CANopenDemo
CANopenNode demo, tutorial and testing
OD.h
1 /*******************************************************************************
2  CANopen Object Dictionary definition for CANopenNode V4
3 
4  This file was automatically generated by CANopenEditor v4.1-1-ga49a51a
5 
6  https://github.com/CANopenNode/CANopenNode
7  https://github.com/CANopenNode/CANopenEditor
8 
9  DON'T EDIT THIS FILE MANUALLY !!!!
10 ********************************************************************************
11 
12  File info:
13  File Names: OD.h; OD.c
14  Project File: demoDevice.xdd
15  File Version: 1
16 
17  Created: 28. 11. 2020 12:37:54
18  Created By: Janez Paternoster
19  Modified: 17. 03. 2023 16:49:28
20  Modified By: Janez Paternoster
21 
22  Device Info:
23  Vendor Name: -
24  Vendor ID: 0
25  Product Name: Demo device
26  Product ID: 1
27 
28  Description: Demo CANopen device with example usage.
29 *******************************************************************************/
30 
31 #ifndef OD_H
32 #define OD_H
33 /*******************************************************************************
34  Counters of OD objects
35 *******************************************************************************/
36 #define OD_CNT_NMT 1
37 #define OD_CNT_EM 1
38 #define OD_CNT_SYNC 1
39 #define OD_CNT_SYNC_PROD 1
40 #define OD_CNT_STORAGE 1
41 #define OD_CNT_TIME 1
42 #define OD_CNT_EM_PROD 1
43 #define OD_CNT_HB_CONS 1
44 #define OD_CNT_HB_PROD 1
45 #define OD_CNT_SDO_SRV 1
46 #define OD_CNT_RPDO 4
47 #define OD_CNT_TPDO 4
48 
49 
50 /*******************************************************************************
51  Sizes of OD arrays
52 *******************************************************************************/
53 #define OD_CNT_ARR_1003 16
54 #define OD_CNT_ARR_1010 6
55 #define OD_CNT_ARR_1011 6
56 #define OD_CNT_ARR_1016 8
57 #define OD_CNT_ARR_2110 16
58 #define OD_CNT_ARR_2111 16
59 #define OD_CNT_ARR_2112 16
60 #define OD_CNT_ARR_6000 8
61 #define OD_CNT_ARR_6200 8
62 #define OD_CNT_ARR_6401 16
63 #define OD_CNT_ARR_6411 8
64 
65 
66 /*******************************************************************************
67  OD data declaration of all groups
68 *******************************************************************************/
69 typedef struct {
70  uint32_t x1000_deviceType;
71  uint32_t x1005_COB_ID_SYNCMessage;
72  uint32_t x1006_communicationCyclePeriod;
73  uint32_t x1007_synchronousWindowLength;
74  uint32_t x1012_COB_IDTimeStampObject;
75  uint32_t x1014_COB_ID_EMCY;
76  uint16_t x1015_inhibitTimeEMCY;
77  uint8_t x1016_consumerHeartbeatTime_sub0;
78  uint32_t x1016_consumerHeartbeatTime[OD_CNT_ARR_1016];
79  uint16_t x1017_producerHeartbeatTime;
80  struct {
81  uint8_t highestSub_indexSupported;
82  uint32_t vendor_ID;
83  uint32_t productCode;
84  uint32_t revisionNumber;
85  uint32_t serialNumber;
86  } x1018_identity;
87  uint8_t x1019_synchronousCounterOverflowValue;
