Macros
#define	CANOPEN_COBID_MASK 0x7FF

#define	CANOPEN_OBJECT_MASK 0x780

#define	CANOPEN_NODEID_MASK 0x07F

#define	CANOPEN_NMT_COBID 0x000

#define	CANOPEN_SYNC_COBID 0x080

#define	CANOPEN_EMERGENCY_COBID CANOPEN_SYNC_COBID

#define	CANOPEN_TIMESTAMP_COBID 0x100

#define	CANOPEN_TPDO1_COBID 0x180

#define	CANOPEN_RPDO1_COBID 0x200

#define	CANOPEN_TPDO2_COBID 0x280

#define	CANOPEN_RPDO2_COBID 0x300

#define	CANOPEN_TPDO3_COBID 0x380

#define	CANOPEN_RPDO3_COBID 0x400

#define	CANOPEN_TPDO4_COBID 0x480

#define	CANOPEN_RPDO4_COBID 0x500

#define	CANOPEN_SDOSERVER_COBID 0x580

#define	CANOPEN_SDOCLIENT_COBID 0x600

#define	CANOPEN_NODEGUARD_COBID 0x700

#define	CANOPEN_BOOTUP_COBID CANOPEN_NODEGUARD_COBID

#define	CANOPEN_LSSREQ_COBID 0x7E5

#define	CANOPEN_LSSREPLY_COBID 0x7E4

#define	NMT_START_REMOTE_NODE 1

#define	NMT_STOP_REMOTE_NODE 2

#define	NMT_ENTER_PREOPERATIONAL_STATE 0x80

#define	NMT_RESET_NODE 0x81

#define	NMT_RESET_COMMUNICATION 0x82

#define	NMT_INITIALISING 0

#define	NMT_DISCONNECTED 1

#define	NMT_CONNECTING 2

#define	NMT_PREPARING 3

#define	NMT_STOPPED 4

#define	NMT_OPERATIONAL 5

#define	NMT_PREOPERATIONAL 127

#define	NMT_STATE_MASK 0x7F

#define	NMT_TOGGLE_MASK 0x80

#define	SDO_COMMAND_SPECIFIER_MASK (7<<5)

#define	SDO_INITIATE_DOWNLOAD_REQ (1<<5)

#define	SDO_DOWNLOAD_SEGMENT_REQ (0<<5)

#define	SDO_INITIATE_UPLOAD_REQ (2<<5)

#define	SDO_UPLOAD_SEGMENT_REQ (3<<5)

#define	SDO_INITIATE_DOWNLOAD_RESP (3<<5)

#define	SDO_DOWNLOAD_SEGMENT_RESP (1<<5)

#define	SDO_INITIATE_UPLOAD_RESP (2<<5)

#define	SDO_UPLOAD_SEGMENT_RESP (0<<5)

#define	SDO_ABORT_TRANSFER (4<<5)

#define	SDO_EXPEDITED (1<<1)

#define	SDO_TOGGLE_BIT (1<<4)

#define	SDO_LAST_SEGMENT (1<<0)

#define	SDO_SEGMENT_SIZE_INDICATED (1<<0)

#define	SDO_DATA_SIZE_INDICATED (1<<0)

#define	SDO_SEGMENT_SIZE_MASK (0x7<<1)

#define	SDO_DATA_SIZE_MASK (0x3<<2)

