Definitions and enumerations

Collaboration diagram for Definitions and enumerations:

Modules
	SDO error codes

Macros
#define	COM_SDO_CLIENT_MAX   ((uint8_t) 2)

Enumerations
enum	ComErr_e {   eCOM_ERR_NONE = 0 ,   eCOM_ERR_CAN = -1,   eCOM_ERR_CAN_BITRATE = -2,   eCOM_ERR_CAN_FUNCTION = -3,   eCOM_ERR_PARM = -10,   eCOM_ERR_NET = -20,   eCOM_ERR_NET_VALUE = -21,   eCOM_ERR_NODE = -30,   eCOM_ERR_NODE_ID = -31,   eCOM_ERR_NODE_DEFINED = -32,   eCOM_ERR_NODE_UNDEFINED = -33,   eCOM_ERR_COB = -40,   eCOM_ERR_COB_ID_VALUE = -41,   eCOM_ERR_COB_TYPE = -42,   eCOM_ERR_COB_DLC = -43,   eCOM_ERR_SERVICE = -50,   eCOM_ERR_SERVICE_MODE = -52,   eCOM_ERR_SERVICE_PARAM = -53,   eCOM_ERR_SDO_CLIENT = -60,   eCOM_ERR_SDO_CLIENT_VALUE = -61,   eCOM_ERR_SDO_CLIENT_BUSY = -62,   eCOM_ERR_PDO = -70,   eCOM_ERR_PDO_NUMBER = -71 }
enum	ComLssMode_e {   eCOM_LSS_MODE_WAITING = 0,   eCOM_LSS_MODE_CONFIGURATION }
enum	ComLssProt_e {   eCOM_LSS_PROT_SWI_GLB = 1,   eCOM_LSS_PROT_SWI_VID,   eCOM_LSS_PROT_SWI_PRD,   eCOM_LSS_PROT_SWI_REV,   eCOM_LSS_PROT_SWI_SRN,   eCOM_LSS_PROT_INQ_VID,   eCOM_LSS_PROT_INQ_PRD,   eCOM_LSS_PROT_INQ_REV,   eCOM_LSS_PROT_INQ_SRN,   eCOM_LSS_PROT_INQ_NID,   eCOM_LSS_PROT_CONF_STORE,   eCOM_LSS_PROT_CONF_ID,   eCOM_LSS_PROT_CONF_BIT,   eCOM_LSS_PROT_FASTSCAN,   eCOM_LSS_PROT_IDENTIFY }
enum	ComLssStat_e {   eCOM_LSS_STAT_ACTIVE = 1,   eCOM_LSS_STAT_SUCCESS,   eCOM_LSS_STAT_ERROR,   eCOM_LSS_STAT_TIMEOUT }
enum	ComLssInqSrv_e {   eCOM_LSS_INQ_SRV_VID = 0,   eCOM_LSS_INQ_SRV_PRD,   eCOM_LSS_INQ_SRV_REV,   eCOM_LSS_INQ_SRV_SRN,   eCOM_LSS_INQ_SRV_NID }
enum	ComMode_e {   eCOM_MODE_NMT_SLAVE = 0x0000,   eCOM_MODE_NMT_MASTER = 0x0001,   eCOM_MODE_NMT_START_ALL = 0x0002,   eCOM_MODE_NMT_PREOPERATIONAL = 0x0004,   eCOM_MODE_NMT_APP_START_NODE = 0x0008,   eCOM_MODE_NMT_RESET_ALL = 0x0010,   eCOM_MODE_NMT_FLYING_MASTER = 0x0020,   eCOM_MODE_NMT_STOP_ALL = 0x0040,   eCOM_MODE_NMT_MASTER_DETECT = 0x0100,   eCOM_MODE_CAN_RAW = 0x1000,   eCOM_MODE_J1939 = 0x2000 }
enum	ComNmtState_e {   eCOM_NMT_STATE_UNKNOWN = 0,   eCOM_NMT_STATE_STOPPED,   eCOM_NMT_STATE_PREOPERATIONAL,   eCOM_NMT_STATE_OPERATIONAL,   eCOM_NMT_STATE_RESET_NODE,   eCOM_NMT_STATE_RESET_COM,   eCOM_NMT_STATE_BOOTUP,   eCOM_NMT_STATE_INIT }
