1 /* 2 * CANopen Object Dictionary. 3 * 4 * This file was automatically generated with CANopenNode Object 5 * Dictionary Editor. DON'T EDIT THIS FILE MANUALLY !!!! 6 * Object Dictionary Editor is currently an older, but functional web 7 * application. For more info see See 'Object_Dictionary_Editor/about.html' in 8 * <http://sourceforge.net/p/canopennode/code_complete/ci/master/tree/> 9 * For more information on CANopen Object Dictionary see <CO_SDO.h>. 10 * 11 * @file CO_OD.h 12 * @author Janez Paternoster 13 * @copyright 2010 - 2020 Janez Paternoster 14 * 15 * This file is part of CANopenNode, an opensource CANopen Stack. 16 * Project home page is <https://github.com/CANopenNode/CANopenNode>. 17 * For more information on CANopen see <http://www.can-cia.org/>. 18 * 19 * Licensed under the Apache License, Version 2.0 (the "License"); 20 * you may not use this file except in compliance with the License. 21 * You may obtain a copy of the License at 22 * 23 * http://www.apache.org/licenses/LICENSE-2.0 24 * 25 * Unless required by applicable law or agreed to in writing, software 26 * distributed under the License is distributed on an "AS IS" BASIS, 27 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 28 * See the License for the specific language governing permissions and 29 * limitations under the License. 30 */ 31 32 33 #ifndef CO_OD_H 34 #define CO_OD_H 35 36 37 /******************************************************************************* 38 CANopen DATA DYPES 39 *******************************************************************************/ 40 typedef uint8_t UNSIGNED8; 41 typedef uint16_t UNSIGNED16; 42 typedef uint32_t UNSIGNED32; 43 typedef uint64_t UNSIGNED64; 44 typedef int8_t INTEGER8; 45 typedef int16_t INTEGER16; 46 typedef int32_t INTEGER32; 47 typedef int64_t INTEGER64; 48 typedef float32_t REAL32; 49 typedef float64_t REAL64; 50 typedef char_t VISIBLE_STRING; 51 typedef oChar_t OCTET_STRING; 52 typedef domain_t DOMAIN; 53 54 #ifndef timeOfDay_t 55 typedef union { 56 unsigned long long ullValue; 57 struct { 58 unsigned long ms:28; 59 unsigned reserved:4; 60 unsigned days:16; 61 unsigned reserved2:16; 62 }; 63 }timeOfDay_t; 64 #endif 65 66 typedef timeOfDay_t TIME_OF_DAY; 67 typedef timeOfDay_t TIME_DIFFERENCE; 68 69 70 /******************************************************************************* 71 FILE INFO: 72 FileName: IO Example 73 FileVersion: - 74 CreationTime: 18:04:29 75 CreationDate: 2016-03-25 76 CreatedBy: JP 77 *******************************************************************************/ 78 79 80 /******************************************************************************* 81 DEVICE INFO: 82 VendorName: CANopenNode 83 VendorNumber: 0 84 ProductName: CANopenNode 85 ProductNumber: 0 86 *******************************************************************************/ 87 88 89 /******************************************************************************* 90 FEATURES 91 *******************************************************************************/ 92 #define CO_NO_SYNC 1 //Associated objects: 1005, 1006, 1007, 2103, 2104 93 #define CO_NO_TIME 1 //Associated objects: 1012-1013 