88  struct {
89  uint8_t highestSub_indexSupported;
90  uint32_t COB_IDUsedByRPDO;
91  uint8_t transmissionType;
92  uint16_t eventTimer;
93  } x1400_RPDOCommunicationParameter;
94  struct {
95  uint8_t highestSub_indexSupported;
96  uint32_t COB_IDUsedByRPDO;
97  uint8_t transmissionType;
98  uint16_t eventTimer;
99  } x1401_RPDOCommunicationParameter;
100  struct {
101  uint8_t highestSub_indexSupported;
102  uint32_t COB_IDUsedByRPDO;
103  uint8_t transmissionType;
104  uint16_t eventTimer;
105  } x1402_RPDOCommunicationParameter;
106  struct {
107  uint8_t highestSub_indexSupported;
108  uint32_t COB_IDUsedByRPDO;
109  uint8_t transmissionType;
110  uint16_t eventTimer;
111  } x1403_RPDOCommunicationParameter;
112  struct {
113  uint8_t numberOfMappedApplicationObjectsInPDO;
114  uint32_t applicationObject1;
115  uint32_t applicationObject2;
116  uint32_t applicationObject3;
117  uint32_t applicationObject4;
118  uint32_t applicationObject5;
119  uint32_t applicationObject6;
120  uint32_t applicationObject7;
121  uint32_t applicationObject8;
122  } x1600_RPDOMappingParameter;
123  struct {
124  uint8_t numberOfMappedApplicationObjectsInPDO;
125  uint32_t applicationObject1;
126  uint32_t applicationObject2;
127  uint32_t applicationObject3;
128  uint32_t applicationObject4;
129  uint32_t applicationObject5;
130  uint32_t applicationObject6;
131  uint32_t applicationObject7;
132  uint32_t applicationObject8;
133  } x1601_RPDOMappingParameter;
134  struct {
135  uint8_t numberOfMappedApplicationObjectsInPDO;
136  uint32_t applicationObject1;
137  uint32_t applicationObject2;
138  uint32_t applicationObject3;
139  uint32_t applicationObject4;
140  uint32_t applicationObject5;
141  uint32_t applicationObject6;
142  uint32_t applicationObject7;
143  uint32_t applicationObject8;
144  } x1602_RPDOMappingParameter;
145  struct {
146  uint8_t numberOfMappedApplicationObjectsInPDO;
147  uint32_t applicationObject1;
148  uint32_t applicationObject2;
149  uint32_t applicationObject3;
150  uint32_t applicationObject4;
151  uint32_t applicationObject5;
152  uint32_t applicationObject6;
153  uint32_t applicationObject7;
154  uint32_t applicationObject8;
155  } x1603_RPDOMappingParameter;
156  struct {
157  uint8_t highestSub_indexSupported;
158  uint32_t COB_IDUsedByTPDO;
159  uint8_t transmissionType;
160  uint16_t inhibitTime;
161  uint16_t eventTimer;
162  uint8_t SYNCStartValue;
163  } x1800_TPDOCommunicationParameter;
164  struct {
165  uint8_t highestSub_indexSupported;
166  uint32_t COB_IDUsedByTPDO;
167  uint8_t transmissionType;
168  uint16_t inhibitTime;
169  uint16_t eventTimer;
170  uint8_t SYNCStartValue;
171  } x1801_TPDOCommunicationParameter;
172  struct {
173  uint8_t highestSub_indexSupported;
174  uint32_t COB_IDUsedByTPDO;
175  uint8_t transmissionType;
176  uint16_t inhibitTime;
177  uint16_t eventTimer;
178  uint8_t SYNCStartValue;