enum	PgnDir_e {   ePGN_DIR_RCV = 0,   ePGN_DIR_TRM }
enum	PdoDir_e {   ePDO_DIR_RCV = 0,   ePDO_DIR_TRM }
enum	PdoType_e {   ePDO_TYPE_SYNC_0 = 0,   ePDO_TYPE_SYNC_1,   ePDO_TYPE_SYNC_2,   ePDO_TYPE_SYNC_3,   ePDO_TYPE_SYNC_4 ,   ePDO_TYPE_SYNC_240 = 240 ,   ePDO_TYPE_EVENT_MANUFACTURER,   ePDO_TYPE_EVENT_PROFILE }
enum	ComSdoStat_e {   eCOM_SDO_STAT_EMPTY = 0,   eCOM_SDO_STAT_EXP_RD,   eCOM_SDO_STAT_SEG_RD,   eCOM_SDO_STAT_BLK_RD,   eCOM_SDO_STAT_EXP_WR,   eCOM_SDO_STAT_SEG_WR,   eCOM_SDO_STAT_BLK_WR,   eCOM_SDO_STAT_SUCCESS,   eCOM_SDO_STAT_ABORT,   eCOM_SDO_STAT_TIMEOUT,   eCOM_SDO_STAT_ERR,   eCOM_SDO_STAT_SIZE }
enum	ComSdoConfig_e {   eCOM_SDO_CONFIG_DEFAULT = 0,   eCOM_SDO_CONFIG_CMD_LEN = 1,   eCOM_SDO_CONFIG_BLOCK = 2 }
enum	ComSdoMarker_e {   eCOM_SDO_MARKER_USER_END = 200,   eCOM_SDO_MARKER_NODE_GET_INFO,   eCOM_SDO_MARKER_NODE_SET_HEARTBEAT,   eCOM_SDO_MARKER_NODE_STORE,   eCOM_SDO_MARKER_NODE_RESTORE,   eCOM_SDO_MARKER_SRDO_GET_CONFIG,   eCOM_SDO_MARKER_SRDO_GET_SIGNATURE,   eCOM_SDO_MARKER_SRDO_SET_CONFIG,   eCOM_SDO_MARKER_SRDO_SET_SIGNATURE,   eCOM_SDO_MARKER_SRDO_SET_VALID }
enum	ComVersion_e {   eCOM_VERSION_STACK = 1,   eCOM_VERSION_COMPILER,   eCOM_VERSION_SYSTEM }
enum	CpBitrate_e {   eCP_BITRATE_NONE = -1,   eCP_BITRATE_10K = 0,   eCP_BITRATE_20K = 1,   eCP_BITRATE_50K = 2,   eCP_BITRATE_100K = 3,   eCP_BITRATE_125K = 4,   eCP_BITRATE_250K = 5,   eCP_BITRATE_500K = 6,   eCP_BITRATE_800K = 7,   eCP_BITRATE_1M = 8,   eCP_BITRATE_2M = 10,   eCP_BITRATE_4M = 11,   eCP_BITRATE_5M = 12,   eCP_BITRATE_AUTO = 9 }
enum	CpChannel_e {   eCP_CHANNEL_NONE = 0,   eCP_CHANNEL_1,   eCP_CHANNEL_2,   eCP_CHANNEL_3,   eCP_CHANNEL_4,   eCP_CHANNEL_5,   eCP_CHANNEL_6,   eCP_CHANNEL_7,   eCP_CHANNEL_8 }
enum	CpState_e {   eCP_STATE_INIT = 0 ,   eCP_STATE_SLEEPING = 1,   eCP_STATE_BUS_ACTIVE = 2,   eCP_STATE_BUS_WARN = 3,   eCP_STATE_BUS_PASSIVE = 4,   eCP_STATE_BUS_OFF = 5,   eCP_STATE_PHY_FAULT = 10,   eCP_STATE_PHY_H = 11,   eCP_STATE_PHY_L = 12 }
enum	CpErrType_e {   eCP_ERR_TYPE_NONE = 0,   eCP_ERR_TYPE_BIT0,   eCP_ERR_TYPE_BIT1,   eCP_ERR_TYPE_STUFF,   eCP_ERR_TYPE_FORM,   eCP_ERR_TYPE_CRC,   eCP_ERR_TYPE_ACK }

