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canopennode/example/CO_OD.h

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/*
* CANopen Object Dictionary.
*
* This file was automatically generated with CANopenNode Object
* Dictionary Editor. DON'T EDIT THIS FILE MANUALLY !!!!
* Object Dictionary Editor is currently an older, but functional web
* application. For more info see See 'Object_Dictionary_Editor/about.html' in
* <http://sourceforge.net/p/canopennode/code_complete/ci/master/tree/>
* For more information on CANopen Object Dictionary see <CO_SDO.h>.
*
* @file CO_OD.h
* @author Janez Paternoster
* @copyright 2010 - 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CO_OD_H
#define CO_OD_H
/*******************************************************************************
CANopen DATA DYPES
*******************************************************************************/
typedef uint8_t UNSIGNED8;
typedef uint16_t UNSIGNED16;
typedef uint32_t UNSIGNED32;
typedef uint64_t UNSIGNED64;
typedef int8_t INTEGER8;
typedef int16_t INTEGER16;
typedef int32_t INTEGER32;
typedef int64_t INTEGER64;
typedef float32_t REAL32;
typedef float64_t REAL64;
typedef char_t VISIBLE_STRING;
typedef oChar_t OCTET_STRING;
typedef domain_t DOMAIN;
#ifndef timeOfDay_t
typedef union {
unsigned long long ullValue;
struct {
unsigned long ms:28;
unsigned reserved:4;
unsigned days:16;
unsigned reserved2:16;
};
}timeOfDay_t;
#endif
typedef timeOfDay_t TIME_OF_DAY;
typedef timeOfDay_t TIME_DIFFERENCE;
/*******************************************************************************
FILE INFO:
FileName: IO Example
FileVersion: -
CreationTime: 18:04:29
CreationDate: 2016-03-25
CreatedBy: JP
*******************************************************************************/
/*******************************************************************************
DEVICE INFO:
VendorName: CANopenNode
VendorNumber: 0
ProductName: CANopenNode
ProductNumber: 0
*******************************************************************************/
/*******************************************************************************
FEATURES
*******************************************************************************/
#define CO_NO_SYNC 1 //Associated objects: 1005, 1006, 1007, 2103, 2104
#define CO_NO_TIME 1 //Associated objects: 1012-1013
#define CO_NO_EMERGENCY 1 //Associated objects: 1014, 1015
#define CO_NO_SDO_SERVER 1 //Associated objects: 1200
#define CO_NO_SDO_CLIENT 0
#define CO_NO_RPDO 4 //Associated objects: 1400, 1401, 1402, 1403, 1600, 1601, 1602, 1603
#define CO_NO_TPDO 4 //Associated objects: 1800, 1801, 1802, 1803, 1A00, 1A01, 1A02, 1A03
#define CO_NO_NMT_MASTER 0
#define CO_NO_TRACE 0
#define CO_NO_LSS_SERVER 0
#define CO_NO_LSS_CLIENT 0
/*******************************************************************************
OBJECT DICTIONARY
*******************************************************************************/
#define CO_OD_NoOfElements 56
/*******************************************************************************
TYPE DEFINITIONS FOR RECORDS
*******************************************************************************/
/*1018 */ typedef struct{
UNSIGNED8 maxSubIndex;
UNSIGNED32 vendorID;
UNSIGNED32 productCode;
UNSIGNED32 revisionNumber;
UNSIGNED32 serialNumber;
} OD_identity_t;
/*1200[1] */ typedef struct{
UNSIGNED8 maxSubIndex;
UNSIGNED32 COB_IDClientToServer;
