co_dictionary.h File Reference

#include <stdint.h>
#include <stdlib.h>

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Classes
struct	_cod_object
struct	_cod_subitem

Macros
#define	ACCESS_PO_RD   0x0001
#define	ACCESS_SO_RD   0x0002
#define	ACCESS_OP_RD   0x0004
#define	ACCESS_ALL_RD   (ACCESS_PO_RD | ACCESS_SO_RD | ACCESS_OP_RD)
#define	ACCESS_PO_WR   0x0008
#define	ACCESS_SO_WR   0x0010
#define	ACCESS_OP_WR   0x0020
#define	ACCESS_ALL_WR   (ACCESS_PO_WR | ACCESS_SO_WR | ACCESS_OP_WR)
#define	ACCESS_PO_RDWR   (ACCESS_PO_RD | ACCESS_PO_WR)
#define	ACCESS_SO_RDWR   (ACCESS_SO_RD | ACCESS_SO_WR)
#define	ACCESS_OP_RDWR   (ACCESS_OP_RD | ACCESS_OP_WR)
#define	ACCESS_ALL_RDWR   (ACCESS_PO_RDWR | ACCESS_SO_RDWR | ACCESS_OP_RDWR)
#define	ACCESS_RXPDO_MAP   0x0040
#define	ACCESS_TXPDO_MAP   0x0080
#define	ACCESS_RXTXPDO_MAP   0x00C0
#define	ACCESS_BACKUP   0x0100
#define	ACCESS_STARTUP   0x0200
#define	ACCESS_ALL_LIST_FLAGS    (ACCESS_RXPDO_MAP | ACCESS_TXPDO_MAP | ACCESS_BACKUP | ACCESS_STARTUP)
#define	ACCESS_SET_FLAGS(b, s, p, a)   (b | s | p | a)
#define	VALUEINFO_UNIT_TYPE   0x08
#define	VALUEINFO_DEFAULT_VALUE   0x10
#define	VALUEINFO_MIN_VALUE   0x20
#define	VALUEINFO_MAX_VALUE   0x40
#define	LIST_ALL_LIST_LENGTH   0x00
#define	LIST_ALL_OBJECTS   0x01
#define	LIST_RXPDO_MAPABLE   0x02
#define	LIST_TXPDO_MAPABLE   0x03
#define	LIST_DEVICE_REPLACEMENT   0x04
#define	LIST_STARTUP_PARAMETER   0x05
#define	OBJECT_TYPE_DOMAIN   0x0
#define	OBJECT_TYPE_DEFTYPE   0x5
#define	OBJECT_TYPE_DEFSTRUCT   0x6
#define	OBJECT_TYPE_VAR   0x7
#define	OBJECT_TYPE_ARRAY   0x8
#define	OBJECT_TYPE_RECORD   0x9
#define	DEFTYPE_BOOLEAN   0x0001
#define	DEFTYPE_INTEGER8   0x0002
#define	DEFTYPE_INTEGER16   0x0003
#define	DEFTYPE_INTEGER32   0x0004
#define	DEFTYPE_UNSIGNED8   0x0005
#define	DEFTYPE_UNSIGNED16   0x0006
#define	DEFTYPE_UNSIGNED32   0x0007
#define	DEFTYPE_REAL32   0x0008
#define	DEFTYPE_VISIBLE_STRING   0x0009
#define	DEFTYPE_OCTET_STRING   0x000A
#define	DEFTYPE_UNICODE_STRING   0x000B
#define	DEFTYPE_TIME_OF_DAY   0x000C
#define	DEFTYPE_TIME_DIFFERENCE   0x000D
#define	DEFTYPE_DOMAIN   0x000F
#define	DEFSTRUCT_PDO_PARAMETER   0x0020
#define	DEFSTRUCT_PDO_MAPPING   0x0021
#define	DEFSTRUCT_IDENTITY   0x0023
#define	DEFSTRUCT_VENDOR_MOTOR   0x0040
#define	CODE_GET_INDEX(a)   ((a >> 16) & 0xffff)
#define	CODE_GET_SUBINDEX(a)   ((a >> 8) & 0xff)
#define	CODE_GET_FLAGS(a)   (a & 0xff)
#define	CODE_SET_ENTRY_INDEX(i, s, f)    (((i & 0xffff) << 16) | ((s & 0xff) << 8) | (f & 0xff))
#define	CODE_SET_MODIFIED_FLAG(i)   (i | 1)
#define	CODE_CLEAR_MODIFIED_FLAG(i)   (i & ~1)
#define	OD_COMMUNICATION_AREA   0x1000
#define	OD_MANUFACTURER_AREA   0x2000
#define	OD_PROFILE_AREA   0x6000

Typedefs
typedef struct _cod_object	COD_Object
typedef struct _cod_subitem	COD_Subitem

Functions
struct _cod_object	__attribute__ ((packed))
COD_Subitem *	sdo_get_entry (uint16_t object_index, uint8_t subindex)
	Get pointer to the element with given addrees. More...