Detailed Description

Macro Definition Documentation

COM_SDO_CLIENT_MAX

#define COM_SDO_CLIENT_MAX   ((uint8_t) 2)

The symbol defines the number of SDO clients that are supported.

Enumeration Type Documentation

ComErr_e

enum ComErr_e

Error Codes of CANopen Master protocol stack.

All error codes of the CANopen Master protocol stack have the prefix eCOM_ERR_. Error return values are always negative, so it is quite simple to check in general if a functions fails.

Example:

if(ComMgrStart(eCOM_NET_3) < eCOM_ERR_NONE)
{
   // handle error here
}

Enumerator
eCOM_ERR_NONE	No error
eCOM_ERR_CAN	Generic CAN driver error
eCOM_ERR_CAN_BITRATE	Setting of CAN bit-rate failed
eCOM_ERR_CAN_FUNCTION	CAN function failed
eCOM_ERR_PARM	Parameter out of range (generic)
eCOM_ERR_NET	Generic Network error
eCOM_ERR_NET_VALUE	Network index out of range, not valid
eCOM_ERR_NODE	Generic Node error
eCOM_ERR_NODE_ID	Node ID (device address) is not valid or out of range
eCOM_ERR_NODE_DEFINED	Node is already defined
eCOM_ERR_NODE_UNDEFINED	Node is not defined
eCOM_ERR_COB	Generic COB error
eCOM_ERR_COB_ID_VALUE	Identifier is out of range
eCOM_ERR_COB_TYPE	COB type out of range
eCOM_ERR_COB_DLC	COB DLC out of range
eCOM_ERR_SERVICE	Generic Service error
eCOM_ERR_SERVICE_MODE	Service mode error The service (NMT, SYNC, etc) is in a mode that does not allow this operation
eCOM_ERR_SERVICE_PARAM	Service parameter error The service (NMT, SYNC, etc) does not accept this parameter
eCOM_ERR_SDO_CLIENT	Generic SDO client error
eCOM_ERR_SDO_CLIENT_VALUE	Value for SDO client is out of range
eCOM_ERR_SDO_CLIENT_BUSY	All available SDO clients are busy
eCOM_ERR_PDO	Generic PDO error
eCOM_ERR_PDO_NUMBER	Number for PDO is out of range

ComLssInqSrv_e

enum ComLssInqSrv_e

CANopen Master LSS inquire services

Enumerator
eCOM_LSS_INQ_SRV_VID	inquire vendor ID
eCOM_LSS_INQ_SRV_PRD	inquire product code
eCOM_LSS_INQ_SRV_REV	inquire revision number
eCOM_LSS_INQ_SRV_SRN	inquire serial number
eCOM_LSS_INQ_SRV_NID	inquire node ID

ComLssMode_e

enum ComLssMode_e

See also

ComLssSwitchModeGlobal() LSS mode

This enumeration defines the allowed modes for the LSS switch mode global command.