94 #define CO_NO_EMERGENCY 1 //Associated objects: 1014, 1015 95 #define CO_NO_SDO_SERVER 1 //Associated objects: 1200 96 #define CO_NO_SDO_CLIENT 0 97 #define CO_NO_RPDO 4 //Associated objects: 1400, 1401, 1402, 1403, 1600, 1601, 1602, 1603 98 #define CO_NO_TPDO 4 //Associated objects: 1800, 1801, 1802, 1803, 1A00, 1A01, 1A02, 1A03 99 #define CO_NO_NMT_MASTER 0 100 #define CO_NO_TRACE 0 101 #define CO_NO_LSS_SERVER 0 102 #define CO_NO_LSS_CLIENT 0 103 104 /******************************************************************************* 105 OBJECT DICTIONARY 106 *******************************************************************************/ 107 #define CO_OD_NoOfElements 56 108 109 110 /******************************************************************************* 111 TYPE DEFINITIONS FOR RECORDS 112 *******************************************************************************/ 113 /*1018 */ typedef struct{ 114 UNSIGNED8 maxSubIndex; 115 UNSIGNED32 vendorID; 116 UNSIGNED32 productCode; 117 UNSIGNED32 revisionNumber; 118 UNSIGNED32 serialNumber; 119 } OD_identity_t; 120 121 /*1200[1] */ typedef struct{ 122 UNSIGNED8 maxSubIndex; 123 UNSIGNED32 COB_IDClientToServer; 124 UNSIGNED32 COB_IDServerToClient; 125 } OD_SDOServerParameter_t; 126 127 /*1400[4] */ typedef struct{ 128 UNSIGNED8 maxSubIndex; 129 UNSIGNED32 COB_IDUsedByRPDO; 130 UNSIGNED8 transmissionType; 131 } OD_RPDOCommunicationParameter_t; 132 133 /*1600[4] */ typedef struct{ 134 UNSIGNED8 numberOfMappedObjects; 135 UNSIGNED32 mappedObject1; 136 UNSIGNED32 mappedObject2; 137 UNSIGNED32 mappedObject3; 138 UNSIGNED32 mappedObject4; 139 UNSIGNED32 mappedObject5; 140 UNSIGNED32 mappedObject6; 141 UNSIGNED32 mappedObject7; 142 UNSIGNED32 mappedObject8; 143 } OD_RPDOMappingParameter_t; 144 145 /*1800[4] */ typedef struct{ 146 UNSIGNED8 maxSubIndex; 147 UNSIGNED32 COB_IDUsedByTPDO; 148 UNSIGNED8 transmissionType; 149 UNSIGNED16 inhibitTime; 150 UNSIGNED8 compatibilityEntry; 151 UNSIGNED16 eventTimer; 152 UNSIGNED8 SYNCStartValue; 153 } OD_TPDOCommunicationParameter_t; 154 155 /*1A00[4] */ typedef struct{ 156 UNSIGNED8 numberOfMappedObjects; 157 UNSIGNED32 mappedObject1; 158 UNSIGNED32 mappedObject2; 159 UNSIGNED32 mappedObject3; 160 UNSIGNED32 mappedObject4; 161 UNSIGNED32 mappedObject5; 162 UNSIGNED32 mappedObject6; 163 UNSIGNED32 mappedObject7; 164 UNSIGNED32 mappedObject8; 165 } OD_TPDOMappingParameter_t; 166 167 /*2120 */ typedef struct{ 168 UNSIGNED8 maxSubIndex; 169 INTEGER64 I64; 170 UNSIGNED64 U64; 171 REAL32 R32; 172 REAL64 R64; 173 DOMAIN domain; 174 } OD_testVar_t; 175 176 /*2130 */ typedef struct{ 177 UNSIGNED8 maxSubIndex; 178 VISIBLE_STRING string[30]; 179 UNSIGNED64 epochTimeBaseMs; 180 UNSIGNED32 epochTimeOffsetMs; 181 } OD_time_t; 182 183 184 /******************************************************************************* 185 STRUCTURES FOR VARIABLES IN DIFFERENT MEMORY LOCATIONS 186 *******************************************************************************/ 187 #define CO_OD_FIRST_LAST_WORD 0x55 //Any value from 0x01 to 0xFE. If changed, EEPROM will be reinitialized. 