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CANopenNode
CANopen protocol stack
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CANopenNode
CANopen protocol stack
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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. More... | |
| OD_entry_t * | ENTRY_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_t * | ENTRY_H1016 |
| OD entry for CO_HBconsumer_init() | |
| uint8_t | CNT_EM |
| Number of Emergency objects, 0 or 1: optional producer (CANtx) + optional consumer (CANrx), configurable by CO_CONFIG_EM. More... | |
| const OD_entry_t * | ENTRY_H1001 |
| OD entry for CO_EM_init() | |
| OD_entry_t * | ENTRY_H1014 |
| OD entry for CO_EM_init() | |
| OD_entry_t * | ENTRY_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. More... | |
| OD_entry_t * | ENTRY_H1003 |
| OD entry for CO_EM_init() | |
| uint8_t | CNT_SDO_SRV |
| Number of SDO server objects, from 0 to 128 (CANrx + CANtx). More... | |
| OD_entry_t * | ENTRY_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_t * | ENTRY_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_t * | ENTRY_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_t * | ENTRY_H1005 |
| OD entry for CO_SYNC_init() | |
| OD_entry_t * | ENTRY_H1006 |
| OD entry for CO_SYNC_init() | |
| OD_entry_t * | ENTRY_H1007 |
| OD entry for CO_SYNC_init() | |
| OD_entry_t * | ENTRY_H1019 |
| OD entry for CO_SYNC_init() | |
| uint16_t | CNT_RPDO |
| Number of RPDO objects, from 0 to 512 consumers (CANrx) | |
| OD_entry_t * | ENTRY_H1400 |
| OD entry for CO_RPDO_init() | |
| OD_entry_t * | ENTRY_H1600 |
| OD entry for CO_RPDO_init() | |
| uint16_t | CNT_TPDO |
| Number of TPDO objects, from 0 to 512 producers (CANtx) | |
| OD_entry_t * | ENTRY_H1800 |
| OD entry for CO_TPDO_init() | |
| OD_entry_t * | ENTRY_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_t * | ENTRY_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_t * | ENTRY_H1301 |
| OD entry for CO_SRDO_init() | |
| OD_entry_t * | ENTRY_H1381 |
| OD entry for CO_SRDO_init() | |
| OD_entry_t * | ENTRY_H13FE |
| OD entry for CO_SRDOGuard_init() | |
| OD_entry_t * | ENTRY_H13FF |
| OD entry for CO_SRDOGuard_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. | |
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.
| 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.
| 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.
| 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.
| 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.
1.9.1