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
6100_h	AI input FV (float)	Cos404_AI_SetFieldValue()	COS_DS404_DT_FLOAT
6101_h	AI physical unit FV	Cos404_AI_DefaultConfiguration()
6102_h	AI decimal digits FV	Cos404_AI_DefaultConfiguration()
6110_h	AI sensor type	Cos404_AI_DefaultConfiguration()
6112_h	AI operating mode	Cos404_AI_DefaultConfiguration()
6126_h	AI scaling factor		COS_DS404_AI_SCALING
6127_h	AI scaling offset		COS_DS404_AI_SCALING
6130_h	AI input PV (float)	Cos404_AI_SetFieldValue()	COS_DS404_DT_FLOAT
6131_h	AI physical unit PV	Cos404_AI_SetPhysicalUnitPV()
6132_h	AI decimal digits PV	Cos404_AI_SetDecimalDigitsPV()
6138_h	AI tare Zero (float)		COS_DS404_AI_TARE
6139_h	AI autotare		COS_DS404_AI_TARE
6140_h	AI net PV (float)		COS_DS404_AI_TARE
6148_h	AI span start (float)	Cos404_AI_DefaultConfiguration()
6149_h	AI span stop (float)	Cos404_AI_DefaultConfiguration()
614A_h	AI lower error limit (float)	Cos404_AI_DefaultConfiguration()
614B_h	AI upper error limit (float)	Cos404_AI_DefaultConfiguration()
6150_h	AI status	Cos404_AI_SetFieldValue()
61A0_h	AI filter type		COS_DS404_AI_FILTER
61A1_h	AI filter constant		COS_DS404_AI_FILTER
7100_h	AI input FV (int16_t)		COS_DS404_DT_INT16
7130_h	AI input PV (int16_t)		COS_DS404_DT_INT16
7138_h	AI tare Zero (int16_t)		COS_DS404_AI_TARE
7140_h	AI net PV (int16_t)		COS_DS404_AI_TARE
7148_h	AI span start (int16_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT16
7149_h	AI span stop (int16_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT16
714A_h	AI lower error limit (int16_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT16
714B_h	AI upper error limit (int16_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT16
9100_h	AI input FV (int32_t)	Cos404_AI_SetFieldValue()	COS_DS404_DT_INT32
9130_h	AI input PV (int32_t)	Cos404_AI_SetFieldValue()	COS_DS404_DT_INT32
9138_h	AI tare Zero (int32_t)		COS_DS404_AI_TARE
9140_h	AI net PV (int32_t)		COS_DS404_AI_TARE
9148_h	AI span start (int32_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT32
9149_h	AI span stop (int32_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT32
914A_h	AI lower error limit (int32_t)	Cos404_AI_DefaultConfiguration()	COS_DS404_DT_INT32
914B_h	AI upper error limit (int32_t)	Cos404_AI_DefaultConfiguration()	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 initialisation

The analog input module is initialised for each individual analog input by calling Cos404_AI_DefaultConfiguration() prior to CosMgrStart(). The order of function calls is important because CosMgrStart() may overwrite parameters of the analog input module in case values have been stored in non-volatile memory (refer to object 1010_h).

void Cos404_AI_AppInit(void)
{
   uint32_t             ulPhysicalUnitT;
 
   //---------------------------------------------------------------------------------------------------
   // perform initial configuration for CiA 404 AI software module by user application
   //
   memset(&tsConfigurationS, 0, sizeof(Cos404_AI_Config_ts));
 
   //---------------------------------------------------------------------------------------------------
   // set sensor type and operation mode
   //
   tsConfigurationS.uwIdx6110_DefaultSensorType        = eCOS404_AI_ST_VOLT_10V_BIP;
   tsConfigurationS.ubIdx6112_DefaultOpMode            = 1;
 
   ulPhysicalUnitT = COS890_PHYSICAL_UNIT(eCOS890_SI_PREFIX_NONE, eCOS890_SI_UNIT_VOLT, eCOS890_SI_UNIT_NONE, 0);
   tsConfigurationS.ulIdx6101_PhysicalUnitFV       = ulPhysicalUnitT;
   tsConfigurationS.ubIdx6102_DecimalDigitsInt16FV = COS_DS404_AI_FV_DIGITS_INT16;
   tsConfigurationS.ubIdx6102_DecimalDigitsInt32FV = COS_DS404_AI_FV_DIGITS_INT32;
 
   tsConfigurationS.ulIdx6131_PhysicalUnitPV       = ulPhysicalUnitT;
   tsConfigurationS.ubIdx6132_DecimalDigitsInt32PV = COS_DS404_AI_FV_DIGITS_INT32;
 
   tsConfigurationS.slIdx9148_SpanStart            = -100000000;
   tsConfigurationS.slIdx9149_SpanEnd              =  100000000;
   tsConfigurationS.slIdx914A_LowerErrorLimit      = -110000000;
   tsConfigurationS.slIdx914B_UpperErrorLimit      =  110000000;
 