Enumerator
eCOM_LSS_MODE_WAITING	switch LSS state machine to LSS waiting mode
eCOM_LSS_MODE_CONFIGURATION	switch LSS state machine to LSS configuration mode

ComLssProt_e

enum ComLssProt_e

CANopen Master LSS protocol

Enumerator
eCOM_LSS_PROT_SWI_GLB	switch global command
eCOM_LSS_PROT_SWI_VID	switch mode selective, vendor ID
eCOM_LSS_PROT_SWI_PRD	switch mode selective, product code
eCOM_LSS_PROT_SWI_REV	switch mode selective, revision number
eCOM_LSS_PROT_SWI_SRN	switch mode selective, serial number
eCOM_LSS_PROT_INQ_VID	inquire vendor ID
eCOM_LSS_PROT_INQ_PRD	inquire product code
eCOM_LSS_PROT_INQ_REV	inquire revision number
eCOM_LSS_PROT_INQ_SRN	inquire serial number
eCOM_LSS_PROT_INQ_NID	inquire node ID
eCOM_LSS_PROT_CONF_STORE	store configuration
eCOM_LSS_PROT_CONF_ID	configure node ID
eCOM_LSS_PROT_CONF_BIT	configure bit-timing
eCOM_LSS_PROT_FASTSCAN	execute fastscan procedure
eCOM_LSS_PROT_IDENTIFY	identify non-configured slave

ComLssStat_e

enum ComLssStat_e

CANopen Master LSS status

Enumerator
eCOM_LSS_STAT_ACTIVE	LSS communication active
eCOM_LSS_STAT_SUCCESS	LSS communication success
eCOM_LSS_STAT_ERROR	LSS protocol error
eCOM_LSS_STAT_TIMEOUT	LSS communication timeout

ComMode_e

enum ComMode_e

NMT startup mode.

The enumeration defines the values for starting the CANopen Master with the function ComMgrInit(). The CANopen NMT configuration is reflected by object 1F80h (least significant 8 bits).

Enumerator
eCOM_MODE_NMT_SLAVE	Device is NMT slave
eCOM_MODE_NMT_MASTER	Device is the NMT master
eCOM_MODE_NMT_START_ALL	NMT service start remote node with Node-ID = 0
eCOM_MODE_NMT_PREOPERATIONAL	Device does not switch into Operational by itself
eCOM_MODE_NMT_APP_START_NODE	Application shall start the nodes
eCOM_MODE_NMT_RESET_ALL	In case of an error event the NMT service "reset all nodes" shall be executed.
eCOM_MODE_NMT_FLYING_MASTER	CANopen device shall participate the NMT flying master negotiation.
eCOM_MODE_NMT_STOP_ALL	In case of an error event the NMT service "stop remote node" shall be executed.
eCOM_MODE_NMT_MASTER_DETECT	Device shall execute the NMT master detection protocol
eCOM_MODE_CAN_RAW	Device shall start in CAN-Raw mode, no CANopen services (SDO, NMT, etc.) are executed. CAN messages are received and send via the PDO module. This is a mutually exclusive mode of operation.
eCOM_MODE_J1939	Device shall start in SAE J1939 mode

ComNet_e

enum ComNet_e

Network channel definition.

Enumerator
eCOM_NET_1	CANopen Master network #1
eCOM_NET_2	CANopen Master network #2
eCOM_NET_3	CANopen Master network #3
eCOM_NET_4	CANopen Master network #4

ComNmtState_e

enum ComNmtState_e

NMT state codes.

The enumeration defines the values for setting the NMT state of a CANopen device via ComNmtSetNodeState() as well as for requesting the device state via ComNmtGetNodeState(). The values in this enumeration are not equal to the NMT command specifiers.

Enumerator
eCOM_NMT_STATE_UNKNOWN	Unknown NMT state
eCOM_NMT_STATE_STOPPED	NMT command / state "Stopped"
eCOM_NMT_STATE_PREOPERATIONAL	NMT command / state "Pre-Operational"
eCOM_NMT_STATE_OPERATIONAL	NMT command / state "Operational"
eCOM_NMT_STATE_RESET_NODE	NMT command "Reset node"
eCOM_NMT_STATE_RESET_COM	NMT command "Reset communication"
eCOM_NMT_STATE_BOOTUP	Device has sent Bootup message
eCOM_NMT_STATE_INIT	Device is in Initialisation state (Master only)

ComSdoConfig_e

enum ComSdoConfig_e

SDO client configuration.

The enumeration defines configuration values for the SDO client behaviour, which is set via the function ComSdoSetConfiguration().

