CANopenNode
CANopen protocol stack
Loading...
Searching...
No Matches
CO_config_t Struct Reference

CANopen configuration, used with CO_new() More...

#include <CANopen.h>

+ Collaboration diagram for CO_config_t:

Data Fields

uint8_t CNT_NMT
 Number of NMT objects, 0 or 1: NMT slave (CANrx) + Heartbeat producer (CANtx) + optional NMT master (CANtx), configurable by CO_CONFIG_NMT.
 
OD_entry_tENTRY_H1017
 OD entry for CO_NMT_init()
 
uint8_t CNT_HB_CONS
 Number of Heartbeat consumer objects, 0 or 1.
 
uint8_t CNT_ARR_1016
 Number of internal consumers (CANrx), used inside Heartbeat consumer object, 1 to 127.
 
OD_entry_tENTRY_H1016
 OD entry for CO_HBconsumer_init()
 
OD_entry_tENTRY_H100C
 OD entry for CO_nodeGuardingSlave_init()
 
OD_entry_tENTRY_H100D
 OD entry for CO_nodeGuardingSlave_init()
 
uint8_t CNT_EM
 Number of Emergency objects, 0 or 1: optional producer (CANtx) + optional consumer (CANrx), configurable by CO_CONFIG_EM.
 
const OD_entry_tENTRY_H1001
 OD entry for CO_EM_init()
 
OD_entry_tENTRY_H1014
 OD entry for CO_EM_init()
 
OD_entry_tENTRY_H1015
 OD entry for CO_EM_init()
 
uint8_t CNT_ARR_1003
 Size of the fifo buffer, which is used for intermediate storage of emergency messages.
 
OD_entry_tENTRY_H1003
 OD entry for CO_EM_init()
 
uint8_t CNT_SDO_SRV
 Number of SDO server objects, from 0 to 128 (CANrx + CANtx).
 
OD_entry_tENTRY_H1200
 OD entry for CO_SDOserver_init()
 
uint8_t CNT_SDO_CLI
 Number of SDO client objects, from 0 to 128 (CANrx + CANtx).
 
OD_entry_tENTRY_H1280
 OD entry for CO_SDOclient_init()
 
uint8_t CNT_TIME
 Number of TIME objects, 0 or 1: consumer (CANrx) + optional producer (CANtx), configurable by CO_CONFIG_TIME.
 
OD_entry_tENTRY_H1012
 OD entry for CO_TIME_init()
 
uint8_t CNT_SYNC
 Number of SYNC objects, 0 or 1: consumer (CANrx) + optional producer (CANtx), configurable by CO_CONFIG_SYNC.
 
OD_entry_tENTRY_H1005
 OD entry for CO_SYNC_init()
 
OD_entry_tENTRY_H1006
 OD entry for CO_SYNC_init()
 
OD_entry_tENTRY_H1007
 OD entry for CO_SYNC_init()
 
OD_entry_tENTRY_H1019
 OD entry for CO_SYNC_init()
 
uint16_t CNT_RPDO
 Number of RPDO objects, from 0 to 512 consumers (CANrx)
 
OD_entry_tENTRY_H1400
 OD entry for CO_RPDO_init()
 
OD_entry_tENTRY_H1600
 OD entry for CO_RPDO_init()
 
uint16_t CNT_TPDO
 Number of TPDO objects, from 0 to 512 producers (CANtx)
 
OD_entry_tENTRY_H1800
 OD entry for CO_TPDO_init()
 
OD_entry_tENTRY_H1A00
 OD entry for CO_TPDO_init()
 
uint8_t CNT_LEDS
 Number of LEDs objects, 0 or 1.
 
uint8_t CNT_GFC
 Number of GFC objects, 0 or 1 (CANrx + CANtx).
 
OD_entry_tENTRY_H1300
 OD entry for CO_GFC_init()
 
uint8_t CNT_SRDO
 Number of SRDO objects, from 0 to 64 (2*CANrx + 2*CANtx).
 
OD_entry_tENTRY_H1301
 OD entry for CO_SRDO_init()
 
OD_entry_tENTRY_H1381
 OD entry for CO_SRDO_init()
 
OD_entry_tENTRY_H13FE
 OD entry for CO_SRDO_init()
 
OD_entry_tENTRY_H13FF
 OD entry for CO_SRDO_init()
 
uint8_t CNT_LSS_SLV
 Number of LSSslave objects, 0 or 1 (CANrx + CANtx).
 
uint8_t CNT_LSS_MST
 Number of LSSmaster objects, 0 or 1 (CANrx + CANtx).
 
uint8_t CNT_GTWA
 Number of gateway ascii objects, 0 or 1.
 
uint16_t CNT_TRACE
 Number of trace objects, 0 or more.
 

Detailed Description

CANopen configuration, used with CO_new()

This structure is used only, if CO_MULTIPLE_OD is enabled. Otherwise parameters are retrieved from default "OD.h" file.

Field Documentation

◆ CNT_NMT

uint8_t CO_config_t::CNT_NMT

Number of NMT objects, 0 or 1: NMT slave (CANrx) + Heartbeat producer (CANtx) + optional NMT master (CANtx), configurable by CO_CONFIG_NMT.

Start indexes inside CANrx and CANtx are always 0. There must be one NMT object in the device.

◆ CNT_EM

uint8_t CO_config_t::CNT_EM

Number of Emergency objects, 0 or 1: optional producer (CANtx) + optional consumer (CANrx), configurable by CO_CONFIG_EM.

There must be one Emergency object in the device.

◆ CNT_ARR_1003

uint8_t CO_config_t::CNT_ARR_1003

Size of the fifo buffer, which is used for intermediate storage of emergency messages.

Fifo is used by emergency producer and by error history (OD object 0x1003). Size is usually equal to size of array in OD object 0x1003. If later is not used, CNT_ARR_1003 must also be set to value greater than 0, or emergency producer will not work.

◆ CNT_SDO_SRV

uint8_t CO_config_t::CNT_SDO_SRV

Number of SDO server objects, from 0 to 128 (CANrx + CANtx).

There must be at least one SDO server object in the device.


The documentation for this struct was generated from the following file: