cos_dict.h File Reference

Detailed Description

This module holds the complete object dictionary of the CANopen slave. The implementation file cos_dict.c has a static table (aDicTableS[]) with all necessary entries of the communication profile CiA 301. Other dictionary entries (device profile, manufacturer specific) are included in this table with external files.

The following table shows all objects available by the CANopen FD Slave protocol stack.

Index	Description	Function / Variable	Configuration Symbol
1000h	Device type	Cos301_Idx1000()	-
1001h	Error register	ubIdx1001_ErrorRegisterG	-
1002h	Manufacturer status register	ulIdx1002_StatusRegisterG	-
1003h	Pre-defined error field	CosEmcyErrorField()	COS_DICT_OBJ_1003
1005h	COB-ID SYNC message	CosSync_Idx1005()	COS_DICT_OBJ_1005
1006h	Communication cycle period	CosSync_Idx1006()	COS_DICT_OBJ_1006
1008h	Manufacturer device name	aubIdx1008_DeviceNameC	COS_DICT_OBJ_1008
1009h	Manufacturer hardware version	aubIdx1009_HwVersionC	COS_DICT_OBJ_1009
100Ah	Manufacturer software version	aubIdx100A_SwVersionC	COS_DICT_OBJ_100A
100Ch	Guard time	CosNmt_Idx100C()	COS_DICT_OBJ_100C
100Dh	Life time factor	CosNmt_Idx100D()	COS_DICT_OBJ_100C
1010h	Store parameters	Cos301_Idx1010()	COS_DICT_OBJ_1010
1011h	Restore default parameters	Cos301_Idx1011()	COS_DICT_OBJ_1011
1012h	COB-ID time stamp object	CosTmr_Idx1012()	COS_DICT_OBJ_1012
1013h	High-resolution time stamp	CosTmr_Idx1013()	COS_DICT_OBJ_1013
1014h	COB-ID EMCY	CosEmcyIdentifier()	COS_DICT_OBJ_1014
1015h	Inhibit time EMCY	CosEmcyInhibit()	COS_DICT_OBJ_1015
1016h	Consumer heartbeat time	CosNmt_Idx1016()	COS_DICT_OBJ_1016
1017h	Producer heartbeat time	CosNmt_Idx1017()	-
1018h	Identity object	Cos301_Idx1018()	-
1019h	Synchronous counter overflow	CosSync_Idx1019()	COS_DICT_OBJ_1019
1020h	Verify configuration	Cos301_Idx1020()	COS_DICT_OBJ_1020
1021h	Store EDS	Cos301_Idx1021()	COS_DICT_OBJ_1021
1022h	Store format	ubIdx1022_EdsTypeC	COS_DICT_OBJ_1021
1029h	Error behavior object	CosNmt_Idx1029()	COS_DICT_OBJ_1029
140xh	RPDO communication parameter	CosPdoRcvComParam()	COS_PDO_RCV_NUMBER
160xh	RPDO mapping parameter	CosPdoMapParameter()	COS_PDO_RCV_NUMBER
180xh	RPDO communication parameter	CosPdoTrmComParam()	COS_PDO_TRM_NUMBER
1A0xh	RPDO mapping parameter	CosPdoMapParameter()	COS_PDO_TRM_NUMBER
1F80h	NMT Startup behavior	CosNmt_Idx1F80()	COS_DICT_OBJ_1F80
A040h	Network input Unsigned8	Cos302_NetworkVariable()	COS_DS302_NV
A100h	Network input Unsigned16	Cos302_NetworkVariable()	COS_DS302_NV
A200h	Network input Unsigned32	Cos302_NetworkVariable()	COS_DS302_NV
A4C0h	Network output Unsigned8	Cos302_NetworkVariable()	COS_DS302_NV
A580h	Network output Unsigned16	Cos302_NetworkVariable()	COS_DS302_NV
A680h	Network output Unsigned32	Cos302_NetworkVariable()	COS_DS302_NV

Include dependency graph for cos_dict.h:

Data Structures
struct	CosDicEntry_s
struct	CosDicAccessModification_s

Enumerations
enum	CosDict_e {   eCosDict_FAIL_INDEX = 0 ,   eCosDict_FAIL_SUBINDEX ,   eCosDict_FOUND_OBJECT }

Functions
CPP_CONST CosDicEntry_ts *	CosDictFindEntry (uint16_t uwIndexV, uint8_t ubSubIndexV, uint8_t *pubStatusV)
bool_t	CosDictSetAccessModification (CosDicAccessModification_ts *ptsAccessModificationV, uint16_t uwSizeV)

Enumeration Type Documentation

CosDict_e

enum CosDict_e

The return values for the function CosDictFindEntry() are defined in this enumeration.

Enumerator
eCosDict_FAIL_INDEX	Index not present in the object dictionary
eCosDict_FAIL_SUBINDEX	Sub-index not present in the object dictionary
eCosDict_FOUND_OBJECT	Object present in the object dictionary

Function Documentation

CosDictFindEntry()

CPP_CONST CosDicEntry_ts * CosDictFindEntry	(	uint16_t	uwIndexV,
		uint8_t	ubSubIndexV,
		uint8_t *	pubStatusV )

Parameters

[in]	uwIndexV	index of entry
[in]	ubSubIndexV	sub-index of entry
[in,out]	pubStatusV	pointer to status

Returns

Pointer to dictionary entry

This routine searches the dictionary for an entry defined by the parameters index and sub-index. On success, the pointer to the dictionary entry is returned. On failure a nullptr is returned. The status of the search routine is copied to the location pubStatusV. Possible values are defined by the enumeration CosDict_e.

CosDictSetAccessModification()

bool_t CosDictSetAccessModification	(	CosDicAccessModification_ts *	ptsAccessModificationV,
		uint16_t	uwSizeV )

Parameters

[in]	ptsAccessModificationV	pointer to access modification table
[in]	uwSizeV	number of entries in table

Returns

true if the table has been registered, otherwise false

This function allows to register a table which modifies the default attributes of each data element defined by the CosDicEntry_ts::ubAttribute member in the object dictionary. This function is only supported if the symbol COS_DICT_ACCESS_MODIFICATION is set to 1.

The parameter ptsAccessModificationV is a pointer to an array of structure CosDicAccessModification_s. The last entry inside the array must have a value of DICT_LAST_ENTRY. The following code snippet shows how the access attributes of object 1017_h are limited to read-only.

static CosDicAccessModification_ts   atsLocalAccessLimitS[] = 
{
   {0x1017,          eCO_ATTR_ACC_RO},
   {DICT_LAST_ENTRY, 0}
};
 
void CosMgrOnStart(uint8_t ubCallerResultT)
{
   CosDictSetAccessModification( &atsLocalAccessLimitS[0], 
                                 (sizeof(atsLocalAccessLimitS) / sizeof (CosDicAccessModification_ts)));
}