Enumerator
eCOM_SDO_CONFIG_DEFAULT	Use SDO client default configuration
eCOM_SDO_CONFIG_CMD_LEN	Set data length for command byte in expedited transfer
eCOM_SDO_CONFIG_BLOCK	Set SDO block transfer for data length > 4 bytes

ComSdoMarker_e

enum ComSdoMarker_e

SDO transfer marker.

The enumeration defines values for the marker field inside the CANopen object structure CoObject_s. The marker field can be evaluated inside the ComSdoEventObjectReady() function.

Enumerator
eCOM_SDO_MARKER_USER_END	Last possible value for user-defined marker
eCOM_SDO_MARKER_NODE_GET_INFO	Marker for ComNodeGetInfo() function call
eCOM_SDO_MARKER_NODE_SET_HEARTBEAT	Marker for ComNodeSetHbProdTime() function call
eCOM_SDO_MARKER_NODE_STORE	Marker for ComNodeStore() function call
eCOM_SDO_MARKER_NODE_RESTORE	Marker for ComNodeRestore() function call
eCOM_SDO_MARKER_SRDO_GET_CONFIG	Marker for ComSafetyGetConfiguration() function call
eCOM_SDO_MARKER_SRDO_GET_SIGNATURE	Marker for ComSafetyGetSignature() function call
eCOM_SDO_MARKER_SRDO_SET_CONFIG	Marker for ComSafetySetConfiguration() function call
eCOM_SDO_MARKER_SRDO_SET_SIGNATURE	Marker for ComSafetySetSignature() function call
eCOM_SDO_MARKER_SRDO_SET_VALID	Marker for ComSafetySetConfigurationValid() function call

ComSdoStat_e

enum ComSdoStat_e

SDO transfer status.

The enumeration defines the status of a SDO client connection. It can be requested with the ComSdoGetStatus() function.

Enumerator
eCOM_SDO_STAT_EMPTY	SDO client is free, no SDO communication present
eCOM_SDO_STAT_EXP_RD	Expedited transfer in progress (read)
eCOM_SDO_STAT_SEG_RD	Segmented transfer in progress (read)
eCOM_SDO_STAT_BLK_RD	Block transfer in progress (read)
eCOM_SDO_STAT_EXP_WR	Expedited transfer in progress (write)
eCOM_SDO_STAT_SEG_WR	Segmented transfer in progress (write)
eCOM_SDO_STAT_BLK_WR	Block transfer in progress (write)
eCOM_SDO_STAT_SUCCESS	SDO communication success
eCOM_SDO_STAT_ABORT	SDO communication aborted
eCOM_SDO_STAT_TIMEOUT	SDO communication timeout
eCOM_SDO_STAT_ERR	SDO protocol error
eCOM_SDO_STAT_SIZE	Data size for client/server does not match

ComVersion_e

enum ComVersion_e

Get library information.

The enumeration defines values for function ComMgrGetVersionString().

Enumerator
eCOM_VERSION_STACK	Get information about the stack version
eCOM_VERSION_COMPILER	Get information about the used compiler
eCOM_VERSION_SYSTEM	Get information about the operating system

CpBitrate_e

enum CpBitrate_e

Fixed bit-rates.

The values of the enumeration CpBitrate_e are used as parameter for the function CpCoreBitrate().

Enumerator
eCP_BITRATE_NONE	No bit-rate defined
eCP_BITRATE_10K	bit-rate 10 kBit/s
eCP_BITRATE_20K	bit-rate 20 kBit/s
eCP_BITRATE_50K	bit-rate 50 kBit/s
eCP_BITRATE_100K	bit-rate 100 kBit/s
eCP_BITRATE_125K	bit-rate 125 kBit/s
eCP_BITRATE_250K	bit-rate 250 kBit/s
eCP_BITRATE_500K	bit-rate 500 kBit/s
eCP_BITRATE_800K	bit-rate 800 kBit/s
eCP_BITRATE_1M	bit-rate 1 MBit/s
eCP_BITRATE_2M	bit-rate 2 MBit/s (ISO CAN FD, data phase)
eCP_BITRATE_4M	bit-rate 4 MBit/s (ISO CAN FD, data phase)
eCP_BITRATE_5M	bit-rate 5 MBit/s (ISO CAN FD, data phase)
eCP_BITRATE_AUTO	Use automatic bit-rate detection

CpChannel_e

enum CpChannel_e

Channel definition.