Variables
uint16_t	index
uint8_t	type
uint16_t	data_type
uint16_t	access
uint8_t	max_subindex
const char **	name
COD_Subitem *	entry
size_t	bitsize
uint32_t	unit
uint8_t *	value
COD_Subitem	od_subitems []
COD_Object	od_objects []
const size_t	OD_SUBITEMS_LENGTH
const size_t	OD_OBJECTS_LENGTH

Macro Definition Documentation

ACCESS_ALL_LIST_FLAGS

#define ACCESS_ALL_LIST_FLAGS    (ACCESS_RXPDO_MAP | ACCESS_TXPDO_MAP | ACCESS_BACKUP | ACCESS_STARTUP)

ACCESS_ALL_RD

#define ACCESS_ALL_RD   (ACCESS_PO_RD | ACCESS_SO_RD | ACCESS_OP_RD)

ACCESS_ALL_RDWR

#define ACCESS_ALL_RDWR   (ACCESS_PO_RDWR | ACCESS_SO_RDWR | ACCESS_OP_RDWR)

ACCESS_ALL_WR

#define ACCESS_ALL_WR   (ACCESS_PO_WR | ACCESS_SO_WR | ACCESS_OP_WR)

ACCESS_BACKUP

#define ACCESS_BACKUP   0x0100

ACCESS_OP_RD

#define ACCESS_OP_RD   0x0004

ACCESS_OP_RDWR

#define ACCESS_OP_RDWR   (ACCESS_OP_RD | ACCESS_OP_WR)

ACCESS_OP_WR

#define ACCESS_OP_WR   0x0020

ACCESS_PO_RD

#define ACCESS_PO_RD   0x0001

https://github.com/synapticon/somanet_software/blob/v4.2.0-beta.10/sc_somanet_sdk/drive_control/module_canopen_interface/object_dictionary/co_dictionary.h

ACCESS_PO_RDWR

#define ACCESS_PO_RDWR   (ACCESS_PO_RD | ACCESS_PO_WR)

ACCESS_PO_WR

#define ACCESS_PO_WR   0x0008

ACCESS_RXPDO_MAP

#define ACCESS_RXPDO_MAP   0x0040

ACCESS_RXTXPDO_MAP

#define ACCESS_RXTXPDO_MAP   0x00C0

ACCESS_SET_FLAGS

#define ACCESS_SET_FLAGS	(		b,
			s,
			p,
			a
	)		(b | s | p | a)

ACCESS_SO_RD

#define ACCESS_SO_RD   0x0002

ACCESS_SO_RDWR

#define ACCESS_SO_RDWR   (ACCESS_SO_RD | ACCESS_SO_WR)

ACCESS_SO_WR

#define ACCESS_SO_WR   0x0010

ACCESS_STARTUP

#define ACCESS_STARTUP   0x0200

ACCESS_TXPDO_MAP

#define ACCESS_TXPDO_MAP   0x0080

CODE_CLEAR_MODIFIED_FLAG

#define CODE_CLEAR_MODIFIED_FLAG

(

i

)

(i & ~1)

CODE_GET_FLAGS

#define CODE_GET_FLAGS

(

a

)

(a & 0xff)

CODE_GET_INDEX

#define CODE_GET_INDEX

(

a

)

((a >> 16) & 0xffff)

CODE_GET_SUBINDEX

#define CODE_GET_SUBINDEX

(

a

)

((a >> 8) & 0xff)

CODE_SET_ENTRY_INDEX

#define CODE_SET_ENTRY_INDEX	(		i,
			s,
			f
	)		(((i & 0xffff) << 16) | ((s & 0xff) << 8) | (f & 0xff))

CODE_SET_MODIFIED_FLAG

#define CODE_SET_MODIFIED_FLAG

(

i

)

(i | 1)

