/******************************************************************************* CANopen Object Dictionary definition for CANopenNode V4 This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab https://github.com/CANopenNode/CANopenNode https://github.com/CANopenNode/CANopenEditor DON'T EDIT THIS FILE MANUALLY !!!! ******************************************************************************** File info: File Names: OD.h; OD.c Project File: NodeSlave.xdd File Version: 1 Created: 2026/1/30 14:35:40 Created By: Modified: 2026/2/26 17:17:54 Modified By: Device Info: Vendor Name: Vendor ID: Product Name: NodeSlave Product ID: Description: *******************************************************************************/ #ifndef OD_H #define OD_H /******************************************************************************* Counters of OD objects *******************************************************************************/ #define OD_CNT_NMT 1 #define OD_CNT_EM 1 #define OD_CNT_SYNC 1 #define OD_CNT_SYNC_PROD 1 #define OD_CNT_STORAGE 1 #define OD_CNT_TIME 1 #define OD_CNT_EM_PROD 1 #define OD_CNT_HB_CONS 1 #define OD_CNT_HB_PROD 1 #define OD_CNT_SDO_SRV 1 #define OD_CNT_SDO_CLI 1 #define OD_CNT_RPDO 4 #define OD_CNT_TPDO 4 /******************************************************************************* Sizes of OD arrays *******************************************************************************/ #define OD_CNT_ARR_1003 16 #define OD_CNT_ARR_1010 4 #define OD_CNT_ARR_1011 4 #define OD_CNT_ARR_1016 8 /******************************************************************************* OD data declaration of all groups *******************************************************************************/ typedef struct { uint32_t x1000_deviceType; uint32_t x1005_COB_ID_SYNCMessage; uint32_t x1006_communicationCyclePeriod; uint32_t x1007_synchronousWindowLength; uint32_t x1012_COB_IDTimeStampObject; uint32_t x1014_COB_ID_EMCY; uint16_t x1015_inhibitTimeEMCY; uint8_t x1016_consumerHeartbeatTime_sub0; uint32_t x1016_consumerHeartbeatTime[OD_CNT_ARR_1016]; uint16_t x1017_producerHeartbeatTime; struct { uint8_t highestSub_indexSupported; uint32_t vendor_ID; uint32_t productCode; uint32_t revisionNumber; uint32_t serialNumber; } x1018_identity; uint8_t x1019_synchronousCounterOverflowValue; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDClientToServerTx; uint32_t COB_IDServerToClientRx; uint8_t node_IDOfTheSDOServer; } x1280_SDOClientParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByRPDO; uint8_t transmissionType; uint16_t eventTimer; } x1400_RPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByRPDO; uint8_t transmissionType; uint16_t eventTimer; } x1401_RPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByRPDO; uint8_t transmissionType; uint16_t eventTimer; } x1402_RPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByRPDO; uint8_t transmissionType; uint16_t eventTimer; } x1403_RPDOCommunicationParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1600_RPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1601_RPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1602_RPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1603_RPDOMappingParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByTPDO; uint8_t transmissionType; uint16_t inhibitTime; uint16_t eventTimer; uint8_t SYNCStartValue; } x1800_TPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByTPDO; uint8_t transmissionType; uint16_t inhibitTime; uint16_t eventTimer; uint8_t SYNCStartValue; } x1801_TPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByTPDO; uint8_t transmissionType; uint16_t inhibitTime; uint16_t eventTimer; uint8_t SYNCStartValue; } x1802_TPDOCommunicationParameter; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDUsedByTPDO; uint8_t transmissionType; uint16_t inhibitTime; uint16_t eventTimer; uint8_t