   //---------------------------------------------------------------------------------------------------
   // if filter support is enabled: register function for filter parameter update
   //
   #if COS_DS404_AI_FILTER > 0
   tsConfigurationS.pfnFilterUpdateEvent  = Cos404_AI_AppEventFilterUpdate;
   #endif
 
   //---------------------------------------------------------------------------------------------------
   // register function for sensor type update
   //
   tsConfigurationS.pfnSensorTypeEvent    = Cos404_AI_AppEventSensorType;
 
   //---------------------------------------------------------------------------------------------------
   // register function for operating mode update
   //
   tsConfigurationS.pfnOperatingModeEvent = Cos404_AI_AppEventOperatingMode;
 
 
}

Analog value processing

The values for AI status and AI field value are provided to the module by calling Cos404_AI_SetFieldValue().

The field value will be scaled according to the scaling parameters defined via index 6126_h and 6127_h. Additionally, the user can provide a pointer to a scale handler during initialisation that will be called to scale the field value.

void Cos404_AI_AppProcess(void)
{
   int32_t slFieldValueT   = 10000;
   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   = measured ADC value
      //
 
      //-------------------------------------------------------------------------------------------
      // provide value and ADC status to the CiA 404
      //
      Cos404_AI_SetFieldValue(ubChannelT, slFieldValueT, true);
      ubChannelT++;
   }
}

Include dependency graph for cos404ai.h:

Data Structures
struct	Cos404_AI_Config_s
struct	Cos404_AI_FilterParm_s
struct	Cos404_AI_ProcessData_s

Macros
#define	COS_DS404_AI_FV_REAL32_OFF (float)(0.0)
#define	COS_DS404_AI_PV_REAL32_OFF (float)(0.0)
#define	COS_DS404_AI_FV_INT16_OFF (int16_t)(0)
#define	COS_DS404_AI_PV_INT16_OFF (int16_t)(0)
#define	COS_DS404_AI_FV_INT32_OFF (int32_t)(0)
#define	COS_DS404_AI_PV_INT32_OFF (int32_t)(0)
#define	COS_DS404_AI_TARE_SIGNATURE 0x65726174
#define	COS_DS404_AI_FILTER_MOV_AV 0
#define	COS_DS404_AI_FILTER_REP_AV 0

Typedefs
typedef uint8_t(*	Cos404AiOpMode_fn) (uint8_t ubChannelV, uint8_t ubModeV)
typedef uint8_t(*	Cos404AiSensorType_fn) (uint8_t ubChannelV, uint16_t uwSensorTypeV)
typedef int32_t(*	Cos404AiFilter_fn) (uint8_t ubChannelV, int32_t slValueV, uint8_t ubFilterTypeV)
typedef uint8_t(*	Cos404AiFilterUpdate_fn) (uint8_t ubChannelV, uint8_t ubFilterTypeV, uint16_t uwFilterConstantV)
typedef int32_t(*	Cos404AiLinearisation_fn) (uint8_t ubChannelV, int32_t slValueV, uint16_t uwSensorTypeV)
typedef void(*	Cos404AiStatusUpdate_fn) (uint8_t ubChannelV, uint8_t ubStatusV)

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_THERMO_U , eCOS404_AI_ST_THERMO_E , eCOS404_AI_ST_THERMO_B , 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_te { 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 , eCOS404_AI_STATUS_ERROR_LIMIT = 0x80 }
enum	Cos404_AI_FilterType_e { eCOS404_AI_FILTER_TYPE_NONE = 0 , eCOS404_AI_FILTER_TYPE_MOVING_AVERAGE = 1 , eCOS404_AI_FILTER_TYPE_REPEATING_AVERAGE = 2 , eCOS404_AI_FILTER_TYPE_MANUFACTURER_01 = 100 , eCOS404_AI_FILTER_TYPE_MANUFACTURER_02 = 101 , eCOS404_AI_FILTER_TYPE_MANUFACTURER_03 = 102 , eCOS404_AI_FILTER_TYPE_MANUFACTURER_04 = 103 }

