CANopen Device Profile CiA 404

The add-on module CANopen Device Profile CiA 404 allows the integration of measuring devices as specified in CiA 404-1.

Module version

The module version is defined by COS_DS404_VERSION_MAJOR and COS_DS404_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:

Define	Description
COS_DS404_AI	number of analog input channels
COS_DS404_AI_FILTER	support filter for analog inputs
COS_DS404_AI_FILTER_MOV_AV	support moving average filter for analog inputs
COS_DS404_AI_FILTER_REP_AV	support repeating average filter for analog inputs
COS_DS404_AI_SCALING	support scaling for analog inputs
COS_DS404_AI_TARE	support tare function for analog inputs (objects x138h, 6139h, x140h)
COS_DS404_AO	number of analog output channels
COS_DS404_CO	number of controller channels
COS_DS404_DI	number of digital input groups (8 lines per group)
COS_DS404_DO	number of digital output groups (8 lines per group)

The profile allows to support different data types. By means of the following symbols one or multiple data types can be selected. The symbols are located inside the cos_conf.h file:

Define	Description
COS_DS404_DT_FLOAT	support data type float, refer to eCO_DT_REAL32
COS_DS404_DT_INT16	support data type int16_t, refer to eCO_DT_INTEGER16
COS_DS404_DT_INT32	support data type int32_t, refer to eCO_DT_INTEGER32

Interface to application

Use the header file cos404.h to get access to the CANopen Device Profile CiA 404 API.

#include "cos404.h"

Analog inputs

Each analog input channel is initialized by calling Cos404_AI_DefaultConfiguration() prior to CosMgrStart(). An example initialization routine is located inside the cos404_app_ai.c file.

Analog inputs are read by the application and forwarded to the protocol stack by means of Cos404_AI_SetFieldValue().

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 - SYNC-driven PDO
   //
   atsTrmPdoComG[0].ubTransType   = ePDO_TYPE_SYNC_1;
 
   //------------------------------------------------------------------------------------
   // TPDO1 - map object 7130:01h
   //
   CosPdoTrmMapEnable(0, 0);              // disable current mapping for TPDO1
   CosPdoTrmMapAdd(   0, 0 ,0x71300110);  // add object 7130:01h, length = 16 bit
   CosPdoTrmMapEnable(0, 1);              // enable current mapping for TPDO1
 
   // .. other code ..
}

Analog outputs

Analog outputs are written by the application by means of either Cos404_AO_SetPV_Int16(), Cos404_AO_SetPV_Int32() or Cos404_AO_SetPV_Real32(), depending on the supported data type.

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 7300:01h
   //
   CosPdoRcvMapEnable(0, 0);              // disable current mapping for RPDO1
   CosPdoRcvMapAdd(   0, 0 ,0x73000110);  // add object 7300:01h, length = 16 bit
   CosPdoRcvMapEnable(0, 1);              // enable current mapping for RPDO1
 
   // .. other code ..}

CiA 404 files

File	Description
cos404.h	CiA 404 - Generic definitions
cos404ai.h	CiA 404 - Analog inputs
cos404ao.h	CiA 404 - Analog outputs
cos404co.h	CiA 404 - Controller function block
cos404di.h	CiA 404 - Digital inputs
cos404do.h	CiA 404 - Digital outputs