UNSIGNED32 COB_IDServerToClient;
} OD_SDOServerParameter_t;
/*1400[4] */ typedef struct{
UNSIGNED8 maxSubIndex;
UNSIGNED32 COB_IDUsedByRPDO;
UNSIGNED8 transmissionType;
} OD_RPDOCommunicationParameter_t;
/*1600[4] */ typedef struct{
UNSIGNED8 numberOfMappedObjects;
UNSIGNED32 mappedObject1;
UNSIGNED32 mappedObject2;
UNSIGNED32 mappedObject3;
UNSIGNED32 mappedObject4;
UNSIGNED32 mappedObject5;
UNSIGNED32 mappedObject6;
UNSIGNED32 mappedObject7;
UNSIGNED32 mappedObject8;
} OD_RPDOMappingParameter_t;
/*1800[4] */ typedef struct{
UNSIGNED8 maxSubIndex;
UNSIGNED32 COB_IDUsedByTPDO;
UNSIGNED8 transmissionType;
UNSIGNED16 inhibitTime;
UNSIGNED8 compatibilityEntry;
UNSIGNED16 eventTimer;
UNSIGNED8 SYNCStartValue;
} OD_TPDOCommunicationParameter_t;
/*1A00[4] */ typedef struct{
UNSIGNED8 numberOfMappedObjects;
UNSIGNED32 mappedObject1;
UNSIGNED32 mappedObject2;
UNSIGNED32 mappedObject3;
UNSIGNED32 mappedObject4;
UNSIGNED32 mappedObject5;
UNSIGNED32 mappedObject6;
UNSIGNED32 mappedObject7;
UNSIGNED32 mappedObject8;
} OD_TPDOMappingParameter_t;
/*2120 */ typedef struct{
UNSIGNED8 maxSubIndex;
INTEGER64 I64;
UNSIGNED64 U64;
REAL32 R32;
REAL64 R64;
DOMAIN domain;
} OD_testVar_t;
/*2130 */ typedef struct{
UNSIGNED8 maxSubIndex;
VISIBLE_STRING string[30];
UNSIGNED64 epochTimeBaseMs;
UNSIGNED32 epochTimeOffsetMs;
} OD_time_t;
/*******************************************************************************
STRUCTURES FOR VARIABLES IN DIFFERENT MEMORY LOCATIONS
*******************************************************************************/
#define CO_OD_FIRST_LAST_WORD 0x55 //Any value from 0x01 to 0xFE. If changed, EEPROM will be reinitialized.
/***** Structure for RAM variables ********************************************/
struct sCO_OD_RAM{
UNSIGNED32 FirstWord;
/*1001 */ UNSIGNED8 errorRegister;
/*1002 */ UNSIGNED32 manufacturerStatusRegister;
/*1003 */ UNSIGNED32 preDefinedErrorField[8];
/*1010 */ UNSIGNED32 storeParameters[1];
/*1011 */ UNSIGNED32 restoreDefaultParameters[1];
/*2100 */ OCTET_STRING errorStatusBits[10];
/*2103 */ UNSIGNED16 SYNCCounter;
/*2104 */ UNSIGNED16 SYNCTime;
/*2107 */ UNSIGNED16 performance[5];
/*2108 */ INTEGER16 temperature[1];
/*2109 */ INTEGER16 voltage[1];
/*2110 */ INTEGER32 variableInt32[16];
/*2120 */ OD_testVar_t testVar;
/*2130 */ OD_time_t time;
/*6000 */ UNSIGNED8 readInput8Bit[8];
/*6200 */ UNSIGNED8 writeOutput8Bit[8];
/*6401 */ INTEGER16 readAnalogueInput16Bit[12];
/*6411 */ INTEGER16 writeAnalogueOutput16Bit[8];
UNSIGNED32 LastWord;
};
/***** Structure for EEPROM variables *****************************************/
struct sCO_OD_EEPROM{
UNSIGNED32 FirstWord;
/*2106 */ UNSIGNED32 powerOnCounter;
/*2112 */ INTEGER32 variableNVInt32[16];
UNSIGNED32 LastWord;
};
/***** Structure for ROM variables ********************************************/
struct sCO_OD_ROM{
UNSIGNED32 FirstWord;
/*1000 */ UNSIGNED32 deviceType;
/*1005 */ UNSIGNED32 COB_ID_SYNCMessage;
/*1006 */ UNSIGNED32 communicationCyclePeriod;
/*1007 */ UNSIGNED32 synchronousWindowLength;
/*1008 */ VISIBLE_STRING manufacturerDeviceName[11];
/*1009 */ VISIBLE_STRING manufacturerHardwareVersion[4];
/*100A */ VISIBLE_STRING manufacturerSoftwareVersion[4];
/*1012 */ UNSIGNED32 COB_ID_TIME;
/*1014 */ UNSIGNED32 COB_ID_EMCY;
/*1015 */ UNSIGNED16 inhibitTimeEMCY;
/*1016 */ UNSIGNED32 consumerHeartbeatTime[4];
/*1017 */ UNSIGNED16 producerHeartbeatTime;
/*1018 */ OD_identity_t identity;
