CANopen Device Profile CiA 401

The add-on module CANopen Device Profile CiA 401 allows the integration of generic I/O modules as specified in CiA 401-1.

Module version

The module version is defined by COS_DS401_VERSION_MAJOR and COS_DS401_VERSION_MINOR. Please refer to the history for changes between different versions.

Configuration

The module is configured by setting of the following symbols inside the cos_conf.h file:

COS_DS401_DI	number of digital input blocks, one block has 8 individual digital inputs
COS_DS401_DO	number of digital output blocks, one block has 8 individual digital outputs
COS_DS401_AI	number of analog inputs
COS_DS401_AO	number of analog outputs

Interface to application

Use the header file cos401.h to get access to the CANopen Device Profile CiA 401 API.

#include "cos401.h"

Digital inputs

Digital inputs are read by the application and passed to the protocol stack by means of Cos401_DI_Set(). If dynamic PDO mapping is supported (COS_PDO_MAPPING > 0) the default mapping can be set inside the CosPdoComSetup() function, as shown in the following example:

void  CosPdoComSetup(void)
{
   // .. other code ..
 
   //------------------------------------------------------------------------------------
   // TPDO1 - event-driven PDO, profile specific
   //
   atsTrmPdoComG[0].ubTransType   = ePDO_TYPE_EVENT_PROFILE;
 
   //------------------------------------------------------------------------------------
   // TPDO1 - map object 6000:01h
   //
   CosPdoTrmMapEnable(0, 0);              // disable current mapping for TPDO1
   CosPdoTrmMapAdd(   0, 0 ,0x60000108);  // add object 6000:01h, length = 8 bit
   CosPdoTrmMapEnable(0, 1);              // enable current mapping for TPDO1
 
   // .. other code ..
}

Digital outputs

Digital outputs are set by the protocol stack by means of Cos401_DO_Set(). If dynamic PDO mapping is supported (COS_PDO_MAPPING > 0) the default mapping can be set inside the CosPdoComSetup() function, as shown in the following example:

void  CosPdoComSetup(void)
{
   // .. other code ..
 
   //------------------------------------------------------------------------------------
   // RPDO1 - event-driven PDO, profile specific
   //
   atsRcvPdoComG[0].ubTransType   = ePDO_TYPE_EVENT_PROFILE;
 
   //------------------------------------------------------------------------------------
   // RPDO1 - map object 6200:01h
   //
   CosPdoRcvMapEnable(0, 0);              // disable current mapping for RPDO1
   CosPdoRcvMapAdd(   0, 0 ,0x62000108);  // add object 6200:01h, length = 8 bit
   CosPdoRcvMapEnable(0, 1);              // enable current mapping for RPDO1
 
   // .. other code ..
}

Analog inputs

Analog inputs are read by the application and passed to the protocol stack by means of Cos401_AI_SetProcessValue16(). If dynamic PDO mapping is supported (COS_PDO_MAPPING > 0) the default mapping can be set inside the CosPdoComSetup() function, as shown in the following example:

void  CosPdoComSetup(void)
{
   // .. other code ..
 
   //------------------------------------------------------------------------------------
   // TPDO2 - event-driven PDO, profile specific
   //
   atsTrmPdoComG[1].ubTransType   = ePDO_TYPE_EVENT_PROFILE;
 
   //------------------------------------------------------------------------------------
   // TPDO2 - map object 6401:01h
   //
   CosPdoTrmMapEnable(1, 0);              // disable current mapping for TPDO2
   CosPdoTrmMapAdd(   1, 0 ,0x64010110);  // add object 6401:01h, length = 16 bit
   CosPdoTrmMapEnable(1, 1);              // enable current mapping for TPDO2
 
   // .. other code ..
}

Analog outputs

Analog outputs are set by the protocol stack by means of Cos401_AO_Set(). If dynamic PDO mapping is supported (COS_PDO_MAPPING > 0) the default mapping can be set inside the CosPdoComSetup() function, as shown in the following example:

void  CosPdoComSetup(void)
{
   // .. other code ..
 
   //------------------------------------------------------------------------------------
   // RPDO2 - event-driven PDO, profile specific
   //
   atsRcvPdoComG[1].ubTransType   = ePDO_TYPE_EVENT_PROFILE;
 
   //------------------------------------------------------------------------------------
   // RPDO2 - map object 6411:01h
   //
   CosPdoRcvMapEnable(1, 0);              // disable current mapping for RPDO1
   CosPdoRcvMapAdd(   1, 0 ,0x64110110);  // add object 6411:01h, length = 16 bit
   CosPdoRcvMapEnable(1, 1);              // enable current mapping for RPDO1
 
   // .. other code ..
}

CANopen Device Profile CiA 401 files

cos401di.h	CiA 401 - Digital inputs
cos401do.h	CiA 401 - Digital outputs
cos401ai.h	CiA 401 - Analog inputs
cos401ao.h	CiA 401 - Analog outputs