Functions
Cos404_AI_Config_ts *	Cos404_AI_DefaultConfiguration (uint8_t ubChannelV)
Cos404_AI_FilterParm_ts *	Cos404_AI_GetFilterParameter (uint8_t ubChannelV)
uint8_t	Cos404_AI_GetOperatingMode (uint8_t ubChannelV)
uint16_t	Cos404_AI_GetSensorType (uint8_t ubChannelV)
Cos404_AI_Status_te	Cos404_AI_Process (uint8_t ubChannelV)
uint8_t	Cos404_AI_SetDecimalDigitsPV (uint8_t ubChannelV, uint8_t ubDigitsV)
void	Cos404_AI_SetFieldValue (uint8_t ubChannelV, int32_t slFieldValueV, bool_t btStatusV)
uint8_t	Cos404_AI_SetPhysicalUnitPV (uint8_t ubChannelV, uint32_t ulPhysicalUnitV)
uint8_t	Cos404_AI_SetSensorType (uint8_t ubChannelV, uint16_t uwSensorTypeV)

Variables
Cos404_AI_ProcessData_ts	atsCos404_AI_ProcessDataG []

Macro Definition Documentation

◆ COS_DS404_AI_FILTER_MOV_AV

#define COS_DS404_AI_FILTER_MOV_AV 0

Support of CiA 404 moving average filter.

0 : do not support CiA 404 moving average filter
1 : support CiA 404 moving average filter

◆ COS_DS404_AI_FILTER_REP_AV

#define COS_DS404_AI_FILTER_REP_AV 0

Support of CiA 404 repeating average filter.

0 : do not support CiA 404 repeating average filter
N : support CiA 404 repeating average filter

◆ COS_DS404_AI_FV_INT16_OFF

#define COS_DS404_AI_FV_INT16_OFF (int16_t)(0)

Definition for field value of data type int16_t when channel is disabled.

◆ COS_DS404_AI_FV_INT32_OFF

#define COS_DS404_AI_FV_INT32_OFF (int32_t)(0)

Definition for field value of data type int32_t when channel is disabled.

◆ COS_DS404_AI_FV_REAL32_OFF

#define COS_DS404_AI_FV_REAL32_OFF (float)(0.0)

Definition for field value of data type float when channel is disabled.

◆ COS_DS404_AI_PV_INT16_OFF

#define COS_DS404_AI_PV_INT16_OFF (int16_t)(0)

Definition for process value of data type int16_t when channel is disabled.

◆ COS_DS404_AI_PV_INT32_OFF

#define COS_DS404_AI_PV_INT32_OFF (int32_t)(0)

Definition for process value of data type int32_t when channel is disabled.

◆ COS_DS404_AI_PV_REAL32_OFF

#define COS_DS404_AI_PV_REAL32_OFF (float)(0.0)

Definition for process value of data type float when channel is disabled.

◆ COS_DS404_AI_TARE_SIGNATURE

#define COS_DS404_AI_TARE_SIGNATURE 0x65726174

Define specified 'tare' value for write access to AI tare index 6139h

Typedef Documentation

◆ Cos404AiFilter_fn

typedef int32_t(* Cos404AiFilter_fn) (uint8_t ubChannelV, int32_t slValueV, uint8_t ubFilterTypeV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	slValueV	Raw field value to be filtered (int32_t representation)
[in]	ubFilterTypeV	Active filter type (value from `Cos404_AI_FilterType_e`)

Returns: Filtered field value (int32_t)

Manufacturer-specific filter callback. When registered via pfnFilterEvent in Cos404_AI_Config_ts, this function is called by Cos404_AI_Process() instead of the built-in filter whenever the active filter type is one of eCOS404_AI_FILTER_TYPE_MANUFACTURER_01 to eCOS404_AI_FILTER_TYPE_MANUFACTURER_04.

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

◆ Cos404AiFilterUpdate_fn

typedef uint8_t(* Cos404AiFilterUpdate_fn) (uint8_t ubChannelV, uint8_t ubFilterTypeV, uint16_t uwFilterConstantV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubFilterTypeV	New filter type (value from `Cos404_AI_FilterType_e`)
[in]	uwFilterConstantV	New filter constant (object 61A1_h)

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

Event handler called when the filter type (object 61A0_h) or filter constant (object 61A1_h) is changed via SDO/USDO write access, and also during initialisation. Register via pfnFilterUpdateEvent in Cos404_AI_Config_ts.

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

◆ Cos404AiLinearisation_fn

typedef int32_t(* Cos404AiLinearisation_fn) (uint8_t ubChannelV, int32_t slValueV, uint16_t uwSensorTypeV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	slValueV	Field value to be linearised

Returns: Linearised field value

Event handler for manufacturer-specific linearisation of the field value, called by the module during value processing. The handler can be registered during initialisation by Cos404_AI_DefaultConfiguration() for each channel.

