CANopen Device Profile CiA 410

The add-on module CANopen Device Profile CiA 410 allows the integration of an inclinometer as specified in CiA 410.

Module version

The module version is defined by COS_DS410_VERSION_MAJOR and COS_DS410_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_DS410

Enable device profile CiA 410 (Inclinometer)

Interface to application

Use the header file cos410.h to get access to the CANopen Device Profile CiA 410 API.

#include "cos410.h"

16-bit slope values

16-bit slope values are read by the application and forwarded to the protocol stack by means of Cos410_SetAngleValue16(). 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, manufacturer specific
   //
   atsTrmPdoComG[0].ubTransType   = ePDO_TYPE_EVENT_MANUFACTURER;
 
   //------------------------------------------------------------------------------------
   // TPDO1 - map object 6010:00h and - as option - object 6020:00h
   //
   CosPdoTrmMapEnable(0, 0);              // disable current mapping for TPDO1
   CosPdoTrmMapAdd(   0, 0 ,0x60100010);  // add object 6010:00h, length = 16 bit
   CosPdoTrmMapAdd(   0, 0 ,0x60200010);  // add object 6020:00h, length = 16 bit
   CosPdoTrmMapEnable(0, 2);              // enable current mapping for TPDO1
 
   // .. other code ..
}

32-bit slope values

32-bit slope values are read by the application and forwarded to the protocol stack by means of Cos410_SetAngleValue32(). 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 - sync-driven PDO
   //
   atsTrmPdoComG[1].ubTransType   = ePDO_TYPE_SYNC_1;
 
   //------------------------------------------------------------------------------------
   // TPDO1 - 6110:00h and - as option - object 6120:00h
   //
   CosPdoTrmMapEnable(1, 0);              // disable current mapping for TPDO2
   CosPdoTrmMapAdd(   1, 0 ,0x61100020);  // add object 6110:00h, length = 32 bit
   CosPdoTrmMapAdd(   1, 0 ,0x61200020);  // add object 6120:00h, length = 32 bit
   CosPdoTrmMapEnable(1, 2);              // enable current mapping for TPDO2
 
   // .. other code ..
}

CANopen Device Profile CiA 410 files

cos410.h

CiA 410 - Inclinometer