179  } x1802_TPDOCommunicationParameter;
180  struct {
181  uint8_t highestSub_indexSupported;
182  uint32_t COB_IDUsedByTPDO;
183  uint8_t transmissionType;
184  uint16_t inhibitTime;
185  uint16_t eventTimer;
186  uint8_t SYNCStartValue;
187  } x1803_TPDOCommunicationParameter;
188  struct {
189  uint8_t numberOfMappedApplicationObjectsInPDO;
190  uint32_t applicationObject1;
191  uint32_t applicationObject2;
192  uint32_t applicationObject3;
193  uint32_t applicationObject4;
194  uint32_t applicationObject5;
195  uint32_t applicationObject6;
196  uint32_t applicationObject7;
197  uint32_t applicationObject8;
198  } x1A00_TPDOMappingParameter;
199  struct {
200  uint8_t numberOfMappedApplicationObjectsInPDO;
201  uint32_t applicationObject1;
202  uint32_t applicationObject2;
203  uint32_t applicationObject3;
204  uint32_t applicationObject4;
205  uint32_t applicationObject5;
206  uint32_t applicationObject6;
207  uint32_t applicationObject7;
208  uint32_t applicationObject8;
209  } x1A01_TPDOMappingParameter;
210  struct {
211  uint8_t numberOfMappedApplicationObjectsInPDO;
212  uint32_t applicationObject1;
213  uint32_t applicationObject2;
214  uint32_t applicationObject3;
215  uint32_t applicationObject4;
216  uint32_t applicationObject5;
217  uint32_t applicationObject6;
218  uint32_t applicationObject7;
219  uint32_t applicationObject8;
220  } x1A02_TPDOMappingParameter;
221  struct {
222  uint8_t numberOfMappedApplicationObjectsInPDO;
223  uint32_t applicationObject1;
224  uint32_t applicationObject2;
225  uint32_t applicationObject3;
226  uint32_t applicationObject4;
227  uint32_t applicationObject5;
228  uint32_t applicationObject6;
229  uint32_t applicationObject7;
230  uint32_t applicationObject8;
231  } x1A03_TPDOMappingParameter;
232 } OD_PERSIST_COMM_t;
233 
234 typedef struct {
235  uint8_t x1001_errorRegister;
236  uint8_t x1010_storeParameters_sub0;
237  uint32_t x1010_storeParameters[OD_CNT_ARR_1010];
238  uint8_t x1011_restoreDefaultParameters_sub0;
239  uint32_t x1011_restoreDefaultParameters[OD_CNT_ARR_1011];
240  struct {
241  uint8_t highestSub_indexSupported;
242  uint32_t COB_IDClientToServerRx;
243  uint32_t COB_IDServerToClientTx;
244  } x1200_SDOServerParameter;
245  uint8_t x2100_errorStatusBits[10];
246  uint8_t x2110_variableInt32_sub0;
247  int32_t x2110_variableInt32[OD_CNT_ARR_2110];
248  uint8_t x6000_readDigitalInput8_bit_sub0;
249  uint8_t x6000_readDigitalInput8_bit[OD_CNT_ARR_6000];
250  uint8_t x6200_writeDigitalOutput8_bit_sub0;
251  uint8_t x6200_writeDigitalOutput8_bit[OD_CNT_ARR_6200];
252  uint8_t x6401_readAnalogInput16_bit_sub0;
253  int16_t x6401_readAnalogInput16_bit[OD_CNT_ARR_6401];
254  uint8_t x6411_writeAnalogOutput16_bit_sub0;
255  int16_t x6411_writeAnalogOutput16_bit[OD_CNT_ARR_6411];
256 } OD_RAM_t;
257 
258 typedef struct {
259  uint32_t x2106_power_onCounter;
260  uint8_t x2112_variableNV_Int32AutoSave_sub0;