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

◆ Cos404AiOpMode_fn

typedef uint8_t(* Cos404AiOpMode_fn) (uint8_t ubChannelV, uint8_t ubModeV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubModeV	Requested operating mode

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

Event handler which is called upon a change of operating mode, defined by parameter ubModeV. The handler can be registered during initialisation by Cos404_AI_DefaultConfiguration() for each channel.

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

◆ Cos404AiSensorType_fn

typedef uint8_t(* Cos404AiSensorType_fn) (uint8_t ubChannelV, uint16_t uwSensorTypeV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	uwSensorTypeV	Requested sensor type value

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

Event handler which is called upon a change of sensor type, defined by parameter uwSensorTypeV. The handler can be registered during initialisation by Cos404_AI_DefaultConfiguration() for each channel.

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

◆ Cos404AiStatusUpdate_fn

typedef void(* Cos404AiStatusUpdate_fn) (uint8_t ubChannelV, uint8_t ubStatusV)

Parameters

[in]	ubChannelV	Analog input channel
[in]	ubStatusV	New status value (bitmask from `Cos404_AI_Status_te`)

Event handler called by Cos404_AI_Process() whenever the channel status (object 6150_h) changes. Register via pfnStatusUpdateEvent in Cos404_AI_Config_ts to react to overload, error-limit, or validity transitions without polling the status object.

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

Enumeration Type Documentation

◆ Cos404_AI_FilterType_e

enum Cos404_AI_FilterType_e

Values for AI Filter type from CiA 404, object 61A0h

Enumerator
eCOS404_AI_FILTER_TYPE_NONE	No filter — field value is passed through unchanged.
eCOS404_AI_FILTER_TYPE_MOVING_AVERAGE	Moving average filter. Requires `COS_DS404_AI_FILTER_MOV_AV` > 0. The filter depth is controlled by the filter constant (object 61A1_h).
eCOS404_AI_FILTER_TYPE_REPEATING_AVERAGE	Repeating average filter. Requires `COS_DS404_AI_FILTER_REP_AV` > 0. The number of samples averaged is controlled by the filter constant (object 61A1_h).
eCOS404_AI_FILTER_TYPE_MANUFACTURER_01	Manufacturer-specific filter type 1. Handled by `pfnFilterEvent` callback registered in Cos404_AI_Config_ts.
eCOS404_AI_FILTER_TYPE_MANUFACTURER_02	Manufacturer-specific filter type 2. Handled by `pfnFilterEvent` callback registered in Cos404_AI_Config_ts.
eCOS404_AI_FILTER_TYPE_MANUFACTURER_03	Manufacturer-specific filter type 3. Handled by `pfnFilterEvent` callback registered in Cos404_AI_Config_ts.
eCOS404_AI_FILTER_TYPE_MANUFACTURER_04	Manufacturer-specific filter type 4. Handled by `pfnFilterEvent` callback registered in Cos404_AI_Config_ts.

◆ 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_THERMO_U	Thermocouple type U
eCOS404_AI_ST_THERMO_E	Thermocouple type E
eCOS404_AI_ST_THERMO_B	Thermocouple type B
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_te

enum Cos404_AI_Status_te

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	Synchronisation 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
eCOS404_AI_STATUS_ERROR_LIMIT	Error limit exceeded

Function Documentation

◆ Cos404_AI_DefaultConfiguration()

Cos404_AI_Config_ts * Cos404_AI_DefaultConfiguration ( uint8_t ubChannelV )

Parameters

[in] ubChannelV Analog input channel, starting at eCOS404_CHANNEL_1, maximum value is defined by COS_DS404_AI

Returns: Pointer to configuration data of type Cos404_AI_Config_ts

This function is called during initialisation of an analog input channel defined by ubChannelV. It returns a pointer to a static default configuration of type Cos404_AI_Config_ts for that channel.

◆ Cos404_AI_GetFilterParameter()

Cos404_AI_FilterParm_ts * Cos404_AI_GetFilterParameter ( uint8_t ubChannelV )

Parameters

[in] ubChannelV Analog input channel, starting at eCOS404_CHANNEL_1, maximum value is defined by COS_DS404_AI

Returns: Pointer to the filter parameter structure of type Cos404_AI_FilterParm_ts for the given channel, or NULL in case of an invalid channel parameter.

This function returns a pointer to the filter parameter structure of the analog input channel defined by ubChannelV. The structure provides read access to the active filter type (object 61A0_h) and filter constant (object 61A1_h), as well as the internal filter state data used by the filter implementation.
This function is only available if COS_DS404_AI_FILTER is greater than 0.

