Interface for creating CiA 402 Object Dictionary - "AXES_NUMBER" axes.
Interface for creating CiA 402 Object Dictionary - "AXES_NUMBER" axes.
Copyright (c) 2024 KUNBUS GmbH.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ESL_cia402Obd.h"
#include "ESL_cia402Demo.h"
#include "ecSlvCiA402.h"
#include <ecSlvApi.h>
#include <defines/ecSlvApiDef_error.h>
#include <defines/ecSlvApiDef.h>
{
uint8_t axis;
if (!pApplicationInstance)
{
goto Exit;
}
for(axis = 0; axis < AXES_NUMBER; ++axis)
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj607B)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj607D)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj608F)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj6090)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv,
OBD_GEAR_RATIO_INDEX(axis),
"Gear ratio", NULL, NULL, NULL, NULL, &pObj6091);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj6091)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv,
OBD_FEED_CONSTANT_INDEX(axis),
"Feed constant", NULL, NULL, NULL, NULL, &pObj6092);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj6092)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv,
OBD_VELOCITY_FACTOR_INDEX(axis),
"Velocity factor", NULL, NULL, NULL, NULL, &pObj6096);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj6096)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv,
OBD_HOMING_SPEEDS_INDEX(axis),
"Homing speeds", NULL, NULL, NULL, NULL, &pObj6099);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj6099)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
if(NULL != pObj60C2)
{
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
error = EC_API_SLV_CoE_odAddArray(pEcApiSlv,
OBD_TOUCH_PROBE_SOURCE(axis),
"Touch probe source", 2,
DEFTYPE_INTEGER16, 16,
ACCESS_READ, NULL, NULL, NULL, NULL);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
}
}
{
break;
}
}
Exit:
return error;
}
void EC_SLV_APP_cia402_initAxisObjects(void* pContext_p)
{
uint8_t axisIter = 0;
if (!pApp_p)
{
goto Exit;
}
for (axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
{
}
Exit:
return;
}
#define EC_SLV_APP_CoE_MAPSDO(error, axisObjectEntry) \
if (EC_API_eERR_NONE == (error)) { \
(error) = EC_API_SLV_CoE_getObject(pApp_p->ptEcSlvApi, (axisObjectEntry).objectIndex, &((axisObjectEntry).pSdo)); \
if (EC_API_eERR_NONE != (error)){ \
OSAL_printf("Cannot get object at index <0x%x>\r\n", (axisObjectEntry).objectIndex); } }
uint32_t EC_SLV_APP_CiA_fetchAxisObjects(void* pContext_p)
{
uint8_t axisIter = 0;
if (NULL == pApp_p)
{
goto Exit;
}
for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
{
{
err = EC_API_SLV_CoE_getObjectEntryByObject(pApp_p->
ptEcSlvApi,
{
OSAL_printf("Cannot get objectEntry at index <0x%x> subindex <0x%x> \r\n",
}
}
{
err = EC_API_SLV_CoE_getObjectEntryByObject(pApp_p->
ptEcSlvApi,
{
OSAL_printf("Cannot get objectEntry at index <0x%x> subindex <0x%x> \r\n",
}
}
{
}
{
}
{
goto Exit;
}
}
Exit:
return err;
}
#define EC_SLV_APP_CoE_GETPDOOFFSETS(handle, axisObjectEntry) \
if(NULL != (axisObjectEntry).pdoObject) { \
uint16_t offset = 0; \
EC_API_SLV_PDO_getOffset(handle, (axisObjectEntry).pdoObject, &offset); \
(axisObjectEntry).pdoOffset = offset + (axisObjectEntry).pdoObjectOffset; }
uint32_t EC_SLV_APP_CiA_fetchPDOffsets(void* pContext_p)
{
uint8_t axisIter = 0;
if (!pApp_p)
{
goto Exit;
}
for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
{
}
Exit:
return err;
}
#define EC_SLV_APP_CoE_CLEARPDOOFFSETS(axisObjectEntry) \
(axisObjectEntry).pdoObjectOffset = (0u); (axisObjectEntry).pdoOffset = (0u);
uint32_t EC_SLV_APP_CiA_dropPDOffsets(void* pContext_p)
{
uint8_t axisIter = 0;
if (!pApp_p)
{
goto Exit;
}
for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
{
}
Exit:
return err;
}
#define OBD_MAX_MOTOR_SPEED_INDEX(x)
Definition ecSlvApiDef_CiA402.h:375
#define OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:400
#define OBD_CONTROLWORD_INDEX(x)
Definition ecSlvApiDef_CiA402.h:334
#define OBD_TORQUE_OFFSET_INDEX(x)
Definition ecSlvApiDef_CiA402.h:394
#define OBD_PROFILE_DECELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:378
#define OBD_VELOCITY_DEMAND_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:355
#define OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:414
#define OBD_MODES_OF_OPERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:343
#define OBD_STATUSWORD_INDEX(x)
Definition ecSlvApiDef_CiA402.h:335
#define OBD_FOLLOWING_ERROR_WINDOW_INDEX(x)
Definition ecSlvApiDef_CiA402.h:349
#define OBD_POSITION_WINDOW_TIME_INDEX(x)
Definition ecSlvApiDef_CiA402.h:352
#define OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:401
#define OBD_POLARITY_INDEX(x)