188 189 /***** Structure for RAM variables ********************************************/ 190 struct sCO_OD_RAM{ 191 UNSIGNED32 FirstWord; 192 193 /*1001 */ UNSIGNED8 errorRegister; 194 /*1002 */ UNSIGNED32 manufacturerStatusRegister; 195 /*1003 */ UNSIGNED32 preDefinedErrorField[8]; 196 /*1010 */ UNSIGNED32 storeParameters[1]; 197 /*1011 */ UNSIGNED32 restoreDefaultParameters[1]; 198 /*2100 */ OCTET_STRING errorStatusBits[10]; 199 /*2103 */ UNSIGNED16 SYNCCounter; 200 /*2104 */ UNSIGNED16 SYNCTime; 201 /*2107 */ UNSIGNED16 performance[5]; 202 /*2108 */ INTEGER16 temperature[1]; 203 /*2109 */ INTEGER16 voltage[1]; 204 /*2110 */ INTEGER32 variableInt32[16]; 205 /*2120 */ OD_testVar_t testVar; 206 /*2130 */ OD_time_t time; 207 /*6000 */ UNSIGNED8 readInput8Bit[8]; 208 /*6200 */ UNSIGNED8 writeOutput8Bit[8]; 209 /*6401 */ INTEGER16 readAnalogueInput16Bit[12]; 210 /*6411 */ INTEGER16 writeAnalogueOutput16Bit[8]; 211 212 UNSIGNED32 LastWord; 213 }; 214 215 /***** Structure for EEPROM variables *****************************************/ 216 struct sCO_OD_EEPROM{ 217 UNSIGNED32 FirstWord; 218 219 /*2106 */ UNSIGNED32 powerOnCounter; 220 /*2112 */ INTEGER32 variableNVInt32[16]; 221 222 UNSIGNED32 LastWord; 223 }; 224 225 226 /***** Structure for ROM variables ********************************************/ 227 struct sCO_OD_ROM{ 228 UNSIGNED32 FirstWord; 229 230 /*1000 */ UNSIGNED32 deviceType; 231 /*1005 */ UNSIGNED32 COB_ID_SYNCMessage; 232 /*1006 */ UNSIGNED32 communicationCyclePeriod; 233 /*1007 */ UNSIGNED32 synchronousWindowLength; 234 /*1008 */ VISIBLE_STRING manufacturerDeviceName[11]; 235 /*1009 */ VISIBLE_STRING manufacturerHardwareVersion[4]; 236 /*100A */ VISIBLE_STRING manufacturerSoftwareVersion[4]; 237 /*1012 */ UNSIGNED32 COB_ID_TIME; 238 /*1014 */ UNSIGNED32 COB_ID_EMCY; 239 /*1015 */ UNSIGNED16 inhibitTimeEMCY; 240 /*1016 */ UNSIGNED32 consumerHeartbeatTime[4]; 241 /*1017 */ UNSIGNED16 producerHeartbeatTime; 242 /*1018 */ OD_identity_t identity; 243 /*1019 */ UNSIGNED8 synchronousCounterOverflowValue; 244 /*1029 */ UNSIGNED8 errorBehavior[6]; 245 /*1200[1] */ OD_SDOServerParameter_t SDOServerParameter[1]; 246 /*1400[4] */ OD_RPDOCommunicationParameter_t RPDOCommunicationParameter[4]; 247 /*1600[4] */ OD_RPDOMappingParameter_t RPDOMappingParameter[4]; 248 /*1800[4] */ OD_TPDOCommunicationParameter_t TPDOCommunicationParameter[4]; 249 /*1A00[4] */ OD_TPDOMappingParameter_t TPDOMappingParameter[4]; 250 /*1F80 */ UNSIGNED32 NMTStartup; 251 /*2101 */ UNSIGNED8 CANNodeID; 252 /*2102 */ UNSIGNED16 CANBitRate; 253 /*2111 */ INTEGER32 variableROMInt32[16]; 254 255 UNSIGNED32 LastWord; 256 }; 257 258 259 /***** Declaration of Object Dictionary variables *****************************/ 260 extern struct sCO_OD_RAM CO_OD_RAM; 261 262 extern struct sCO_OD_EEPROM CO_OD_EEPROM; 263 264 extern struct sCO_OD_ROM CO_OD_ROM; 265 266 267 /******************************************************************************* 268 ALIASES FOR OBJECT DICTIONARY VARIABLES 269 *******************************************************************************/ 270 /*1000, Data Type: UNSIGNED32 */ 271 #define OD_deviceType CO_OD_ROM.deviceType 272 273 /*1001, Data Type: UNSIGNED8 */ 274 #define