error warning
eCOS404_AI_STATUS_TEDS_PRESENT	TEDS sensor present
eCOS404_AI_STATUS_DICT_CHANGED	Object dictionary changed

Function Documentation

Cos404_AI_GetOperatingMode()

uint8_t Cos404_AI_GetOperatingMode

(

uint8_t

ubChannelV

)

Get pending operating mode of a channel.

Parameters

[in]

ubChannelV

Analog input channel

Returns

Value from Cos404_AI_OpMode_e enumeration. In case of wrong channel parameter or not fully initialised channel the return value is eCOS404_AI_OP_MODE_OFF .

Cos404_AI_GetSensorType()

uint16_t Cos404_AI_GetSensorType

(

uint8_t

ubChannelV

)

Get pending sensor type of a channel.

Parameters

[in]

ubChannelV

Analog input channel

Returns

Value from Cos404_AI_SensorType_e enumeration. In case of wrong channel parameter or not fully initialised channel the return value is eCOS404_AI_ST_UNKNOWN .

Cos404_AI_Init()

void Cos404_AI_Init	(	uint8_t	ubChannelV,
		Cos404_AI_Config_ts *	ptsConfigurationV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ptsConfigurationV	Pointer to memory with configuration data of struct Cos404_AI_Config_ts

This function performs an initialization of the analog input channel defined by ubChannelV, the value for the parameter starts at eCOS404_CHANNEL_1 and is limited by the definition of COS_DS404_AI. The parameter ptsConfigurationV is a pointer to the configuration structure Cos404_AI_Config_ts.

Please refer to the section Module Initialization for an example.

Note

This function shall be called by the application prior to the CosMgrStart() function.

Cos404_AI_SetDecimalDigitsPV()

uint8_t Cos404_AI_SetDecimalDigitsPV	(	uint8_t	ubChannelV,
		uint8_t	ubDigitsV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubDigitsV	Number of decimal digits

Returns

eCosSdo_WRITE_OK on success or any other value from CosSdo_e in case of an error

This function should be called by application at change of sensor type to define number of decimal digits of provided process value.

Cos404_AI_SetFV_Int16()

void Cos404_AI_SetFV_Int16	(	uint8_t	ubChannelV,
		uint8_t	ubStatusV,
		int16_t	swFieldValueV,
		int16_t	swProcessValueV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubStatusV	Status of analog input values, provided by Cos404_AI_Status_e
[in]	swFieldValueV	16-bit field value
[in]	swProcessValueV	16-bit process value

See also

Cos404_AI_SetFV_Real32()

This function converts the field value swFieldValueV and process value swProcessValueV to a float representation and calls Cos404_AI_SetFV_Real32().

Cos404_AI_SetFV_Int32()

void Cos404_AI_SetFV_Int32	(	uint8_t	ubChannelV,
		uint8_t	ubStatusV,
		int32_t	slFieldValueV,
		int32_t	slProcessValueV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubStatusV	Status of analog input values, provided by Cos404_AI_Status_e
[in]	slFieldValueV	32-bit field value
[in]	slProcessValueV	32-bit process value

See also

Cos404_AI_SetFV_Real32()

This function converts the field value slFieldValueV and process value slProcessValueV to a float representation and calls Cos404_AI_SetFV_Real32().

Cos404_AI_SetFV_Real32()

void Cos404_AI_SetFV_Real32	(	uint8_t	ubChannelV,
		uint8_t	ubStatusV,
		int32_t	slFieldValueV,
		float	ftProcessValueV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubStatusV	Status of analog input values, provided by Cos404_AI_Status_e
[in]	slFieldValueV	32 bit value, that represent RAW value for example of an ADC
[in]	ftProcessValueV	float process value, scaled value representing a physical quantity

This function sets the field value (index x100_h) slFieldValueV, the process value (index x130_h) ftProcessValueV and the input status (index 6150_h) ubStatusV for the analog input channel defined by ubChannelV.

The function updates the objects for all supported data types (refer to COS_DS404_DT_INT16, COS_DS404_DT_INT32 and COS_DS404_DT_FLOAT).

Please refer to the section Analog value processing for an example.

Cos404_AI_SetPhysicalUnitPV()

uint8_t Cos404_AI_SetPhysicalUnitPV	(	uint8_t	ubChannelV,
		uint32_t	ulPhysicalUnitV
	)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ulPhysicalUnitV	Physical unit of the process value

Returns

eCosSdo_WRITE_OK on success or any other value from CosSdo_e in case of an error

This function should be called by application at change of sensor type to define corresponding physical unit of provided process value.

The cos303.h contains the COS303_PHYSICAL_UNIT() macro and Cos303_SI_Unit_e to setup this value.

Variable Documentation

atsCos404_AI_ProcessDataG

atsCos404_AI_ProcessDataG

extern

This array holds processing values that can are accessed SDO and PDO. The access via PDO and possibility to map values is the reason why it is declared as a global variable.