The physical CAN interfaces are numbered from 1 .. N (N: total number of physical CAN interfaces on the target system). The enumeration CpChannel_e lists up to 8 physical interfaces. The enumeration value eCP_CHANNEL_NONE denotes an invalid channel value.

Enumerator
eCP_CHANNEL_NONE	CAN interface invalid
eCP_CHANNEL_1	CAN interface 1
eCP_CHANNEL_2	CAN interface 2
eCP_CHANNEL_3	CAN interface 3
eCP_CHANNEL_4	CAN interface 4
eCP_CHANNEL_5	CAN interface 5
eCP_CHANNEL_6	CAN interface 6
eCP_CHANNEL_7	CAN interface 7
eCP_CHANNEL_8	CAN interface 8

CpErrType_e

enum CpErrType_e

Error type.

These values are used as return value for the function CpCoreCanState().

Enumerator
eCP_ERR_TYPE_NONE	No error
eCP_ERR_TYPE_BIT0	Bit 0 error
eCP_ERR_TYPE_BIT1	Bit 1 error
eCP_ERR_TYPE_STUFF	Stuff error
eCP_ERR_TYPE_FORM	Format error
eCP_ERR_TYPE_CRC	CRC error
eCP_ERR_TYPE_ACK	Acknowledge error

CpState_e

enum CpState_e

State of CAN controller.

These values are used as return value for the function CpCoreCanState().

Enumerator
eCP_STATE_INIT	CAN controller is in stopped mode
eCP_STATE_SLEEPING	CAN controller is in Sleep mode
eCP_STATE_BUS_ACTIVE	CAN controller is error active
eCP_STATE_BUS_WARN	CAN controller is active, warning level is reached
eCP_STATE_BUS_PASSIVE	CAN controller is error passive
eCP_STATE_BUS_OFF	CAN controller went into Bus Off
eCP_STATE_PHY_FAULT	General failure of physical layer detected (if supported by hardware)
eCP_STATE_PHY_H	Fault on CAN-H detected (Low Speed CAN)
eCP_STATE_PHY_L	Fault on CAN-L detected (Low Speed CAN)

PdoDir_e

enum PdoDir_e

PDO direction.

The following enumeration values define the direction of a PDO. The direction is seen from the device point of view, hence a RPDO is received by the CANopen Master, while a TPDO is sent by the CANopen Master.

Enumerator
ePDO_DIR_RCV	Receive-PDO (RPDO)
ePDO_DIR_TRM	Transmit-PDO (TPDO)

PdoType_e

enum PdoType_e

PDO transmission types.

The common used PDO transmission types are defined in this enumeration.

Enumerator
ePDO_TYPE_SYNC_0	Synchronous, acyclic PDO
ePDO_TYPE_SYNC_1	Synchronous, cyclic every SYNC
ePDO_TYPE_SYNC_2	Synchronous, cyclic every 2nd SYNC
ePDO_TYPE_SYNC_3	Synchronous, cyclic every 3rd SYNC
ePDO_TYPE_SYNC_4	Synchronous, cyclic every 4th SYNC
ePDO_TYPE_SYNC_240	Synchronous, cyclic every 240th SYNC
ePDO_TYPE_EVENT_MANUFACTURER	Event-driven PDO, manufacturer specific
ePDO_TYPE_EVENT_PROFILE	Event-driven PDO, profile specific

PgnDir_e

enum PgnDir_e

PGN direction.

The following enumeration values define the direction of a PGN. The direction is seen from the device point of view.

Enumerator
ePGN_DIR_RCV	Receive PGN
ePGN_DIR_TRM	Transmit PGN