Detailed Description

The file cos_defs.h holds global definitions, constants and structures for the CANopen Slave. The files canopen.h and cos_conf.h are included by this header.

Include dependency graph for cos_defs.h:

Macros
#define	COS_VERSION_MAJOR 7

#define	COS_VERSION_MINOR 0

#define	COS_VERSION_BUILD 0

Enumerations
enum	CosBuf_e { eCosBuf_NMT = eCP_BUFFER_1 , eCosBuf_SYNC , eCosBuf_SDO_RCV , eCosBuf_SDO_TRM , eCosBuf_NMT_ERR , eCosBuf_PDO1_RCV = eCosBuf_NMT_ERR + COS_DICT_OBJ_1016 + COS_DICT_OBJ_1012 + 1 + COS_SRDO_NUMBER + COS_SAFETY_SUPPORT , eCosBuf_PDO1_TRM = eCosBuf_PDO1_RCV + COS_PDO_RCV_NUMBER , eCosBuf_EMCY = eCosBuf_PDO1_TRM + COS_PDO_TRM_NUMBER }

enum	COS_PARM_e { eCOS_PARM_NONE = 0 , eCOS_PARM_ALL , eCOS_PARM_COM , eCOS_PARM_APP , eCOS_PARM_MAN }

enum	CosSdo_e { eCosSdo_READ_OK = 0 , eCosSdo_READ1_OK = 1 , eCosSdo_READ2_OK = 2 , eCosSdo_READ3_OK = 3 , eCosSdo_READ4_OK = 4 , eCosSdo_READ_SEG_OK = 5 , eCosSdo_WRITE_OK = 6 , eCosSdo_ERR_TOGGLE_BIT = 20 , eCosSdo_ERR_TIMEOUT = 21 , eCosSdo_ERR_COMMAND = 22 , eCosSdo_ERR_BLOCK_SIZE = 23 , eCosSdo_ERR_BLOCK_SEQUENCE = 24 , eCosSdo_ERR_BLOCK_CRC = 25 , eCosSdo_ERR_MEMORY = 26 , eCosSdo_ERR_ACCESS_UNSUPPORTED = 27 , eCosSdo_ERR_ACCESS_WO = 28 , eCosSdo_ERR_ACCESS_RO = 29 , eCosSdo_ERR_NO_OBJECT = 30 , eCosSdo_ERR_MAPPING_OBJECT = 31 , eCosSdo_ERR_MAPPING_LENGTH = 32 , eCosSdo_ERR_GENERAL_PARAMETER = 33 , eCosSdo_ERR_GENERAL_DEVICE = 34 , eCosSdo_ERR_HARDWARE = 35 , eCosSdo_ERR_DATATYPE = 36 , eCosSdo_ERR_DATATYPE_HIGH = 37 , eCosSdo_ERR_DATATYPE_LOW = 38 , eCosSdo_ERR_NO_SUB_INDEX = 39 , eCosSdo_ERR_VALUE_RANGE = 40 , eCosSdo_ERR_VALUE_HIGH = 41 , eCosSdo_ERR_VALUE_LOW = 42 , eCosSdo_ERR_VALUE_MIN_MAX = 43 , eCosSdo_ERR_GENERAL = 44 , eCosSdo_ERR_DATA_STORE = 45 , eCosSdo_ERR_DATA_STORE_LOCAL = 46 , eCosSdo_ERR_DATA_STORE_STATE = 47 , eCosSdo_ERR_OBJECT_DICTIONARY = 48 , eCosSdo_ERR_NO_DATA = 49 , eCosSdo_ERR_DEFER_RESPONSE = 50 , eCosSdo_ERR_MAX = 51 }

enum	CosErr_e { eCOS_ERR_NONE = 0 , eCOS_ERR_CAN_INIT = 0x01 , eCOS_ERR_CAN_FAIL = 0x02 , eCOS_ERR_NODE_INIT = 0x10 , eCOS_ERR_NODE_RESET = 0x11 , eCOS_ERR_VALUE_NODE_ID = 0x30 , eCOS_ERR_VALUE_BITRATE = 0x31 , eCOS_ERR_VALUE_INDEX = 0x32 , eCOS_ERR_VALUE_SUB_INDEX = 0x33 , eCOS_ERR_VALUE_IDENTIFIER = 0x34 , eCOS_ERR_VALUE_PARAMETER = 0x35 , eCOS_ERR_PARM_LOAD = 0x40 , eCOS_ERR_PARM_SAVE = 0x41 , eCOS_ERR_LSS_VALUE = 0x50 , eCOS_ERR_SERVICE_NOT_AVAILABLE = 0x58 }

Enumeration Type Documentation

◆ COS_PARM_e

enum COS_PARM_e

Parameter block for Store / Restore.

The following enumeration defines the parameter block that has been selected for a store / restore operation.

Enumerator
eCOS_PARM_NONE	no parameter block selected
eCOS_PARM_ALL	all parameters
eCOS_PARM_COM	parameters from the communication profile
eCOS_PARM_APP	application parameters (device profile)
eCOS_PARM_MAN	manufacturer parameters

◆ CosBuf_e

enum CosBuf_e

Message buffer allocation.

Each CANopen service (i.e. identifier) is assigned to a specific message buffer in the CAN controller. For BasicCAN controllers the message buffers must be emulated in software (refer to CANpie).