Definition ecSlvApiDef_CiA402.h:372
#define OBD_TARGET_VELOCITY_INDEX(x)
Definition ecSlvApiDef_CiA402.h:373
#define OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:416
#define OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:354
#define OBD_VELOCITY_WINDOW_INDEX(x)
Definition ecSlvApiDef_CiA402.h:357
#define OBD_TARGET_TORQUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:362
#define OBD_POSITION_OFFSET_INDEX(x)
Definition ecSlvApiDef_CiA402.h:392
#define OBD_MOTION_PROFILE_TYPE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:380
#define OBD_VELOCITY_WINDOW_TIME_INDEX(x)
Definition ecSlvApiDef_CiA402.h:358
#define OBD_GEAR_RATIO_INDEX(x)
Definition ecSlvApiDef_CiA402.h:384
#define OBD_HOMING_SPEEDS_INDEX(x)
Definition ecSlvApiDef_CiA402.h:389
#define OBD_TORQUE_DEMAND_INDEX(x)
Definition ecSlvApiDef_CiA402.h:364
#define OBD_VELOCITY_OFFSET_INDEX(x)
Definition ecSlvApiDef_CiA402.h:393
#define OBD_FAULT_REACTION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:341
#define OBD_HOMING_ACCELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:390
#define OBD_POSITION_DEMAND_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:346
#define OBD_HALT_OPTION_CODE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:340
#define OBD_VELOCITY_THRESHOLD_TIME_INDEX(x)
Definition ecSlvApiDef_CiA402.h:360
#define OBD_MAX_TORQUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:363
#define OBD_PROFILE_VELOCITY_INDEX(x)
Definition ecSlvApiDef_CiA402.h:376
#define OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:410
#define OBD_VELOCITY_FACTOR_INDEX(x)
Definition ecSlvApiDef_CiA402.h:386
#define OBD_POSITION_WINDOW_INDEX(x)
Definition ecSlvApiDef_CiA402.h:351
#define OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:398
#define OBD_POSITION_RANGE_LIMIT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:369
#define OBD_INTERPOLATION_TIME_PERIOD_INDEX(x)
Definition ecSlvApiDef_CiA402.h:403
#define OBD_CURRENT_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:366
#define OBD_TARGET_POSITION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:367
uint32_t EC_SLV_APP_getCiA402ObjectEntryValue(void *pAppCtxt_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint16_t length_p, uint16_t *pValue_p)
Read CiA402 Object entry.
Definition ESL_cia402Demo.c:305
#define OBD_MODES_OF_OPERATION_DISPLAY_INDEX(x)
Definition ecSlvApiDef_CiA402.h:344
#define OBD_TOUCH_PROBE_FUNCTION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:396
#define OBD_HOMING_METHOD_INDEX(x)
Definition ecSlvApiDef_CiA402.h:388
#define OBD_POSITION_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:348
#define OBD_POSITION_ENCODER_RESOLUTION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:382
#define OBD_DISABLE_OPERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:339
#define OBD_FEED_CONSTANT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:385
#define OBD_VELOCITY_THRESHOLD_INDEX(x)
Definition ecSlvApiDef_CiA402.h:359
#define OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:408
#define OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:413
#define OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:383
#define OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:347
#define OBD_SW_POSITION_LIMIT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:371
#define OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:411
#define OBD_SUPPORTED_DRIVE_MODES_INDEX(x)
Definition ecSlvApiDef_CiA402.h:419
#define OBD_VELOCITY_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:356
#define OBD_MAX_DECELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:405
#define OBD_TORQUE_ACTUAL_VALUE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:365
#define OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:409
#define OBD_TOUCH_PROBE_SOURCE(x)
Definition ecSlvApiDef_CiA402.h:407
#define OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:332
#define OBD_QUICKSTOP_INDEX(x)
Definition ecSlvApiDef_CiA402.h:337
#define OBD_MAX_ACCELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:404
#define OBD_SHUTDOWN_INDEX(x)
Definition ecSlvApiDef_CiA402.h:338
#define OBD_HOME_OFFSET_INDEX(x)
Definition ecSlvApiDef_CiA402.h:370
#define OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(x)
Definition ecSlvApiDef_CiA402.h:350
#define OBD_QUISTOP_DECELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:379
#define OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(x)
Definition ecSlvApiDef_CiA402.h:399
#define OBD_TOUCH_PROBE_STATUS_INDEX(x)
Definition ecSlvApiDef_CiA402.h:397
uint32_t EC_SLV_APP_cia402ObjectDictionary(void *pContext_p)
Generate CiA402 Objects.