#define	SDO_SEGMENT_SIZE_SHIFT 1

#define	SDO_DATA_SIZE_SHIFT 2

#define	SDO_ECLASS_SERVICE 5

#define	SDO_ECLASS_ACCESS 6

#define	SDO_ECLASS_OTHER 8

#define	SDO_ECODE_PAR_INCONSISTENT 3

#define	SDO_ECODE_PAR_ILLEGAL 4

#define	SDO_ECODE_ACCESS 1

#define	SDO_ECODE_NONEXISTENT 2

#define	SDO_ECODE_HARDWARE 6

#define	SDO_ECODE_TYPE_CONFLICT 7

#define	SDO_ECODE_ATTRIBUTE 9

#define	SDO_ECODE_OKAY 0

#define	OD_DEVICE_TYPE 0x1000

#define	OD_ERROR_REG 0x1001

#define	OD_STATUS_REG 0x1002

#define	OD_DEVICE_NAME 0x1008

#define	OD_HW_VERSION 0x1009

#define	OD_SW_VERSION 0x100A

#define	OD_GUARDTIME 0x100C

#define	OD_LIFETIME_FACTOR 0x100D

#define	OD_STORE_PARAMETERS 0x1010

#define	OD_DFLT_PARAMETERS 0x1011

#define	OD_HEARTBEAT_TIME 0x1017

#define	OD_IDENTITY 0x1018

#define	OD_STORE_ALL 1

#define	OD_STORE_COMM_PARS 2

#define	OD_STORE_APP_PARS 3

#define	OD_OBJECT_ENTRIES 0

#define	OD_RPDO1_PAR 0x1400

#define	OD_RPDO1_MAP 0x1600

#define	OD_TPDO1_PAR 0x1800

#define	OD_TPDO2_PAR 0x1801

#define	OD_TPDO3_PAR 0x1802

#define	OD_TPDO4_PAR 0x1803

#define	OD_PDO_COBID 1

#define	OD_PDO_TRANSMTYPE 2

#define	OD_PDO_INHIBITTIME 3

#define	OD_PDO_DUMMY_ENTRY 4

#define	OD_PDO_EVENT_TIMER 5

#define	OD_TPDO1_MAP 0x1A00

#define	OD_TPDO2_MAP 0x1A01

#define	OD_TPDO3_MAP 0x1A02

#define	OD_TPDO4_MAP 0x1A03

#define	OD_SERIAL_NO 0x3100

#define	OD_SN_WRITE_ENA 0x3101

#define	OD_CAN_CONFIG 0x3200

#define	OD_NODEID_CONFIG 0x3300

#define	OD_NODEID_WRITE_ENA 0x3301

#define	OD_SWITCH_TO_LOADER 0x5E00

#define	OD_DIGITAL_IN_8 0x6000

#define	OD_DIGIN_INTRPT_ENA 0x6005

#define	OD_DIGIN_INTRPT_MSK 0x6006

#define	OD_DIGITAL_OUT_8 0x6200

#define	OD_DIGITAL_OUT_8_MSK 0x6208

#define	OD_DIGITAL_OUT_1 0x6220

#define	OD_ANALOG_IN 0x6404

Enumerations
enum	NMTcommand { nop = 0, start = NMT_START_REMOTE_NODE, stop = NMT_STOP_REMOTE_NODE, preOperational = NMT_ENTER_PREOPERATIONAL_STATE, reset = NMT_RESET_NODE, nop = 0, start = NMT_START_REMOTE_NODE, stop = NMT_STOP_REMOTE_NODE, preOperational = NMT_ENTER_PREOPERATIONAL_STATE, reset = NMT_RESET_NODE }

Macro Definition Documentation

◆ CANOPEN_BOOTUP_COBID

#define CANOPEN_BOOTUP_COBID CANOPEN_NODEGUARD_COBID

Definition at line 34 of file CANopen.h.

◆ CANOPEN_COBID_MASK

#define CANOPEN_COBID_MASK 0x7FF

Definition at line 15 of file CANopen.h.

◆ CANOPEN_EMERGENCY_COBID

#define CANOPEN_EMERGENCY_COBID CANOPEN_SYNC_COBID

Definition at line 21 of file CANopen.h.

◆ CANOPEN_LSSREPLY_COBID

#define CANOPEN_LSSREPLY_COBID 0x7E4

Definition at line 36 of file CANopen.h.

◆ CANOPEN_LSSREQ_COBID

#define CANOPEN_LSSREQ_COBID 0x7E5

Definition at line 35 of file CANopen.h.