/*1019 */ UNSIGNED8 synchronousCounterOverflowValue;
/*1029 */ UNSIGNED8 errorBehavior[6];
/*1200[1] */ OD_SDOServerParameter_t SDOServerParameter[1];
/*1400[4] */ OD_RPDOCommunicationParameter_t RPDOCommunicationParameter[4];
/*1600[4] */ OD_RPDOMappingParameter_t RPDOMappingParameter[4];
/*1800[4] */ OD_TPDOCommunicationParameter_t TPDOCommunicationParameter[4];
/*1A00[4] */ OD_TPDOMappingParameter_t TPDOMappingParameter[4];
/*1F80 */ UNSIGNED32 NMTStartup;
/*2101 */ UNSIGNED8 CANNodeID;
/*2102 */ UNSIGNED16 CANBitRate;
/*2111 */ INTEGER32 variableROMInt32[16];
UNSIGNED32 LastWord;
};
/***** Declaration of Object Dictionary variables *****************************/
extern struct sCO_OD_RAM CO_OD_RAM;
extern struct sCO_OD_EEPROM CO_OD_EEPROM;
extern struct sCO_OD_ROM CO_OD_ROM;
/*******************************************************************************
ALIASES FOR OBJECT DICTIONARY VARIABLES
*******************************************************************************/
/*1000, Data Type: UNSIGNED32 */
#define OD_deviceType CO_OD_ROM.deviceType
/*1001, Data Type: UNSIGNED8 */
#define OD_errorRegister CO_OD_RAM.errorRegister
/*1002, Data Type: UNSIGNED32 */
#define OD_manufacturerStatusRegister CO_OD_RAM.manufacturerStatusRegister
/*1003, Data Type: UNSIGNED32, Array[8] */
#define OD_preDefinedErrorField CO_OD_RAM.preDefinedErrorField
#define ODL_preDefinedErrorField_arrayLength 8
/*1005, Data Type: UNSIGNED32 */
#define OD_COB_ID_SYNCMessage CO_OD_ROM.COB_ID_SYNCMessage
/*1006, Data Type: UNSIGNED32 */
#define OD_communicationCyclePeriod CO_OD_ROM.communicationCyclePeriod
/*1007, Data Type: UNSIGNED32 */
#define OD_synchronousWindowLength CO_OD_ROM.synchronousWindowLength
/*1008, Data Type: VISIBLE_STRING, Array[11] */
#define OD_manufacturerDeviceName CO_OD_ROM.manufacturerDeviceName
#define ODL_manufacturerDeviceName_stringLength 11
/*1009, Data Type: VISIBLE_STRING, Array[4] */
#define OD_manufacturerHardwareVersion CO_OD_ROM.manufacturerHardwareVersion
#define ODL_manufacturerHardwareVersion_stringLength 4
/*100A, Data Type: VISIBLE_STRING, Array[4] */
#define OD_manufacturerSoftwareVersion CO_OD_ROM.manufacturerSoftwareVersion
#define ODL_manufacturerSoftwareVersion_stringLength 4
/*1010, Data Type: UNSIGNED32, Array[1] */
#define OD_storeParameters CO_OD_RAM.storeParameters
#define ODL_storeParameters_arrayLength 1
#define ODA_storeParameters_saveAllParameters 0
/*1011, Data Type: UNSIGNED32, Array[1] */
#define OD_restoreDefaultParameters CO_OD_RAM.restoreDefaultParameters
#define ODL_restoreDefaultParameters_arrayLength 1
#define ODA_restoreDefaultParameters_restoreAllDefaultParameters 0
/*1012, Data Type: UNSIGNED32 */
#define OD_COB_ID_TIME CO_OD_ROM.COB_ID_TIME
/*1014, Data Type: UNSIGNED32 */
#define OD_COB_ID_EMCY CO_OD_ROM.COB_ID_EMCY
/*1015, Data Type: UNSIGNED16 */
#define OD_inhibitTimeEMCY CO_OD_ROM.inhibitTimeEMCY
/*1016, Data Type: UNSIGNED32, Array[4] */
#define OD_consumerHeartbeatTime CO_OD_ROM.consumerHeartbeatTime
#define ODL_consumerHeartbeatTime_arrayLength 4
/*1017, Data Type: UNSIGNED16 */
#define OD_producerHeartbeatTime CO_OD_ROM.producerHeartbeatTime
/*1018, Data Type: OD_identity_t */
#define OD_identity CO_OD_ROM.identity
/*1019, Data Type: UNSIGNED8 */
#define OD_synchronousCounterOverflowValue CO_OD_ROM.synchronousCounterOverflowValue
/*1029, Data Type: UNSIGNED8, Array[6] */
#define OD_errorBehavior CO_OD_ROM.errorBehavior