Enumerator
eCosBuf_NMT	NMT, Identifier 000h (Buffer 1)
eCosBuf_SYNC	SYNC, Identifier 080h (Buffer 2)
eCosBuf_SDO_RCV	SDO Rx, Identifier 600h + NodeId (Buffer 3)
eCosBuf_SDO_TRM	SDO Tx, Identifier 580h + NodeId (Buffer 4)
eCosBuf_NMT_ERR	Heartbeat producer, Nodeguarding (Buffer 7)
eCosBuf_PDO1_RCV	Heartbeat consumer, (Buffer 8) TIME producer / consumer, (Buffer 9) Buffer for first Receive PDO
eCosBuf_PDO1_TRM	Buffer for first Transmit PDO
eCosBuf_EMCY	Buffer for emergency service

◆ CosCOB_ID_Store_e

enum CosCOB_ID_Store_e

COB-ID storage behaviour.

Enumerator
eCosCOB_ID_Store_KEEP	keep stored data
eCosCOB_ID_Store_PREDEF	use pre-defined connection set
eCosCOB_ID_Store_OFFSET	use offset

◆ CosErr_e

enum CosErr_e

Error Codes of protocol stack.

All error codes of the CANopen slave protocol stack have the prefix 'eCOS_ERR_'.

Enumerator
eCOS_ERR_NONE	No error
eCOS_ERR_CAN_INIT	CAN interface not initialised
eCOS_ERR_CAN_FAIL	Access to CAN interface failed
eCOS_ERR_NODE_INIT	Node is not initialised
eCOS_ERR_NODE_RESET	Reset request for Node
eCOS_ERR_VALUE_NODE_ID	Node ID (device address) is out of range
eCOS_ERR_VALUE_BITRATE	Bit-rate is out of range
eCOS_ERR_VALUE_INDEX	Index not valid / out of range
eCOS_ERR_VALUE_SUB_INDEX	Sub-index not valid / out of range
eCOS_ERR_VALUE_IDENTIFIER	Identifier is out of range
eCOS_ERR_VALUE_PARAMETER	General parameter out of range
eCOS_ERR_PARM_LOAD	Failure of parameter load operation
eCOS_ERR_PARM_SAVE	Failure of parameter save operation
eCOS_ERR_LSS_VALUE	Value for LSS parameter out of range
eCOS_ERR_SERVICE_NOT_AVAILABLE	Service (e.g. SDO client) not available

◆ CosSdo_e

enum CosSdo_e

Return code for SDO callbacks.

The following codes are used by callback functions for object dictionary access by Service Data Objects.

Enumerator
eCosSdo_READ_OK	Generic read success (any number of bytes)
eCosSdo_READ1_OK	Read success, 1 byte of data in expedited SDO
eCosSdo_READ2_OK	Read success, 2 bytes of data in expedited SDO
eCosSdo_READ3_OK	Read success, 3 bytes of data in expedited SDO
eCosSdo_READ4_OK	Read success, 4 bytes of data in expedited SDO
eCosSdo_WRITE_OK	Write success
eCosSdo_ERR_TOGGLE_BIT	Toggle bit not alternated.
eCosSdo_ERR_TIMEOUT	SDO protocol timed out.
eCosSdo_ERR_COMMAND	Client/server command specifier not valid or unknown.
eCosSdo_ERR_BLOCK_SIZE	Invalid block size (block mode only).
eCosSdo_ERR_BLOCK_SEQUENCE	Invalid sequence number (block mode only).
eCosSdo_ERR_BLOCK_CRC	CRC error (block mode only).
eCosSdo_ERR_MEMORY	Out of memory.
eCosSdo_ERR_ACCESS_UNSUPPORTED	Unsupported access to an object.
eCosSdo_ERR_ACCESS_WO	Attempt to read a write only object.
eCosSdo_ERR_ACCESS_RO	Attempt to write a read only object.
eCosSdo_ERR_NO_OBJECT	Object does not exist in the object dictionary.
eCosSdo_ERR_MAPPING_OBJECT	Object cannot be mapped to the PDO.
eCosSdo_ERR_MAPPING_LENGTH	The number and length of the objects to be mapped would exceed PDO length.
eCosSdo_ERR_GENERAL_PARAMETER	General parameter incompatibility reason.
eCosSdo_ERR_GENERAL_DEVICE	General internal incompatibility in the device.
eCosSdo_ERR_HARDWARE	Access failed due to an hardware error.
eCosSdo_ERR_DATATYPE	Data type does not match or length of service parameter does not match.
eCosSdo_ERR_DATATYPE_HIGH	Data type does not match or length of service parameter too high.
eCosSdo_ERR_DATATYPE_LOW	Data type does not match or length of service parameter too low.
eCosSdo_ERR_NO_SUB_INDEX	Sub-index does not exist.
eCosSdo_ERR_VALUE_RANGE	Value range of parameter exceeded (only for write access).
eCosSdo_ERR_VALUE_HIGH	Value of parameter written too high (download only).
eCosSdo_ERR_VALUE_LOW	Value of parameter written too low (download only).
eCosSdo_ERR_VALUE_MIN_MAX	Maximum value is less than minimum value.
eCosSdo_ERR_GENERAL	General SDO error.
eCosSdo_ERR_DATA_STORE	Data cannot be transferred or stored to the application.
eCosSdo_ERR_DATA_STORE_LOCAL	Data cannot be transferred or stored to the application because of local control.
eCosSdo_ERR_DATA_STORE_STATE	Data cannot be transferred or stored to the application because of the present device state.
eCosSdo_ERR_OBJECT_DICTIONARY	Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error).
eCosSdo_ERR_NO_DATA	Data actually not available for access
eCosSdo_ERR_DEFER_RESPONSE	Do not send a SDO response by the stack. The application must send the SDO response manually.