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/*********************************************************************
* _ _ _
* _ __ | |_ _ | | __ _ | |__ ___
* | '__|| __|(_)| | / _` || '_ \ / __|
* | | | |_ _ | || (_| || |_) |\__ \
* |_| \__|(_)|_| \__,_||_.__/ |___/
*
* www.rt-labs.com
* Copyright 2017 rt-labs AB, Sweden.
*
* This software is dual-licensed under GPLv3 and a commercial
* license. See the file LICENSE.md distributed with this software for
* full license information.
********************************************************************/
/**
* @file
* @brief Communication objects handled by CANopen stack
*/
#ifndef CO_OBJ_H
#define CO_OBJ_H
#ifdef __cplusplus
extern "C"
{
#endif
#include "co_api.h"
/** Entry descriptor for Error register object (1001h) */
extern const co_entry_t OD1001[];
/** Entry descriptor for Pre-defined error field object (1003h) */
extern const co_entry_t OD1003[];
/** Entry descriptor for COB-ID SYNC message object (1005h) */
extern const co_entry_t OD1005[];
/** Entry descriptor for Commmunication cycle object (1006h) */
extern const co_entry_t OD1006[];
/** Entry descriptor for Synchronous window length object (1007h) */
extern const co_entry_t OD1007[];
/** Entry descriptor for Guard time object (100Ch) */
extern const co_entry_t OD100C[];
/** Entry descriptor for Life time factor object (100Dh) */
extern const co_entry_t OD100D[];
/** Entry descriptor for Store Parameters object (1010h) */
extern const co_entry_t OD1010[];
/** Entry descriptor for Restore Default Parameters object (1011h) */
extern const co_entry_t OD1011[];
/** Entry descriptor for COB-ID EMCY object (1014h) */
extern const co_entry_t OD1014[];
/** Entry descriptor for Inhibit time EMCY object (1015h) */
extern const co_entry_t OD1015[];
/** Entry descriptor for Consumer heartbeat time object (1016h) */
extern const co_entry_t OD1016[];
/** Entry descriptor for Producer heartbeat time object (1017h) */
extern const co_entry_t OD1017[];
/** Entry descriptor for Synchronous counter overflow value object (1019h) */
extern const co_entry_t OD1019[];
/** Entry descriptor for Verify Configuration object (1020h) */
extern const co_entry_t OD1020[];
/** Entry descriptor for Emergency consumer object (1028h) */
extern const co_entry_t OD1028[];
/** Entry descriptor for Error behavior object (1029h) */
extern const co_entry_t OD1029[];
/** Entry descriptor for RPDO communication parameter object (1400h - 15FFh) */
extern const co_entry_t OD1400[];
/** Entry descriptor for RPDO mapping parameter object (1600h - 17FFh) */
extern const co_entry_t OD1600[];
/** Entry descriptor for TPDO communication parameter object (1800h - 19FFh) */
extern const co_entry_t OD1800[];
/** Entry descriptor for RPDO mapping parameter object (1A00h - 1BFFh) */
extern const co_entry_t OD1A00[];
/** Entry descriptor for NMT inhibit time value object (102Ah) */
extern const co_entry_t OD102A[];
/** Entry descriptor for Expected configuration date value object (1F26h) */
extern const co_entry_t OD1F26[];
/** Entry descriptor for Expected configuration time value object (1F27h) */
extern const co_entry_t OD1F27[];
/** Entry descriptor for NMT startup value object (1F80h) */
extern const co_entry_t OD1F80[];
/** Entry descriptor for NMT slave assignment value object (1F81h) */
extern const co_entry_t OD1F81[];
/** Entry descriptor for Request NMT value object (1F82h) */
extern const co_entry_t OD1F82[];
/** Entry descriptor for Request node guarding value object (1F83h) */
extern const co_entry_t OD1F83[];
/** Entry descriptor for Device type identification value object (1F84h) */
extern const co_entry_t OD1F84[];
/** Entry descriptor for Vendor identification value object (1F85h) */
extern const co_entry_t OD1F85[];
/** Entry descriptor for Product code value object (1F86h) */
extern const co_entry_t OD1F86[];
/** Entry descriptor for Revision number value object (1F87h) */
extern const co_entry_t OD1F87[];
/** Entry descriptor for Serial number value object (1F88h) */
extern const co_entry_t OD1F88[];;
/** Entry descriptor for Boot time value object (1F89h) */
extern const co_entry_t OD1F89[];
/**
* Access function for Error register object (1001h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1001_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Pre-defined error field object (1003h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1003_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for COB-ID SYNC message object (1005h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1005_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Commmunication cycle object (1006h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1006_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Synchronous window length object (1007h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1007_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Guard time object (100Ch)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od100C_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Life time factor object (100Dh)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od100D_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Store Parameters object (1010h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1010_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Restore Default Parameters object (1011h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1011_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for COB-ID EMCY object (1014h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1014_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Inhibit time EMCY object (1015h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1015_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Consumer heartbeat time object (1016h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1016_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Producer heartbeat time object (1017h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1017_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Synchronous counter overflow value object (1019h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1019_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Verify Configuration object (1020h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1020_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Emergency consumer object (1028h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1028_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for Error behavior object (1029h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1029_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value
);
/**
* Access function for RPDO communication parameter object (1400h - 15FFh)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1400_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for RPDO mapping parameter object (1600h - 17FFh)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1600_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for TPDO communication parameter object (1800h - 19FFh)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1800_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for RPDO mapping parameter object (1A00h - 1BFFh)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1A00_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for NMT inhibit time value object (102Ah)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od102a_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Expected configuration date value object (1F26h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f26_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Expected configuration time value object (1F27h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f27_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for NMT startup value object (1F80h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f80_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for NMT slave assignment value object (1F81h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f81_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Request NMT value object (1F82h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f82_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Request node guarding value object (1F83h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f83_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Device type identification value object (1F84h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f84_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Vendor identification value object (1F85h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f85_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Product code value object (1F86h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f86_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Revision number value object (1F87h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f87_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Serial number value object (1F88h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f88_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
/**
* Access function for Boot time value object (1F89h)
*
* @param net network handle
* @param event read/write/restore
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param value value to read or write
*
* @return sdo abort code
*/
uint32_t co_od1f89_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
#ifdef __cplusplus
}
#endif
#endif /* CO_OBJ_H */