#define ODL_errorBehavior_arrayLength 6
#define ODA_errorBehavior_communication 0
#define ODA_errorBehavior_communicationOther 1
#define ODA_errorBehavior_communicationPassive 2
#define ODA_errorBehavior_generic 3
#define ODA_errorBehavior_deviceProfile 4
#define ODA_errorBehavior_manufacturerSpecific 5
/*1200[1], Data Type: OD_SDOServerParameter_t, Array[1] */
#define OD_SDOServerParameter CO_OD_ROM.SDOServerParameter
/*1400[4], Data Type: OD_RPDOCommunicationParameter_t, Array[4] */
#define OD_RPDOCommunicationParameter CO_OD_ROM.RPDOCommunicationParameter
/*1600[4], Data Type: OD_RPDOMappingParameter_t, Array[4] */
#define OD_RPDOMappingParameter CO_OD_ROM.RPDOMappingParameter
/*1800[4], Data Type: OD_TPDOCommunicationParameter_t, Array[4] */
#define OD_TPDOCommunicationParameter CO_OD_ROM.TPDOCommunicationParameter
/*1A00[4], Data Type: OD_TPDOMappingParameter_t, Array[4] */
#define OD_TPDOMappingParameter CO_OD_ROM.TPDOMappingParameter
/*1F80, Data Type: UNSIGNED32 */
#define OD_NMTStartup CO_OD_ROM.NMTStartup
/*2100, Data Type: OCTET_STRING, Array[10] */
#define OD_errorStatusBits CO_OD_RAM.errorStatusBits
#define ODL_errorStatusBits_stringLength 10
/*2101, Data Type: UNSIGNED8 */
#define OD_CANNodeID CO_OD_ROM.CANNodeID
/*2102, Data Type: UNSIGNED16 */
#define OD_CANBitRate CO_OD_ROM.CANBitRate
/*2103, Data Type: UNSIGNED16 */
#define OD_SYNCCounter CO_OD_RAM.SYNCCounter
/*2104, Data Type: UNSIGNED16 */
#define OD_SYNCTime CO_OD_RAM.SYNCTime
/*2106, Data Type: UNSIGNED32 */
#define OD_powerOnCounter CO_OD_EEPROM.powerOnCounter
/*2107, Data Type: UNSIGNED16, Array[5] */
#define OD_performance CO_OD_RAM.performance
#define ODL_performance_arrayLength 5
#define ODA_performance_cyclesPerSecond 0
#define ODA_performance_timerCycleTime 1
#define ODA_performance_timerCycleMaxTime 2
#define ODA_performance_mainCycleTime 3
#define ODA_performance_mainCycleMaxTime 4
/*2108, Data Type: INTEGER16, Array[1] */
#define OD_temperature CO_OD_RAM.temperature
#define ODL_temperature_arrayLength 1
#define ODA_temperature_mainPCB 0
/*2109, Data Type: INTEGER16, Array[1] */
#define OD_voltage CO_OD_RAM.voltage
#define ODL_voltage_arrayLength 1
#define ODA_voltage_mainPCBSupply 0
/*2110, Data Type: INTEGER32, Array[16] */
#define OD_variableInt32 CO_OD_RAM.variableInt32
#define ODL_variableInt32_arrayLength 16
/*2111, Data Type: INTEGER32, Array[16] */
#define OD_variableROMInt32 CO_OD_ROM.variableROMInt32
#define ODL_variableROMInt32_arrayLength 16
/*2112, Data Type: INTEGER32, Array[16] */
#define OD_variableNVInt32 CO_OD_EEPROM.variableNVInt32
#define ODL_variableNVInt32_arrayLength 16
/*2120, Data Type: OD_testVar_t */
#define OD_testVar CO_OD_RAM.testVar
/*2130, Data Type: OD_time_t */
#define OD_time CO_OD_RAM.time
/*6000, Data Type: UNSIGNED8, Array[8] */
#define OD_readInput8Bit CO_OD_RAM.readInput8Bit
#define ODL_readInput8Bit_arrayLength 8
/*6200, Data Type: UNSIGNED8, Array[8] */
#define OD_writeOutput8Bit CO_OD_RAM.writeOutput8Bit
#define ODL_writeOutput8Bit_arrayLength 8
/*6401, Data Type: INTEGER16, Array[12] */
#define OD_readAnalogueInput16Bit CO_OD_RAM.readAnalogueInput16Bit
#define ODL_readAnalogueInput16Bit_arrayLength 12
/*6411, Data Type: INTEGER16, Array[8] */
#define OD_writeAnalogueOutput16Bit CO_OD_RAM.writeAnalogueOutput16Bit
#define ODL_writeAnalogueOutput16Bit_arrayLength 8
#endif
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