261  int32_t x2112_variableNV_Int32AutoSave[OD_CNT_ARR_2112];
262 } OD_PERSIST_APP_AUTO_t;
263 
264 typedef struct {
265  uint8_t x2111_variableInt32Save_sub0;
266  int32_t x2111_variableInt32Save[OD_CNT_ARR_2111];
267  struct {
268  uint8_t highestSub_indexSupported;
269  int64_t I64;
270  uint64_t U64;
271  float32_t R32;
272  float64_t R64;
273  uint16_t parameterWithDefaultValue;
274  } x2120_demoRecord;
275  struct {
276  uint8_t highestSub_indexSupported;
277  char stringShort[4];
278  char stringLong[1001];
279  uint8_t octetString[10];
280  } x2121_demoStrings;
281 } OD_PERSIST_APP_t;
282 
283 #ifndef OD_ATTR_PERSIST_COMM
284 #define OD_ATTR_PERSIST_COMM
285 #endif
286 extern OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM;
287 
288 #ifndef OD_ATTR_RAM
289 #define OD_ATTR_RAM
290 #endif
291 extern OD_ATTR_RAM OD_RAM_t OD_RAM;
292 
293 #ifndef OD_ATTR_PERSIST_APP_AUTO
294 #define OD_ATTR_PERSIST_APP_AUTO
295 #endif
296 extern OD_ATTR_PERSIST_APP_AUTO OD_PERSIST_APP_AUTO_t OD_PERSIST_APP_AUTO;
297 
298 #ifndef OD_ATTR_PERSIST_APP
299 #define OD_ATTR_PERSIST_APP
300 #endif
301 extern OD_ATTR_PERSIST_APP OD_PERSIST_APP_t OD_PERSIST_APP;
302 
303 #ifndef OD_ATTR_OD
304 #define OD_ATTR_OD
305 #endif
306 extern OD_ATTR_OD OD_t *OD;
307 
308 
309 /*******************************************************************************
310  Object dictionary entries - shortcuts
311 *******************************************************************************/
312 #define OD_ENTRY_H1000 &OD->list[0]
313 #define OD_ENTRY_H1001 &OD->list[1]
314 #define OD_ENTRY_H1003 &OD->list[2]
315 #define OD_ENTRY_H1005 &OD->list[3]
316 #define OD_ENTRY_H1006 &OD->list[4]
317 #define OD_ENTRY_H1007 &OD->list[5]
318 #define OD_ENTRY_H1008 &OD->list[6]
319 #define OD_ENTRY_H1009 &OD->list[7]
320 #define OD_ENTRY_H100A &OD->list[8]
321 #define OD_ENTRY_H1010 &OD->list[9]
322 #define OD_ENTRY_H1011 &OD->list[10]
323 #define OD_ENTRY_H1012 &OD->list[11]
324 #define OD_ENTRY_H1014 &OD->list[12]
325 #define OD_ENTRY_H1015 &OD->list[13]
326 #define OD_ENTRY_H1016 &OD->list[14]
327 #define OD_ENTRY_H1017 &OD->list[15]
328 #define OD_ENTRY_H1018 &OD->list[16]
329 #define OD_ENTRY_H1019 &OD->list[17]
330 #define OD_ENTRY_H1200 &OD->list[18]
331 #define OD_ENTRY_H1400 &OD->list[19]
332 #define OD_ENTRY_H1401 &OD->list[20]
333 #define OD_ENTRY_H1402 &OD->list[21]
334 #define OD_ENTRY_H1403 &OD->list[22]
335 #define OD_ENTRY_H1600 &OD->list[23]
336 #define OD_ENTRY_H1601 &OD->list[24]
337 #define OD_ENTRY_H1602 &OD->list[25]
338 #define OD_ENTRY_H1603 &OD->list[26]
339 #define OD_ENTRY_H1800 &OD->list[27]
340 #define OD_ENTRY_H1801 &OD->list[28]
341 #define OD_ENTRY_H1802 &OD->list[29]
342 #define OD_ENTRY_H1803 &OD->list[30]
343 #define OD_ENTRY_H1A00 &OD->list[31]
344 #define OD_ENTRY_H1A01 &OD->list[32]
345 #define OD_ENTRY_H1A02 &OD->list[33]
346 #define OD_ENTRY_H1A03 &OD->list[34]
347 #define OD_ENTRY_H2100 &OD->list[35]