◆ CANOPEN_NMT_COBID

#define CANOPEN_NMT_COBID 0x000

Definition at line 19 of file CANopen.h.

◆ CANOPEN_NODEGUARD_COBID

#define CANOPEN_NODEGUARD_COBID 0x700

Definition at line 33 of file CANopen.h.

◆ CANOPEN_NODEID_MASK

#define CANOPEN_NODEID_MASK 0x07F

Definition at line 17 of file CANopen.h.

◆ CANOPEN_OBJECT_MASK

#define CANOPEN_OBJECT_MASK 0x780

Definition at line 16 of file CANopen.h.

◆ CANOPEN_RPDO1_COBID

#define CANOPEN_RPDO1_COBID 0x200

Definition at line 24 of file CANopen.h.

◆ CANOPEN_RPDO2_COBID

#define CANOPEN_RPDO2_COBID 0x300

Definition at line 26 of file CANopen.h.

◆ CANOPEN_RPDO3_COBID

#define CANOPEN_RPDO3_COBID 0x400

Definition at line 28 of file CANopen.h.

◆ CANOPEN_RPDO4_COBID

#define CANOPEN_RPDO4_COBID 0x500

Definition at line 30 of file CANopen.h.

◆ CANOPEN_SDOCLIENT_COBID

#define CANOPEN_SDOCLIENT_COBID 0x600

Definition at line 32 of file CANopen.h.

◆ CANOPEN_SDOSERVER_COBID

#define CANOPEN_SDOSERVER_COBID 0x580

Definition at line 31 of file CANopen.h.

◆ CANOPEN_SYNC_COBID

#define CANOPEN_SYNC_COBID 0x080

Definition at line 20 of file CANopen.h.

◆ CANOPEN_TIMESTAMP_COBID

#define CANOPEN_TIMESTAMP_COBID 0x100

Definition at line 22 of file CANopen.h.

◆ CANOPEN_TPDO1_COBID

#define CANOPEN_TPDO1_COBID 0x180

Definition at line 23 of file CANopen.h.

◆ CANOPEN_TPDO2_COBID

#define CANOPEN_TPDO2_COBID 0x280

Definition at line 25 of file CANopen.h.

◆ CANOPEN_TPDO3_COBID

#define CANOPEN_TPDO3_COBID 0x380

Definition at line 27 of file CANopen.h.

◆ CANOPEN_TPDO4_COBID

#define CANOPEN_TPDO4_COBID 0x480

Definition at line 29 of file CANopen.h.

◆ NMT_CONNECTING

#define NMT_CONNECTING 2

Definition at line 61 of file CANopen.h.

◆ NMT_DISCONNECTED

#define NMT_DISCONNECTED 1

Definition at line 60 of file CANopen.h.

◆ NMT_ENTER_PREOPERATIONAL_STATE

#define NMT_ENTER_PREOPERATIONAL_STATE 0x80

Definition at line 43 of file CANopen.h.

◆ NMT_INITIALISING

#define NMT_INITIALISING 0

Definition at line 59 of file CANopen.h.

◆ NMT_OPERATIONAL

#define NMT_OPERATIONAL 5

Definition at line 64 of file CANopen.h.

◆ NMT_PREOPERATIONAL

#define NMT_PREOPERATIONAL 127

Definition at line 65 of file CANopen.h.

◆ NMT_PREPARING

#define NMT_PREPARING 3

Definition at line 62 of file CANopen.h.

◆ NMT_RESET_COMMUNICATION

#define NMT_RESET_COMMUNICATION 0x82

Definition at line 45 of file CANopen.h.

◆ NMT_RESET_NODE

#define NMT_RESET_NODE 0x81

Definition at line 44 of file CANopen.h.

◆ NMT_START_REMOTE_NODE

#define NMT_START_REMOTE_NODE 1

Definition at line 41 of file CANopen.h.

◆ NMT_STATE_MASK

#define NMT_STATE_MASK 0x7F

Definition at line 67 of file CANopen.h.