◆ Cos404_AI_GetOperatingMode()

uint8_t Cos404_AI_GetOperatingMode ( uint8_t ubChannelV )

Parameters

[in] ubChannelV Analog input channel

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

This function returns the currently active operating mode of the analog input channel defined by ubChannelV (object 6112_h).

◆ Cos404_AI_GetSensorType()

uint16_t Cos404_AI_GetSensorType ( uint8_t ubChannelV )

Parameters

[in] ubChannelV Analog input channel

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

This function returns the currently active sensor type of the analog input channel defined by ubChannelV (object 6110_h).

◆ Cos404_AI_Process()

Cos404_AI_Status_te Cos404_AI_Process ( uint8_t ubChannelV )

Execute one analog input processing step for the given channel.

Parameters

[in] ubChannelV Analog input channel

Returns: Status of the analog input channel after processing (value from Cos404_AI_Status_te)

This function runs the complete CiA 404 AI processing pipeline for the channel defined by ubChannelV: linearisation (if pfnLinearisationEvent is registered), filter (object 61A0_h), scaling via factor (6126_h) and offset (6127_h), tare subtraction (object 9138_h), and finally span and error-limit checking with status update (object 6150_h).

The function must be called from the application after Cos404_AI_SetFieldValue() has provided a new raw field value. Refer to Analog value processing for an example.

◆ 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_SetFieldValue()

void Cos404_AI_SetFieldValue	(	uint8_t	ubChannelV,
		int32_t	slFieldValueV,
		bool_t	btStatusV )

Parameters

[in]	ubChannelV	Analog input channel
[in]	slFieldValueV	32 bit value, that represent RAW value for example of an ADC
[in]	btStatusV	`true` if the analog input values are valid (normal operation), `false` if not valid (sensor error, channel disabled, etc.)

This function sets the field value (index x100_h) slFieldValueV 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 the application when the sensor type changes, to define the corresponding physical unit of the process value.

The cos890.h contains the COS890_PHYSICAL_UNIT() macro and Cos890_SI_Unit_e to set up this value.

◆ Cos404_AI_SetSensorType()

uint8_t Cos404_AI_SetSensorType	(	uint8_t	ubChannelV,
		uint16_t	uwSensorTypeV )

Parameters

[in]	ubChannelV	Analog input channel
[in]	uwSensorTypeV	Sensor type

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

This function changes the sensor type for the given input channel ubChannelV to the values defined by parameter uwSensorTypeV. Valid values for sensor type are defined by enumeration Cos404_AI_SensorType_e.

Variable Documentation

◆ atsCos404_AI_ProcessDataG

Cos404_AI_ProcessData_ts atsCos404_AI_ProcessDataG[]

extern

This array holds process data values that are accessible via SDO and PDO. It is declared as a global variable to allow PDO mapping.

Detailed Description

Module initialisation

Analog value processing

Data Structures

Macros

Typedefs

Enumerations

Functions

Variables

Macro Definition Documentation

◆ COS_DS404_AI_FILTER_MOV_AV

◆ COS_DS404_AI_FILTER_REP_AV

◆ COS_DS404_AI_FV_INT16_OFF

◆ COS_DS404_AI_FV_INT32_OFF

◆ COS_DS404_AI_FV_REAL32_OFF

◆ COS_DS404_AI_PV_INT16_OFF

◆ COS_DS404_AI_PV_INT32_OFF

◆ COS_DS404_AI_PV_REAL32_OFF

◆ COS_DS404_AI_TARE_SIGNATURE

Typedef Documentation

◆ Cos404AiFilter_fn

◆ Cos404AiFilterUpdate_fn

◆ Cos404AiLinearisation_fn

◆ Cos404AiOpMode_fn

◆ Cos404AiSensorType_fn

◆ Cos404AiStatusUpdate_fn

Enumeration Type Documentation

◆ Cos404_AI_FilterType_e

◆ Cos404_AI_OpMode_e

◆ Cos404_AI_SensorType_e

◆ Cos404_AI_Status_te

Function Documentation

◆ Cos404_AI_DefaultConfiguration()

◆ Cos404_AI_GetFilterParameter()

◆ Cos404_AI_GetOperatingMode()

◆ Cos404_AI_GetSensorType()

◆ Cos404_AI_Process()

◆ Cos404_AI_SetDecimalDigitsPV()

◆ Cos404_AI_SetFieldValue()

◆ Cos404_AI_SetPhysicalUnitPV()

◆ Cos404_AI_SetSensorType()

Variable Documentation

◆ atsCos404_AI_ProcessDataG