Detailed Description

The CiA 890 technical report (version 1.0.0, January 2023) defines the coding of SI units (international system of units) and prefixes to be used in CiA specifications. It replaces the predecessor document CiA 303-2, which was limited to classic CANopen profiles.

The macro COS890_PHYSICAL_UNIT assembles the 32-bit unit configuration parameter from an SI prefix (Cos890_SI_Prefix_e), an SI numerator unit (Cos890_SI_Unit_e), an SI denominator unit, and a CiA-document-specific byte (profile byte, normally 0).

Include dependency graph for cos890.h:

Macros
#define	COS890_PHYSICAL_UNIT(SiPrefix, SiNumerator, SiDenominator, Profile)

Enumerations
enum	Cos890_SI_Prefix_e
enum	Cos890_SI_Unit_e

Macro Definition Documentation

◆ COS890_PHYSICAL_UNIT

#define COS890_PHYSICAL_UNIT	(	SiPrefix,
		SiNumerator,
		SiDenominator,
		Profile )

Value:

                                    ((uint32_t)(  \
                                    (((uint32_t)SiPrefix << 24) & 0xFF000000U)     |       \
                                    (((uint32_t)SiNumerator << 16) & 0x00FF0000U)  |       \
                                    (((uint32_t)SiDenominator << 8) & 0x0000FF00U) |       \
                                    (((uint32_t)Profile) & 0x000000FFU)                    \
                                                                            ))

Parameters

[in]	SiPrefix	value defined by Cos890_SI_Prefix_e
[in]	SiNumerator	value defined by Cos890_SI_Unit_e
[in]	SiDenominator	value defined by Cos890_SI_Unit_e
[in]	Profile	reserved, always 0

The notation indexes represent hexadecimal code values for the ISO 80000 series' physical units and prefixes in CiA documents, especially in device, interface and application profiles. The value structure of a configuration parameter, which determines the physical unit, should contain a notation index for SI prefix and notation indexes for SI unit as SI unit numerator and denominator.

Examples

uiint32_t   ulDegreeCelsiusT = COS890_PHYSICAL_UNIT(eCOS890_SI_PREFIX_NONE,
                                                    eCOS890_SI_UNIT_DEGREE_CELSIUS,
                                                    eCOS890_SI_UNIT_NONE,
                                                    0);
 
uiint32_t   ulMilliVoltT     = COS890_PHYSICAL_UNIT(eCOS890_SI_PREFIX_MILLI,
                                                    eCOS890_SI_UNIT_VOLT,
                                                    eCOS890_SI_UNIT_NONE,
                                                    0);

Enumeration Type Documentation

◆ Cos890_SI_Prefix_e

enum Cos890_SI_Prefix_e

Representation of SI prefixes

Enumerator
eCOS890_SI_PREFIX_GIGA	giga, 10⁹, [G]
eCOS890_SI_PREFIX_MEGA	mega, 10⁶, [M]
eCOS890_SI_PREFIX_KILO	kilo, 10³, [k]
eCOS890_SI_PREFIX_NONE	no prefix, 10⁰
eCOS890_SI_PREFIX_MILLI	milli, 10^-3 [m]
eCOS890_SI_PREFIX_MICRO	micro, 10^-6 [µ]
eCOS890_SI_PREFIX_NANO	nano, 10^-9 [n]

◆ Cos890_SI_Unit_e

enum Cos890_SI_Unit_e

Representation of SI units (notation indexes per CiA 890, Tables 2–6).