◆ NMT_STOP_REMOTE_NODE

#define NMT_STOP_REMOTE_NODE 2

Definition at line 42 of file CANopen.h.

◆ NMT_STOPPED

#define NMT_STOPPED 4

Definition at line 63 of file CANopen.h.

◆ NMT_TOGGLE_MASK

#define NMT_TOGGLE_MASK 0x80

Definition at line 68 of file CANopen.h.

◆ OD_ANALOG_IN

#define OD_ANALOG_IN 0x6404

Definition at line 187 of file CANopen.h.

◆ OD_CAN_CONFIG

#define OD_CAN_CONFIG 0x3200

Definition at line 167 of file CANopen.h.

◆ OD_DEVICE_NAME

#define OD_DEVICE_NAME 0x1008

Definition at line 125 of file CANopen.h.

◆ OD_DEVICE_TYPE

#define OD_DEVICE_TYPE 0x1000

Definition at line 122 of file CANopen.h.

◆ OD_DFLT_PARAMETERS

#define OD_DFLT_PARAMETERS 0x1011

Definition at line 131 of file CANopen.h.

◆ OD_DIGIN_INTRPT_ENA

#define OD_DIGIN_INTRPT_ENA 0x6005

Definition at line 178 of file CANopen.h.

◆ OD_DIGIN_INTRPT_MSK

#define OD_DIGIN_INTRPT_MSK 0x6006

Definition at line 179 of file CANopen.h.

◆ OD_DIGITAL_IN_8

#define OD_DIGITAL_IN_8 0x6000

Definition at line 177 of file CANopen.h.

◆ OD_DIGITAL_OUT_1

#define OD_DIGITAL_OUT_1 0x6220

Definition at line 184 of file CANopen.h.

◆ OD_DIGITAL_OUT_8

#define OD_DIGITAL_OUT_8 0x6200

Definition at line 182 of file CANopen.h.

◆ OD_DIGITAL_OUT_8_MSK

#define OD_DIGITAL_OUT_8_MSK 0x6208

Definition at line 183 of file CANopen.h.

◆ OD_ERROR_REG

#define OD_ERROR_REG 0x1001

Definition at line 123 of file CANopen.h.

◆ OD_GUARDTIME

#define OD_GUARDTIME 0x100C

Definition at line 128 of file CANopen.h.

◆ OD_HEARTBEAT_TIME

#define OD_HEARTBEAT_TIME 0x1017

Definition at line 132 of file CANopen.h.

◆ OD_HW_VERSION

#define OD_HW_VERSION 0x1009

Definition at line 126 of file CANopen.h.

◆ OD_IDENTITY

#define OD_IDENTITY 0x1018

Definition at line 133 of file CANopen.h.

◆ OD_LIFETIME_FACTOR

#define OD_LIFETIME_FACTOR 0x100D

Definition at line 129 of file CANopen.h.

◆ OD_NODEID_CONFIG

#define OD_NODEID_CONFIG 0x3300

Definition at line 169 of file CANopen.h.

◆ OD_NODEID_WRITE_ENA

#define OD_NODEID_WRITE_ENA 0x3301

Definition at line 170 of file CANopen.h.

◆ OD_OBJECT_ENTRIES

#define OD_OBJECT_ENTRIES 0

Definition at line 138 of file CANopen.h.

◆ OD_PDO_COBID

#define OD_PDO_COBID 1

Definition at line 149 of file CANopen.h.

◆ OD_PDO_DUMMY_ENTRY

#define OD_PDO_DUMMY_ENTRY 4

Definition at line 152 of file CANopen.h.

◆ OD_PDO_EVENT_TIMER

#define OD_PDO_EVENT_TIMER 5

Definition at line 153 of file CANopen.h.

◆ OD_PDO_INHIBITTIME

#define OD_PDO_INHIBITTIME 3

Definition at line 151 of file CANopen.h.