348 #define OD_ENTRY_H2106 &OD->list[36]
349 #define OD_ENTRY_H2110 &OD->list[37]
350 #define OD_ENTRY_H2111 &OD->list[38]
351 #define OD_ENTRY_H2112 &OD->list[39]
352 #define OD_ENTRY_H2120 &OD->list[40]
353 #define OD_ENTRY_H2121 &OD->list[41]
354 #define OD_ENTRY_H2122 &OD->list[42]
355 #define OD_ENTRY_H6000 &OD->list[43]
356 #define OD_ENTRY_H6200 &OD->list[44]
357 #define OD_ENTRY_H6401 &OD->list[45]
358 #define OD_ENTRY_H6411 &OD->list[46]
359 
360 
361 /*******************************************************************************
362  Object dictionary entries - shortcuts with names
363 *******************************************************************************/
364 #define OD_ENTRY_H1000_deviceType &OD->list[0]
365 #define OD_ENTRY_H1001_errorRegister &OD->list[1]
366 #define OD_ENTRY_H1003_pre_definedErrorField &OD->list[2]
367 #define OD_ENTRY_H1005_COB_ID_SYNCMessage &OD->list[3]
368 #define OD_ENTRY_H1006_communicationCyclePeriod &OD->list[4]
369 #define OD_ENTRY_H1007_synchronousWindowLength &OD->list[5]
370 #define OD_ENTRY_H1008_manufacturerDeviceName &OD->list[6]
371 #define OD_ENTRY_H1009_manufacturerHardwareVersion &OD->list[7]
372 #define OD_ENTRY_H100A_manufacturerSoftwareVersion &OD->list[8]
373 #define OD_ENTRY_H1010_storeParameters &OD->list[9]
374 #define OD_ENTRY_H1011_restoreDefaultParameters &OD->list[10]
375 #define OD_ENTRY_H1012_COB_IDTimeStampObject &OD->list[11]
376 #define OD_ENTRY_H1014_COB_ID_EMCY &OD->list[12]
377 #define OD_ENTRY_H1015_inhibitTimeEMCY &OD->list[13]
378 #define OD_ENTRY_H1016_consumerHeartbeatTime &OD->list[14]
379 #define OD_ENTRY_H1017_producerHeartbeatTime &OD->list[15]
380 #define OD_ENTRY_H1018_identity &OD->list[16]
381 #define OD_ENTRY_H1019_synchronousCounterOverflowValue &OD->list[17]
382 #define OD_ENTRY_H1200_SDOServerParameter &OD->list[18]
383 #define OD_ENTRY_H1400_RPDOCommunicationParameter &OD->list[19]
384 #define OD_ENTRY_H1401_RPDOCommunicationParameter &OD->list[20]
385 #define OD_ENTRY_H1402_RPDOCommunicationParameter &OD->list[21]
386 #define OD_ENTRY_H1403_RPDOCommunicationParameter &OD->list[22]
387 #define OD_ENTRY_H1600_RPDOMappingParameter &OD->list[23]
388 #define OD_ENTRY_H1601_RPDOMappingParameter &OD->list[24]
389 #define OD_ENTRY_H1602_RPDOMappingParameter &OD->list[25]
390 #define OD_ENTRY_H1603_RPDOMappingParameter &OD->list[26]
391 #define OD_ENTRY_H1800_TPDOCommunicationParameter &OD->list[27]
392 #define OD_ENTRY_H1801_TPDOCommunicationParameter &OD->list[28]
393 #define OD_ENTRY_H1802_TPDOCommunicationParameter &OD->list[29]
394 #define OD_ENTRY_H1803_TPDOCommunicationParameter &OD->list[30]
395 #define OD_ENTRY_H1A00_TPDOMappingParameter &OD->list[31]
396 #define OD_ENTRY_H1A01_TPDOMappingParameter &OD->list[32]
397 #define OD_ENTRY_H1A02_TPDOMappingParameter &OD->list[33]
398 #define OD_ENTRY_H1A03_TPDOMappingParameter &OD->list[34]
399 #define OD_ENTRY_H2100_errorStatusBits &OD->list[35]