DEFSTRUCT_IDENTITY

#define DEFSTRUCT_IDENTITY   0x0023

DEFSTRUCT_PDO_MAPPING

#define DEFSTRUCT_PDO_MAPPING   0x0021

DEFSTRUCT_PDO_PARAMETER

#define DEFSTRUCT_PDO_PARAMETER   0x0020

DEFSTRUCT_VENDOR_MOTOR

#define DEFSTRUCT_VENDOR_MOTOR   0x0040

DEFTYPE_BOOLEAN

#define DEFTYPE_BOOLEAN   0x0001

DEFTYPE_DOMAIN

#define DEFTYPE_DOMAIN   0x000F

DEFTYPE_INTEGER16

#define DEFTYPE_INTEGER16   0x0003

DEFTYPE_INTEGER32

#define DEFTYPE_INTEGER32   0x0004

DEFTYPE_INTEGER8

#define DEFTYPE_INTEGER8   0x0002

DEFTYPE_OCTET_STRING

#define DEFTYPE_OCTET_STRING   0x000A

DEFTYPE_REAL32

#define DEFTYPE_REAL32   0x0008

DEFTYPE_TIME_DIFFERENCE

#define DEFTYPE_TIME_DIFFERENCE   0x000D

DEFTYPE_TIME_OF_DAY

#define DEFTYPE_TIME_OF_DAY   0x000C

DEFTYPE_UNICODE_STRING

#define DEFTYPE_UNICODE_STRING   0x000B

DEFTYPE_UNSIGNED16

#define DEFTYPE_UNSIGNED16   0x0006

DEFTYPE_UNSIGNED32

#define DEFTYPE_UNSIGNED32   0x0007

DEFTYPE_UNSIGNED8

#define DEFTYPE_UNSIGNED8   0x0005

DEFTYPE_VISIBLE_STRING

#define DEFTYPE_VISIBLE_STRING   0x0009

LIST_ALL_LIST_LENGTH

#define LIST_ALL_LIST_LENGTH   0x00

LIST_ALL_OBJECTS

#define LIST_ALL_OBJECTS   0x01

LIST_DEVICE_REPLACEMENT

#define LIST_DEVICE_REPLACEMENT   0x04

LIST_RXPDO_MAPABLE

#define LIST_RXPDO_MAPABLE   0x02

LIST_STARTUP_PARAMETER

#define LIST_STARTUP_PARAMETER   0x05

LIST_TXPDO_MAPABLE

#define LIST_TXPDO_MAPABLE   0x03

OBJECT_TYPE_ARRAY

#define OBJECT_TYPE_ARRAY   0x8

OBJECT_TYPE_DEFSTRUCT

#define OBJECT_TYPE_DEFSTRUCT   0x6

OBJECT_TYPE_DEFTYPE

#define OBJECT_TYPE_DEFTYPE   0x5

OBJECT_TYPE_DOMAIN

#define OBJECT_TYPE_DOMAIN   0x0

OBJECT_TYPE_RECORD

#define OBJECT_TYPE_RECORD   0x9

OBJECT_TYPE_VAR

#define OBJECT_TYPE_VAR   0x7

OD_COMMUNICATION_AREA

#define OD_COMMUNICATION_AREA   0x1000

OD_MANUFACTURER_AREA

#define OD_MANUFACTURER_AREA   0x2000

OD_PROFILE_AREA

#define OD_PROFILE_AREA   0x6000

VALUEINFO_DEFAULT_VALUE

#define VALUEINFO_DEFAULT_VALUE   0x10

VALUEINFO_MAX_VALUE

#define VALUEINFO_MAX_VALUE   0x40

VALUEINFO_MIN_VALUE

#define VALUEINFO_MIN_VALUE   0x20

VALUEINFO_UNIT_TYPE

#define VALUEINFO_UNIT_TYPE   0x08

Typedef Documentation

COD_Object

typedef struct _cod_object COD_Object

COD_Subitem

typedef struct _cod_subitem COD_Subitem

Function Documentation

__attribute__()

struct _cod_subitem __attribute__

(

(packed)

)

sdo_get_entry()

COD_Subitem * sdo_get_entry	(	uint16_t	object_index,
		uint8_t	subindex
	)

Get pointer to the element with given addrees.

Parameters

object_index	index of the element
subindex	subindex of the element

Returns

pointer to the element in DS, NULL if element does not exist

Variable Documentation

access

uint16_t access

bitsize

size_t bitsize

data_type

uint16_t data_type

entry

COD_Subitem* entry

index

uint32_t index

max_subindex

uint8_t max_subindex

name

const char ** name

od_objects

COD_Object od_objects[]

extern

OD_OBJECTS_LENGTH

const size_t OD_OBJECTS_LENGTH

extern

od_subitems

COD_Subitem od_subitems[]

extern

OD_SUBITEMS_LENGTH

const size_t OD_SUBITEMS_LENGTH

extern

type

uint8_t type

unit

uint32_t unit

value

uint8_t* value