◆ OD_PDO_TRANSMTYPE

#define OD_PDO_TRANSMTYPE 2

Definition at line 150 of file CANopen.h.

◆ OD_RPDO1_MAP

#define OD_RPDO1_MAP 0x1600

Definition at line 142 of file CANopen.h.

◆ OD_RPDO1_PAR

#define OD_RPDO1_PAR 0x1400

Definition at line 141 of file CANopen.h.

◆ OD_SERIAL_NO

#define OD_SERIAL_NO 0x3100

Definition at line 164 of file CANopen.h.

◆ OD_SN_WRITE_ENA

#define OD_SN_WRITE_ENA 0x3101

Definition at line 165 of file CANopen.h.

◆ OD_STATUS_REG

#define OD_STATUS_REG 0x1002

Definition at line 124 of file CANopen.h.

◆ OD_STORE_ALL

#define OD_STORE_ALL 1

Definition at line 134 of file CANopen.h.

◆ OD_STORE_APP_PARS

#define OD_STORE_APP_PARS 3

Definition at line 136 of file CANopen.h.

◆ OD_STORE_COMM_PARS

#define OD_STORE_COMM_PARS 2

Definition at line 135 of file CANopen.h.

◆ OD_STORE_PARAMETERS

#define OD_STORE_PARAMETERS 0x1010

Definition at line 130 of file CANopen.h.

◆ OD_SW_VERSION

#define OD_SW_VERSION 0x100A

Definition at line 127 of file CANopen.h.

◆ OD_SWITCH_TO_LOADER

#define OD_SWITCH_TO_LOADER 0x5E00

Definition at line 172 of file CANopen.h.

◆ OD_TPDO1_MAP

#define OD_TPDO1_MAP 0x1A00

Definition at line 156 of file CANopen.h.

◆ OD_TPDO1_PAR

#define OD_TPDO1_PAR 0x1800

Definition at line 145 of file CANopen.h.

◆ OD_TPDO2_MAP

#define OD_TPDO2_MAP 0x1A01

Definition at line 157 of file CANopen.h.

◆ OD_TPDO2_PAR

#define OD_TPDO2_PAR 0x1801

Definition at line 146 of file CANopen.h.

◆ OD_TPDO3_MAP

#define OD_TPDO3_MAP 0x1A02

Definition at line 158 of file CANopen.h.

◆ OD_TPDO3_PAR

#define OD_TPDO3_PAR 0x1802

Definition at line 147 of file CANopen.h.

◆ OD_TPDO4_MAP

#define OD_TPDO4_MAP 0x1A03

Definition at line 159 of file CANopen.h.

◆ OD_TPDO4_PAR

#define OD_TPDO4_PAR 0x1803

Definition at line 148 of file CANopen.h.

◆ SDO_ABORT_TRANSFER

#define SDO_ABORT_TRANSFER (4<<5)

Definition at line 88 of file CANopen.h.

◆ SDO_COMMAND_SPECIFIER_MASK

#define SDO_COMMAND_SPECIFIER_MASK (7<<5)

Definition at line 73 of file CANopen.h.

◆ SDO_DATA_SIZE_INDICATED

#define SDO_DATA_SIZE_INDICATED (1<<0)

Definition at line 95 of file CANopen.h.

◆ SDO_DATA_SIZE_MASK

#define SDO_DATA_SIZE_MASK (0x3<<2)

Definition at line 97 of file CANopen.h.

◆ SDO_DATA_SIZE_SHIFT

#define SDO_DATA_SIZE_SHIFT 2

Definition at line 99 of file CANopen.h.

◆ SDO_DOWNLOAD_SEGMENT_REQ

#define SDO_DOWNLOAD_SEGMENT_REQ (0<<5)

Definition at line 77 of file CANopen.h.

◆ SDO_DOWNLOAD_SEGMENT_RESP

#define SDO_DOWNLOAD_SEGMENT_RESP (1<<5)

Definition at line 83 of file CANopen.h.