SYNCStartValue; } x1803_TPDOCommunicationParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1A00_TPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1A01_TPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1A02_TPDOMappingParameter; struct { uint8_t numberOfMappedApplicationObjectsInPDO; uint32_t applicationObject1; uint32_t applicationObject2; uint32_t applicationObject3; uint32_t applicationObject4; uint32_t applicationObject5; uint32_t applicationObject6; uint32_t applicationObject7; uint32_t applicationObject8; } x1A03_TPDOMappingParameter; } OD_PERSIST_COMM_t; typedef struct { uint8_t x1001_errorRegister; uint8_t x1010_storeParameters_sub0; uint32_t x1010_storeParameters[OD_CNT_ARR_1010]; uint8_t x1011_restoreDefaultParameters_sub0; uint32_t x1011_restoreDefaultParameters[OD_CNT_ARR_1011]; struct { uint8_t highestSub_indexSupported; uint32_t COB_IDClientToServerRx; uint32_t COB_IDServerToClientTx; } x1200_SDOServerParameter; uint16_t x6040_controlword; uint16_t x6041_statusword; int8_t x6060_modesOfOperation; int8_t x6061_modesOfOperationDisplay; int32_t x6064_positionActualValue; float32_t x6065_followingErrorWindow; int32_t x606C_velocityActualValue; uint32_t x607A_targetPosition; uint32_t x6083_acceleration; uint32_t x6084_deceleration; int32_t x60FF_targetVelocity; } OD_RAM_t; #ifndef OD_ATTR_PERSIST_COMM #define OD_ATTR_PERSIST_COMM #endif extern OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM; #ifndef OD_ATTR_RAM #define OD_ATTR_RAM #endif extern OD_ATTR_RAM OD_RAM_t OD_RAM; #ifndef OD_ATTR_OD #define OD_ATTR_OD #endif extern OD_ATTR_OD OD_t *OD; /******************************************************************************* Object dictionary entries - shortcuts *******************************************************************************/ #define OD_ENTRY_H1000 &OD->list[0] #define OD_ENTRY_H1001 &OD->list[1] #define OD_ENTRY_H1003 &OD->list[2] #define OD_ENTRY_H1005 &OD->list[3] #define OD_ENTRY_H1006 &OD->list[4] #define OD_ENTRY_H1007 &OD->list[5] #define OD_ENTRY_H1010 &OD->list[6] #define OD_ENTRY_H1011 &OD->list[7] #define OD_ENTRY_H1012 &OD->list[8] #define OD_ENTRY_H1014 &OD->list[9] #define OD_ENTRY_H1015 &OD->list[10] #define OD_ENTRY_H1016 &OD->list[11] #define OD_ENTRY_H1017 &OD->list[12] #define OD_ENTRY_H1018 &OD->list[13] #define OD_ENTRY_H1019 &OD->list[14] #define OD_ENTRY_H1200 &OD->list[15] #define OD_ENTRY_H1280 &OD->list[16] #define OD_ENTRY_H1400 &OD->list[17] #define OD_ENTRY_H1401 &OD->list[18] #define OD_ENTRY_H1402 &OD->list[19] #define OD_ENTRY_H1403 &OD->list[20] #define OD_ENTRY_H1600 &OD->list[21] #define OD_ENTRY_H1601 &OD->list[22] #define OD_ENTRY_H1602 &OD->list[23] #define OD_ENTRY_H1603 &OD->list[24] #define OD_ENTRY_H1800 &OD->list[25] #define OD_ENTRY_H1801 &OD->list[26] #define OD_ENTRY_H1802 &OD->list[27] #define OD_ENTRY_H1803 &OD->list[28] #define OD_ENTRY_H1A00 &OD->list[29] #define OD_ENTRY_H1A01 &OD->list[30] #define OD_ENTRY_H1A02 &OD->list[31] #define OD_ENTRY_H1A03 &OD->list[32] #define OD_ENTRY_H6040 &OD->list[33] #define OD_ENTRY_H6041 &OD->list[34] #define OD_ENTRY_H6060 &OD->list[35] #define OD_ENTRY_H6061 &OD->list[36] #define OD_ENTRY_H6064 &OD->list[37] #define OD_ENTRY_H6065 &OD->list[38] #define OD_ENTRY_H606C &OD->list[39] #define OD_ENTRY_H607A &OD->list[40] #define OD_ENTRY_H6083 &OD->list[41] #define OD_ENTRY_H6084 &OD->list[42] #define OD_ENTRY_H60FF &OD->list[43] /******************************************************************************* Object dictionary entries - shortcuts with names *******************************************************************************/ #define OD_ENTRY_H1000_deviceType &OD->list[0] #define OD_ENTRY_H1001_errorRegister &OD->list[1] #define OD_ENTRY_H1003_pre_definedErrorField &OD->list[2] #define OD_ENTRY_H1005_COB_ID_SYNCMessage &OD->list[3] #define OD_ENTRY_H1006_communicationCyclePeriod &OD->list[4] #define