OD_errorRegister CO_OD_RAM.errorRegister 275 276 /*1002, Data Type: UNSIGNED32 */ 277 #define OD_manufacturerStatusRegister CO_OD_RAM.manufacturerStatusRegister 278 279 /*1003, Data Type: UNSIGNED32, Array[8] */ 280 #define OD_preDefinedErrorField CO_OD_RAM.preDefinedErrorField 281 #define ODL_preDefinedErrorField_arrayLength 8 282 283 /*1005, Data Type: UNSIGNED32 */ 284 #define OD_COB_ID_SYNCMessage CO_OD_ROM.COB_ID_SYNCMessage 285 286 /*1006, Data Type: UNSIGNED32 */ 287 #define OD_communicationCyclePeriod CO_OD_ROM.communicationCyclePeriod 288 289 /*1007, Data Type: UNSIGNED32 */ 290 #define OD_synchronousWindowLength CO_OD_ROM.synchronousWindowLength 291 292 /*1008, Data Type: VISIBLE_STRING, Array[11] */ 293 #define OD_manufacturerDeviceName CO_OD_ROM.manufacturerDeviceName 294 #define ODL_manufacturerDeviceName_stringLength 11 295 296 /*1009, Data Type: VISIBLE_STRING, Array[4] */ 297 #define OD_manufacturerHardwareVersion CO_OD_ROM.manufacturerHardwareVersion 298 #define ODL_manufacturerHardwareVersion_stringLength 4 299 300 /*100A, Data Type: VISIBLE_STRING, Array[4] */ 301 #define OD_manufacturerSoftwareVersion CO_OD_ROM.manufacturerSoftwareVersion 302 #define ODL_manufacturerSoftwareVersion_stringLength 4 303 304 /*1010, Data Type: UNSIGNED32, Array[1] */ 305 #define OD_storeParameters CO_OD_RAM.storeParameters 306 #define ODL_storeParameters_arrayLength 1 307 #define ODA_storeParameters_saveAllParameters 0 308 309 /*1011, Data Type: UNSIGNED32, Array[1] */ 310 #define OD_restoreDefaultParameters CO_OD_RAM.restoreDefaultParameters 311 #define ODL_restoreDefaultParameters_arrayLength 1 312 #define ODA_restoreDefaultParameters_restoreAllDefaultParameters 0 313 314 /*1012, Data Type: UNSIGNED32 */ 315 #define OD_COB_ID_TIME CO_OD_ROM.COB_ID_TIME 316 317 /*1014, Data Type: UNSIGNED32 */ 318 #define OD_COB_ID_EMCY CO_OD_ROM.COB_ID_EMCY 319 320 /*1015, Data Type: UNSIGNED16 */ 321 #define OD_inhibitTimeEMCY CO_OD_ROM.inhibitTimeEMCY 322 323 /*1016, Data Type: UNSIGNED32, Array[4] */ 324 #define OD_consumerHeartbeatTime CO_OD_ROM.consumerHeartbeatTime 325 #define ODL_consumerHeartbeatTime_arrayLength 4 326 327 /*1017, Data Type: UNSIGNED16 */ 328 #define OD_producerHeartbeatTime CO_OD_ROM.producerHeartbeatTime 329 330 /*1018, Data Type: OD_identity_t */ 331 #define OD_identity CO_OD_ROM.identity 332 333 /*1019, Data Type: UNSIGNED8 */ 334 #define OD_synchronousCounterOverflowValue CO_OD_ROM.synchronousCounterOverflowValue 335 336 /*1029, Data Type: UNSIGNED8, Array[6] */ 337 #define OD_errorBehavior CO_OD_ROM.errorBehavior 338 #define ODL_errorBehavior_arrayLength 6 339 #define ODA_errorBehavior_communication 0 340 #define ODA_errorBehavior_communicationOther 1 341 #define ODA_errorBehavior_communicationPassive 2 342 #define ODA_errorBehavior_generic 3 343 #define ODA_errorBehavior_deviceProfile 4 344 #define ODA_errorBehavior_manufacturerSpecific 5 345 346 /*1200[1], Data Type: OD_SDOServerParameter_t, Array[1] */ 347 #define OD_SDOServerParameter CO_OD_ROM.SDOServerParameter 348 349 /*1400[4], Data Type: OD_RPDOCommunicationParameter_t, Array[4] */ 350 #define OD_RPDOCommunicationParameter