400 #define OD_ENTRY_H2106_power_onCounter &OD->list[36]
401 #define OD_ENTRY_H2110_variableInt32 &OD->list[37]
402 #define OD_ENTRY_H2111_variableInt32Save &OD->list[38]
403 #define OD_ENTRY_H2112_variableNV_Int32AutoSave &OD->list[39]
404 #define OD_ENTRY_H2120_demoRecord &OD->list[40]
405 #define OD_ENTRY_H2121_demoStrings &OD->list[41]
406 #define OD_ENTRY_H2122_demoDomain &OD->list[42]
407 #define OD_ENTRY_H6000_readDigitalInput8_bit &OD->list[43]
408 #define OD_ENTRY_H6200_writeDigitalOutput8_bit &OD->list[44]
409 #define OD_ENTRY_H6401_readAnalogInput16_bit &OD->list[45]
410 #define OD_ENTRY_H6411_writeAnalogOutput16_bit &OD->list[46]
411 
412 
413 /*******************************************************************************
414  OD config structure
415 *******************************************************************************/
416 #ifdef CO_MULTIPLE_OD
417 #define OD_INIT_CONFIG(config) {\
418  (config).CNT_NMT = OD_CNT_NMT;\
419  (config).ENTRY_H1017 = OD_ENTRY_H1017;\
420  (config).CNT_HB_CONS = OD_CNT_HB_CONS;\
421  (config).CNT_ARR_1016 = OD_CNT_ARR_1016;\
422  (config).ENTRY_H1016 = OD_ENTRY_H1016;\
423  (config).CNT_EM = OD_CNT_EM;\
424  (config).ENTRY_H1001 = OD_ENTRY_H1001;\
425  (config).ENTRY_H1014 = OD_ENTRY_H1014;\
426  (config).ENTRY_H1015 = OD_ENTRY_H1015;\
427  (config).CNT_ARR_1003 = OD_CNT_ARR_1003;\
428  (config).ENTRY_H1003 = OD_ENTRY_H1003;\
429  (config).CNT_SDO_SRV = OD_CNT_SDO_SRV;\
430  (config).ENTRY_H1200 = OD_ENTRY_H1200;\
431  (config).CNT_SDO_CLI = 0;\
432  (config).ENTRY_H1280 = OD_ENTRY_H1280;\
433  (config).CNT_TIME = OD_CNT_TIME;\
434  (config).ENTRY_H1012 = OD_ENTRY_H1012;\
435  (config).CNT_SYNC = OD_CNT_SYNC;\
436  (config).ENTRY_H1005 = OD_ENTRY_H1005;\
437  (config).ENTRY_H1006 = OD_ENTRY_H1006;\
438  (config).ENTRY_H1007 = OD_ENTRY_H1007;\
439  (config).ENTRY_H1019 = OD_ENTRY_H1019;\
440  (config).CNT_RPDO = OD_CNT_RPDO;\
441  (config).ENTRY_H1400 = OD_ENTRY_H1400;\
442  (config).ENTRY_H1600 = OD_ENTRY_H1600;\
443  (config).CNT_TPDO = OD_CNT_TPDO;\
444  (config).ENTRY_H1800 = OD_ENTRY_H1800;\
445  (config).ENTRY_H1A00 = OD_ENTRY_H1A00;\
446  (config).CNT_LEDS = 0;\
447  (config).CNT_GFC = 0;\
448  (config).ENTRY_H1300 = NULL;\
449  (config).CNT_SRDO = 0;\
450  (config).ENTRY_H1301 = NULL;\
451  (config).ENTRY_H1381 = NULL;\
452  (config).ENTRY_H13FE = NULL;\
453  (config).ENTRY_H13FF = NULL;\
454  (config).CNT_LSS_SLV = 0;\
455  (config).CNT_LSS_MST = 0;\
456  (config).CNT_GTWA = 0;\
457  (config).CNT_TRACE = 0;\
458 }
459 #endif
460 
461 #endif /* OD_H */
uint16_t
unsigned int uint16_t
uint32_t
unsigned long int uint32_t
float32_t
float float32_t
int64_t
signed long long int int64_t
int16_t
signed int int16_t
uint8_t
unsigned char uint8_t
float64_t
double float64_t
uint64_t
unsigned long long int uint64_t
int32_t
signed long int int32_t
OD_t
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