OD_ENTRY_H1007_synchronousWindowLength &OD->list[5] #define OD_ENTRY_H1010_storeParameters &OD->list[6] #define OD_ENTRY_H1011_restoreDefaultParameters &OD->list[7] #define OD_ENTRY_H1012_COB_IDTimeStampObject &OD->list[8] #define OD_ENTRY_H1014_COB_ID_EMCY &OD->list[9] #define OD_ENTRY_H1015_inhibitTimeEMCY &OD->list[10] #define OD_ENTRY_H1016_consumerHeartbeatTime &OD->list[11] #define OD_ENTRY_H1017_producerHeartbeatTime &OD->list[12] #define OD_ENTRY_H1018_identity &OD->list[13] #define OD_ENTRY_H1019_synchronousCounterOverflowValue &OD->list[14] #define OD_ENTRY_H1200_SDOServerParameter &OD->list[15] #define OD_ENTRY_H1280_SDOClientParameter &OD->list[16] #define OD_ENTRY_H1400_RPDOCommunicationParameter &OD->list[17] #define OD_ENTRY_H1401_RPDOCommunicationParameter &OD->list[18] #define OD_ENTRY_H1402_RPDOCommunicationParameter &OD->list[19] #define OD_ENTRY_H1403_RPDOCommunicationParameter &OD->list[20] #define OD_ENTRY_H1600_RPDOMappingParameter &OD->list[21] #define OD_ENTRY_H1601_RPDOMappingParameter &OD->list[22] #define OD_ENTRY_H1602_RPDOMappingParameter &OD->list[23] #define OD_ENTRY_H1603_RPDOMappingParameter &OD->list[24] #define OD_ENTRY_H1800_TPDOCommunicationParameter &OD->list[25] #define OD_ENTRY_H1801_TPDOCommunicationParameter &OD->list[26] #define OD_ENTRY_H1802_TPDOCommunicationParameter &OD->list[27] #define OD_ENTRY_H1803_TPDOCommunicationParameter &OD->list[28] #define OD_ENTRY_H1A00_TPDOMappingParameter &OD->list[29] #define OD_ENTRY_H1A01_TPDOMappingParameter &OD->list[30] #define OD_ENTRY_H1A02_TPDOMappingParameter &OD->list[31] #define OD_ENTRY_H1A03_TPDOMappingParameter &OD->list[32] #define OD_ENTRY_H6040_controlword &OD->list[33] #define OD_ENTRY_H6041_statusword &OD->list[34] #define OD_ENTRY_H6060_modesOfOperation &OD->list[35] #define OD_ENTRY_H6061_modesOfOperationDisplay &OD->list[36] #define OD_ENTRY_H6064_positionActualValue &OD->list[37] #define OD_ENTRY_H6065_followingErrorWindow &OD->list[38] #define OD_ENTRY_H606C_velocityActualValue &OD->list[39] #define OD_ENTRY_H607A_targetPosition &OD->list[40] #define OD_ENTRY_H6083_acceleration &OD->list[41] #define OD_ENTRY_H6084_deceleration &OD->list[42] #define OD_ENTRY_H60FF_targetVelocity &OD->list[43] /******************************************************************************* OD config structure *******************************************************************************/ #ifdef CO_MULTIPLE_OD #define OD_INIT_CONFIG(config) {\ (config).CNT_NMT = OD_CNT_NMT;\ (config).ENTRY_H1017 = OD_ENTRY_H1017;\ (config).CNT_HB_CONS = OD_CNT_HB_CONS;\ (config).CNT_ARR_1016 = OD_CNT_ARR_1016;\ (config).ENTRY_H1016 = OD_ENTRY_H1016;\ (config).CNT_EM = OD_CNT_EM;\ (config).ENTRY_H1001 = OD_ENTRY_H1001;\ (config).ENTRY_H1014 = OD_ENTRY_H1014;\ (config).ENTRY_H1015 = OD_ENTRY_H1015;\ (config).CNT_ARR_1003 = OD_CNT_ARR_1003;\ (config).ENTRY_H1003 = OD_ENTRY_H1003;\ (config).CNT_SDO_SRV = OD_CNT_SDO_SRV;\ (config).ENTRY_H1200 = OD_ENTRY_H1200;\ (config).CNT_SDO_CLI = OD_CNT_SDO_CLI;\ (config).ENTRY_H1280 = OD_ENTRY_H1280;\ (config).CNT_TIME = OD_CNT_TIME;\ (config).ENTRY_H1012 = OD_ENTRY_H1012;\ (config).CNT_SYNC = OD_CNT_SYNC;\ (config).ENTRY_H1005 = OD_ENTRY_H1005;\ (config).ENTRY_H1006 = OD_ENTRY_H1006;\ (config).ENTRY_H1007 = OD_ENTRY_H1007;\ (config).ENTRY_H1019 = OD_ENTRY_H1019;\ (config).CNT_RPDO = OD_CNT_RPDO;\ (config).ENTRY_H1400 = OD_ENTRY_H1400;\ (config).ENTRY_H1600 = OD_ENTRY_H1600;\ (config).CNT_TPDO = OD_CNT_TPDO;\ (config).ENTRY_H1800 = OD_ENTRY_H1800;\ (config).ENTRY_H1A00 = OD_ENTRY_H1A00;\ (config).CNT_LEDS = 0;\ (config).CNT_GFC = 0;\ (config).ENTRY_H1300 = NULL;\ (config).CNT_SRDO = 0;\ (config).ENTRY_H1301 = NULL;\ (config).ENTRY_H1381 = NULL;\ (config).ENTRY_H13FE = NULL;\ (config).ENTRY_H13FF = NULL;\ (config).CNT_LSS_SLV = 0;\ (config).CNT_LSS_MST = 0;\ (config).CNT_GTWA = 0;\ (config).CNT_TRACE = 0;\ } #endif #endif /* OD_H */