Definition ESL_cia402Obd.c:84
#define OBD_PROFILE_ACCELERATION_INDEX(x)
Definition ecSlvApiDef_CiA402.h:377
@ EC_API_eERR_INVALID
Definition ecSlvApiDef_error.h:52
@ EC_API_eERR_NONE
Definition ecSlvApiDef_error.h:45
@ EC_API_SLV_eERR_NO_ERROR
No error.
Definition ecSlvApi_types.h:104
#define ACCESS_READWRITE
Read/write in all states.
Definition ecSlvApiDef_CoE.h:138
#define ACCESS_READ
Read only in all states.
Definition ecSlvApiDef_CoE.h:139
#define OBJACCESS_TXPDOMAPPING
Mappable in TxPDOs.
Definition ecSlvApiDef_CoE.h:149
#define OBJACCESS_RXPDOMAPPING
Mappable in RxPDOs.
Definition ecSlvApiDef_CoE.h:148
#define DEFTYPE_INTEGER8
INTEGER8.
Definition ecSlvApiDef_CoE.h:45
#define DEFTYPE_UNSIGNED16
UNSIGNED16.
Definition ecSlvApiDef_CoE.h:49
#define DEFTYPE_INTEGER16
INTEGER16.
Definition ecSlvApiDef_CoE.h:46
#define DEFTYPE_UNSIGNED32
UNSIGNED32.
Definition ecSlvApiDef_CoE.h:50
#define DEFTYPE_UNSIGNED8
UNSIGNED8.
Definition ecSlvApiDef_CoE.h:48
#define DEFTYPE_INTEGER32
INTEGER32.
Definition ecSlvApiDef_CoE.h:47
Definition ecSlvApiInternal.h:144
Definition ecSlvApiInternal.h:329
EC_API_SLV_SHandle_t * ptEcSlvApi
Definition ecSlvCiA402.h:211
EC_SLV_APP_sCIA_axisData_t CiA402_axisData[AXES_NUMBER]
Definition ecSlvCiA402.h:209
Definition ecSlvCiA402.h:158
EC_SLV_APP_sCIA_object_t statusWordIndex
Definition ecSlvCiA402.h:82
uint32_t posLimitMin
Definition ecSlvCiA402.h:153
EC_SLV_APP_sCIA_object_t targetTorqueIndex
Definition ecSlvCiA402.h:104
EC_SLV_APP_sCIA_object_t targetVelocityIndex
Definition ecSlvCiA402.h:114
EC_SLV_APP_sCIA_object_t faultReactionIndex
Definition ecSlvCiA402.h:87
EC_SLV_APP_sCIA_object_t modesOfOperationDisplayIndex
Definition ecSlvCiA402.h:89
EC_SLV_APP_sCIA_object_t targetPositionIndex
Definition ecSlvCiA402.h:109
EC_SLV_APP_sCIA_object_t modesOfOperationIndex
Definition ecSlvCiA402.h:88
EC_SLV_APP_sCIA_object_t velocityActualValueIndex
Definition ecSlvCiA402.h:99
EC_SLV_APP_sCIA_object_t quickStopIndex
Definition ecSlvCiA402.h:83
uint32_t posLimitMax
Definition ecSlvCiA402.h:152
EC_SLV_APP_sCIA_objectEntry_t positionLimitMin
Definition ecSlvCiA402.h:150
EC_SLV_APP_sCIA_object_t disableOperationIndex
Definition ecSlvCiA402.h:85
EC_SLV_APP_sCIA_object_t controlWordIndex
Definition ecSlvCiA402.h:81
EC_SLV_APP_sCIA_object_t supportedDriveModesIndex
Definition ecSlvCiA402.h:147
EC_SLV_APP_sCIA_object_t torqueActualValueIndex
Definition ecSlvCiA402.h:107
EC_SLV_APP_sCIA_object_t positionActualValueIndex
Definition ecSlvCiA402.h:92
EC_SLV_APP_sCIA_objectEntry_t positionLimitMax
Definition ecSlvCiA402.h:149
EC_SLV_APP_sCIA_object_t shutdownIndex
Definition ecSlvCiA402.h:84
EC_SLV_APP_sCIA_object_t swPositionLimitIndex
Definition ecSlvCiA402.h:112
EC_API_SLV_SCoE_Object_t * pSdo
Definition ecSlvCiA402.h:62
uint16_t objectIndex
Definition ecSlvCiA402.h:61
EC_API_SLV_SCoE_ObjEntry_t * pObjetEntry
Definition ecSlvCiA402.h:75
EC_API_SLV_SCoE_Object_t * pSdo
Definition ecSlvCiA402.h:73
uint16_t objectIndex
Definition ecSlvCiA402.h:71
uint8_t objectSubIndex
Definition ecSlvCiA402.h:72