cos410.h File Reference

Detailed Description

An inclinometer or tilting sensor measures the inclination. There are one-axis and two-axes sensor devices. The measured values are provided by means of pre-defined PDO services (CANopen CC and CANopen FD), by means of SDO services (CANopen CC) respectively USDO services (CANopen FD).

Device classes

The CiA 410 specification supports different device classes. The device classes can be configured by means of the symbols COS_DS410_DT_INTEGER16, COS_DS410_DT_INTEGER32 and COS_DS410_TWO_AXIS.

Class	Description	Configuration Symbol
C1	one-axis 16-bit value measurements	COS_DS410_DT_INTEGER16=1, COS_DS410_TWO_AXIS=0
C2	two-axes 16-bit value measurements	COS_DS410_DT_INTEGER16=1, COS_DS410_TWO_AXIS=1
C3	one-axis 32-bit value measurements	COS_DS410_DT_INTEGER32=1, COS_DS410_TWO_AXIS=0
C4	two-axes 32-bit value measurements	COS_DS410_DT_INTEGER32=1, COS_DS410_TWO_AXIS=1

Object dictionary

The module adds the following objects to the object dictionary:

Index	Description	Function / Variable	Configuration Symbol
6000h	Resolution	Cos410_SetResolution()	-
6010h	Slope long16	-	COS_DS410_DT_INTEGER16
6011h	Slope long16 operating parameter	-	COS_DS410_DT_INTEGER16
6012h	Slope long16 preset value	-	COS_DS410_DT_INTEGER16
6013h	Slope long16 offset	-	COS_DS410_DT_INTEGER16
6014h	Differential slope long16 offset	-	COS_DS410_DT_INTEGER16
6020h	Slope lateral16	-	COS_DS410_DT_INTEGER16
6021h	Slope lateral16 operating parameter	-	COS_DS410_DT_INTEGER16
6022h	Slope lateral16 preset value	-	COS_DS410_DT_INTEGER16
6023h	Slope lateral16 offset	-	COS_DS410_DT_INTEGER16
6024h	Differential slope lateral16 offset	-	COS_DS410_DT_INTEGER16
6110h	Slope long32	-	COS_DS410_DT_INTEGER32
6111h	Slope long32 operating parameter	-	COS_DS410_DT_INTEGER32
6112h	Slope long32 preset value	-	COS_DS410_DT_INTEGER32
6113h	Slope long32 offset	-	COS_DS410_DT_INTEGER32
6114h	Differential slope long32 offset	-	COS_DS410_DT_INTEGER32
6120h	Slope lateral32	-	COS_DS410_DT_INTEGER32
6121h	Slope lateral32 operating parameter	-	COS_DS410_DT_INTEGER32
6122h	Slope lateral32 preset value	-	COS_DS410_DT_INTEGER32
6123h	Slope lateral32 offset	-	COS_DS410_DT_INTEGER32
6124h	Differential slope lateral32 offset	-	COS_DS410_DT_INTEGER32
6511h	Device temperature	Cos410_SetTemperature()	-

Include dependency graph for cos410.h:

Macros
#define	COS_DS410_VERSION_MAJOR   2
#define	COS_DS410_VERSION_MINOR   0
#define	COS_DS410_DT_INTEGER16   1
#define	COS_DS410_DT_INTEGER32   0
#define	COS_DS410_TWO_AXIS   0

Functions
uint8_t	Cos410_ConfigureResolution (uint16_t uwResolutionV)
void	Cos410_SetAngleValue16 (int16_t swLongAxisV, int16_t swLatAxisV)
void	Cos410_SetAngleValue32 (int32_t slLongAxisV, int32_t slLatAxisV)
void	Cos410_SetResolution (uint16_t uwResolutionV)
void	Cos410_SetTemperature (int16_t swTemperatureV)

Macro Definition Documentation

COS_DS410_DT_INTEGER16

#define COS_DS410_DT_INTEGER16   1

The symbol defines if 16-bit values are supported or not. Possible values are 0 and 1. The default value is 1 (16-bit values supported).

COS_DS410_DT_INTEGER32

#define COS_DS410_DT_INTEGER32   0

The symbol defines if 32-bit values are supported or not. Possible values are 0 and 1. The default value is 0 (32-bit values supported).

COS_DS410_TWO_AXIS

#define COS_DS410_TWO_AXIS   0

The symbol defines if a two-axel inclinometer is used (longitudinal and lateral) or a one-axis inclinometer. Possible values are 0 and 1. The default value is 0 (one-axis inclinometer).

Function Documentation

Cos410_ConfigureResolution()

uint8_t Cos410_ConfigureResolution

(

uint16_t

uwResolutionV

)

Parameters

[in]

uwResolutionV

resolution value

Returns

SDO handler code

See also

Cos410_SetResolution()

Note

The code located in the file cos410_app.c provides an example and has to be adopted to the application.

The function is a callback function triggered by the protocol stack. It shall check the supplied parameter uwResolutionV for validity. Possible return values are:

• eCosSdo_WRITE_OK: resolution value is valid
• eCosSdo_ERR_VALUE_RANGE: resolution value is invalid
• eCosSdo_ERR_ACCESS_RO: the resolution can not be altered

uint8_t Cos410_ConfigureResolution(uint16_t uwResolutionV)
{
   uint8_t ubResultT = eCosSdo_ERR_VALUE_RANGE;
 
   //---------------------------------------------------------------------------------------------------
   // allow resolution 0,001 degree and 0,01 degree
   //
   if ((uwResolutionV == 1) || (uwResolutionV == 10))
   {
      ubResultT = eCosSdo_WRITE_OK;
   }
 
   return (ubResultT);
}

Cos410_SetAngleValue16()

void Cos410_SetAngleValue16	(	int16_t	swLongAxisV,
		int16_t	swLatAxisV )

Parameters

[in]	swLongAxisV	angle value of longitudinal axis
[in]	swLatAxisV	angle value of lateral axis

See also

Cos410_SetAngleValue32()

The function sets the 16-bit signed slope angle values for longitudinal and lateral axis. In case the lateral axis is not supported (definition COS_DS410_TWO_AXIS=0) the second parameter has no effect.

Cos410_SetAngleValue32()

void Cos410_SetAngleValue32	(	int32_t	slLongAxisV,
		int32_t	slLatAxisV )

Parameters

[in]	slLongAxisV	angle value of longitudinal axis
[in]	slLatAxisV	angle value of lateral axis

See also

Cos410_SetAngleValue16()

The function sets the 32-bit signed slope angle values for longitudinal and lateral axis. In case the lateral axis is not supported (definition COS_DS410_TWO_AXIS=0) the second parameter has no effect.

Cos410_SetResolution()

void Cos410_SetResolution

(

uint16_t

uwResolutionV

)

Parameters

[in]

uwResolutionV

resolution value

See also

Cos410_ConfigureResolution()

The function sets the resolution value for data object 6000:00_h according to CiA 410-B. The supplied value is a multiple of 0,001 degree.

Cos410_SetTemperature()

void Cos410_SetTemperature

(

int16_t

swTemperatureV

)

Parameters

[in]

swTemperatureV

temperature value

The function sets the device temperature value for data object 6511:00_h according to CiA 410-B. The supplied value is a multiple of 1 degree Celsius.