CO_OD_ROM.RPDOCommunicationParameter 351 352 /*1600[4], Data Type: OD_RPDOMappingParameter_t, Array[4] */ 353 #define OD_RPDOMappingParameter CO_OD_ROM.RPDOMappingParameter 354 355 /*1800[4], Data Type: OD_TPDOCommunicationParameter_t, Array[4] */ 356 #define OD_TPDOCommunicationParameter CO_OD_ROM.TPDOCommunicationParameter 357 358 /*1A00[4], Data Type: OD_TPDOMappingParameter_t, Array[4] */ 359 #define OD_TPDOMappingParameter CO_OD_ROM.TPDOMappingParameter 360 361 /*1F80, Data Type: UNSIGNED32 */ 362 #define OD_NMTStartup CO_OD_ROM.NMTStartup 363 364 /*2100, Data Type: OCTET_STRING, Array[10] */ 365 #define OD_errorStatusBits CO_OD_RAM.errorStatusBits 366 #define ODL_errorStatusBits_stringLength 10 367 368 /*2101, Data Type: UNSIGNED8 */ 369 #define OD_CANNodeID CO_OD_ROM.CANNodeID 370 371 /*2102, Data Type: UNSIGNED16 */ 372 #define OD_CANBitRate CO_OD_ROM.CANBitRate 373 374 /*2103, Data Type: UNSIGNED16 */ 375 #define OD_SYNCCounter CO_OD_RAM.SYNCCounter 376 377 /*2104, Data Type: UNSIGNED16 */ 378 #define OD_SYNCTime CO_OD_RAM.SYNCTime 379 380 /*2106, Data Type: UNSIGNED32 */ 381 #define OD_powerOnCounter CO_OD_EEPROM.powerOnCounter 382 383 /*2107, Data Type: UNSIGNED16, Array[5] */ 384 #define OD_performance CO_OD_RAM.performance 385 #define ODL_performance_arrayLength 5 386 #define ODA_performance_cyclesPerSecond 0 387 #define ODA_performance_timerCycleTime 1 388 #define ODA_performance_timerCycleMaxTime 2 389 #define ODA_performance_mainCycleTime 3 390 #define ODA_performance_mainCycleMaxTime 4 391 392 /*2108, Data Type: INTEGER16, Array[1] */ 393 #define OD_temperature CO_OD_RAM.temperature 394 #define ODL_temperature_arrayLength 1 395 #define ODA_temperature_mainPCB 0 396 397 /*2109, Data Type: INTEGER16, Array[1] */ 398 #define OD_voltage CO_OD_RAM.voltage 399 #define ODL_voltage_arrayLength 1 400 #define ODA_voltage_mainPCBSupply 0 401 402 /*2110, Data Type: INTEGER32, Array[16] */ 403 #define OD_variableInt32 CO_OD_RAM.variableInt32 404 #define ODL_variableInt32_arrayLength 16 405 406 /*2111, Data Type: INTEGER32, Array[16] */ 407 #define OD_variableROMInt32 CO_OD_ROM.variableROMInt32 408 #define ODL_variableROMInt32_arrayLength 16 409 410 /*2112, Data Type: INTEGER32, Array[16] */ 411 #define OD_variableNVInt32 CO_OD_EEPROM.variableNVInt32 412 #define ODL_variableNVInt32_arrayLength 16 413 414 /*2120, Data Type: OD_testVar_t */ 415 #define OD_testVar CO_OD_RAM.testVar 416 417 /*2130, Data Type: OD_time_t */ 418 #define OD_time CO_OD_RAM.time 419 420 /*6000, Data Type: UNSIGNED8, Array[8] */ 421 #define OD_readInput8Bit CO_OD_RAM.readInput8Bit 422 #define ODL_readInput8Bit_arrayLength 8 423 424 /*6200, Data Type: UNSIGNED8, Array[8] */ 425 #define OD_writeOutput8Bit CO_OD_RAM.writeOutput8Bit 426 #define ODL_writeOutput8Bit_arrayLength 8 427 428 /*6401, Data Type: INTEGER16, Array[12] */ 429 #define OD_readAnalogueInput16Bit CO_OD_RAM.readAnalogueInput16Bit 430 #define ODL_readAnalogueInput16Bit_arrayLength 12 431 432 /*6411, Data Type: INTEGER16, Array[8] */ 433 #define OD_writeAnalogueOutput16Bit CO_OD_RAM.writeAnalogueOutput16Bit 434 #define ODL_writeAnalogueOutput16Bit_arrayLength 8 435 436 437 #endif 438 439