◆ SDO_ECLASS_ACCESS

#define SDO_ECLASS_ACCESS 6

Definition at line 106 of file CANopen.h.

◆ SDO_ECLASS_OTHER

#define SDO_ECLASS_OTHER 8

Definition at line 107 of file CANopen.h.

◆ SDO_ECLASS_SERVICE

#define SDO_ECLASS_SERVICE 5

Definition at line 105 of file CANopen.h.

◆ SDO_ECODE_ACCESS

#define SDO_ECODE_ACCESS 1

Definition at line 112 of file CANopen.h.

◆ SDO_ECODE_ATTRIBUTE

#define SDO_ECODE_ATTRIBUTE 9

Definition at line 116 of file CANopen.h.

◆ SDO_ECODE_HARDWARE

#define SDO_ECODE_HARDWARE 6

Definition at line 114 of file CANopen.h.

◆ SDO_ECODE_NONEXISTENT

#define SDO_ECODE_NONEXISTENT 2

Definition at line 113 of file CANopen.h.

◆ SDO_ECODE_OKAY

#define SDO_ECODE_OKAY 0

Definition at line 117 of file CANopen.h.

◆ SDO_ECODE_PAR_ILLEGAL

#define SDO_ECODE_PAR_ILLEGAL 4

Definition at line 111 of file CANopen.h.

◆ SDO_ECODE_PAR_INCONSISTENT

#define SDO_ECODE_PAR_INCONSISTENT 3

Definition at line 110 of file CANopen.h.

◆ SDO_ECODE_TYPE_CONFLICT

#define SDO_ECODE_TYPE_CONFLICT 7

Definition at line 115 of file CANopen.h.

◆ SDO_EXPEDITED

#define SDO_EXPEDITED (1<<1)

Definition at line 91 of file CANopen.h.

◆ SDO_INITIATE_DOWNLOAD_REQ

#define SDO_INITIATE_DOWNLOAD_REQ (1<<5)

Definition at line 76 of file CANopen.h.

◆ SDO_INITIATE_DOWNLOAD_RESP

#define SDO_INITIATE_DOWNLOAD_RESP (3<<5)

Definition at line 82 of file CANopen.h.

◆ SDO_INITIATE_UPLOAD_REQ

#define SDO_INITIATE_UPLOAD_REQ (2<<5)

Definition at line 78 of file CANopen.h.

◆ SDO_INITIATE_UPLOAD_RESP

#define SDO_INITIATE_UPLOAD_RESP (2<<5)

Definition at line 84 of file CANopen.h.

◆ SDO_LAST_SEGMENT

#define SDO_LAST_SEGMENT (1<<0)

Definition at line 93 of file CANopen.h.

◆ SDO_SEGMENT_SIZE_INDICATED

#define SDO_SEGMENT_SIZE_INDICATED (1<<0)

Definition at line 94 of file CANopen.h.

◆ SDO_SEGMENT_SIZE_MASK

#define SDO_SEGMENT_SIZE_MASK (0x7<<1)

Definition at line 96 of file CANopen.h.

◆ SDO_SEGMENT_SIZE_SHIFT

#define SDO_SEGMENT_SIZE_SHIFT 1

Definition at line 98 of file CANopen.h.

◆ SDO_TOGGLE_BIT

#define SDO_TOGGLE_BIT (1<<4)

Definition at line 92 of file CANopen.h.

◆ SDO_UPLOAD_SEGMENT_REQ

#define SDO_UPLOAD_SEGMENT_REQ (3<<5)

Definition at line 79 of file CANopen.h.

◆ SDO_UPLOAD_SEGMENT_RESP

#define SDO_UPLOAD_SEGMENT_RESP (0<<5)

Definition at line 85 of file CANopen.h.

Enumeration Type Documentation

◆ NMTcommand

enum NMTcommand

Enumerator
nop
start
stop
preOperational
reset
nop
start
stop
preOperational
reset

Definition at line 47 of file CANopen.h.

Macros

Enumerations