Enumerator
eCOS890_SI_UNIT_NONE	dimensionless
eCOS890_SI_UNIT_METRE	length [m]
eCOS890_SI_UNIT_KILOGRAM	mass [kg]
eCOS890_SI_UNIT_SECOND	time [s]
eCOS890_SI_UNIT_AMPERE	electric current [A]
eCOS890_SI_UNIT_KELVIN	thermodynamic temperature [K]
eCOS890_SI_UNIT_MOLE	amount of substance [mol]
eCOS890_SI_UNIT_CANDELA	luminous intensity [cd]
eCOS890_SI_UNIT_RADIAN	plane angle [rad]
eCOS890_SI_UNIT_STERADIAN	solid angle [sr]
eCOS890_SI_UNIT_HERTZ	frequency [Hz]
eCOS890_SI_UNIT_NEWTON	force [N]
eCOS890_SI_UNIT_PASCAL	pressure, stress [Pa]
eCOS890_SI_UNIT_JOULE	energy, work, heat [J]
eCOS890_SI_UNIT_WATT	power, radiant flux [W]
eCOS890_SI_UNIT_COULOMB	electric charge [C]
eCOS890_SI_UNIT_VOLT	electric potential difference [V]
eCOS890_SI_UNIT_FARAD	capacitance [F]
eCOS890_SI_UNIT_OHM	electric resistance [Ω]
eCOS890_SI_UNIT_SIEMENS	electric conductance [S]
eCOS890_SI_UNIT_WEBER	magnetic flux [Wb]
eCOS890_SI_UNIT_TESLA	magnetic flux density [T]
eCOS890_SI_UNIT_HENRY	inductance [H]
eCOS890_SI_UNIT_DEGREE_CELSIUS	Celsius temperature [°C].
eCOS890_SI_UNIT_LUMEN	luminous flux [lm]
eCOS890_SI_UNIT_LUX	illuminance [lx]
eCOS890_SI_UNIT_BECQUEREL	activity of a radionuclide [Bq]
eCOS890_SI_UNIT_GRAY	absorbed dose, specific energy [Gy]
eCOS890_SI_UNIT_SIVERT	dose equivalent [Sv] (note: enumerator name misspells "sievert")
eCOS890_SI_UNIT_ANGLE_GRADE	plane angle, grade / gon [g^a] (1/400 of full rotation)
eCOS890_SI_UNIT_ANGLE_DEGREE	plane angle, degree [°^a]
eCOS890_SI_UNIT_ANGLE_MINUTE	plane angle, minute of arc [′^a] (1/60 of degree)
eCOS890_SI_UNIT_ANGLE_SECOND	plane angle, second of arc [″^a] (1/3600 of degree)
eCOS890_SI_UNIT_LITRE	volume [l]
eCOS890_SI_UNIT_ARE	area [a] (= 100 m²)
eCOS890_SI_UNIT_HECTARE	area [ha] (= 10 000 m²)
eCOS890_SI_UNIT_MINUTE	time, minute [min]
eCOS890_SI_UNIT_HOUR	time, hour [h]
eCOS890_SI_UNIT_DAY	time, day [d]
eCOS890_SI_UNIT_YEAR	time, year [a]
eCOS890_SI_UNIT_GRAM	mass [g]
eCOS890_SI_UNIT_TONNE	mass, metric ton [t]
eCOS890_SI_UNIT_BAR	pressure [bar]
eCOS890_SI_UNIT_POISE	dynamic viscosity [P]
eCOS890_SI_UNIT_STOKES	kinematic viscosity [St]
eCOS890_SI_UNIT_ELECTRONVOLT	electric charge, electron-volt [eV]
eCOS890_SI_UNIT_ATOMIC_MASS_UNIT	atomic mass unit [u]
eCOS890_SI_UNIT_ASTRONOMIC_UNIT	length, astronomic unit [AU]
eCOS890_SI_UNIT_PARSEC	length, parsec [pc]
eCOS890_SI_UNIT_METER_PER_SQUARE_SECOND	acceleration [m/s²]
eCOS890_SI_UNIT_NEWTON_METRE	moment of force / torque [Nm]
eCOS890_SI_UNIT_SQUARE_SECOND	square second [s²]
eCOS890_SI_UNIT_SQUARE_METRE	area [m²]
eCOS890_SI_UNIT_QUBIC_METRE	volume, cubic metre [m³] (note: enumerator name misspells "cubic")