📄 objects.h
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/* ------------------------------------------------------------------------
File : objects.h
Descr : Definitions for CANopen dictionary objects
for the ELMB Master processor.
History: --JUL.00; Henk B&B; First version.
--------------------------------------------------------------------------- */
#ifndef OBJECTS_H
#define OBJECTS_H
/* ------------------------------------------------------------------------ */
#define OD_NO_OF_ENTRIES 0 /* Often used for subindex 0 */
/* ============================================================== */
/* Communication Profile objects */
#define OD_DEVICE_INFO_HI 0x10 /* Objects 0x10.. */
#define OD_DEVICE_TYPE_LO 0x00 /* Object 0x1000 */
#define OD_ERROR_REG_LO 0x01 /* Object 0x1001 */
#define OD_STATUS_REG_LO 0x02 /* Object 0x1002 */
#define OD_DEVICE_NAME_LO 0x08 /* Object 0x1008 */
#define OD_HW_VERSION_LO 0x09 /* Object 0x1009 */
#define OD_SW_VERSION_LO 0x0A /* Object 0x100A */
#define OD_GUARDTIME_LO 0x0C /* Object 0x100C */
#define OD_LIFETIME_FACTOR_LO 0x0D /* Object 0x100D */
#define OD_STORE_PARAMETERS_LO 0x10 /* Object 0x1010 */
#define OD_DFLT_PARAMETERS_LO 0x11 /* Object 0x1011 */
#define OD_HEARTBEAT_TIME_LO 0x17 /* Object 0x1017 */
#define OD_IDENTITY_LO 0x18 /* Object 0x1018 */
#define OD_STORE_ALL 1
#define OD_STORE_COMM_PARS 2
#define OD_STORE_APP_PARS 3
#define OD_STORE_CUSTOM_1 4
#define OD_STORE_CUSTOM_2 5
#define OD_STORE_MAX_SUBID OD_STORE_CUSTOM_2
#define OD_RPDO_PAR_HI 0x14 /* Objects 0x14.. */
#define OD_RPDO1_PAR_LO 0x00 /* Object 0x1400 */
#define OD_RPDO2_PAR_LO 0x01 /* Object 0x1401 */
#define OD_RPDO_MAP_HI 0x16 /* Objects 0x16.. */
#define OD_RPDO1_MAP_LO 0x00 /* Object 0x1600 */
#define OD_RPDO2_MAP_LO 0x01 /* Object 0x1601 */
#define OD_TPDO_PAR_HI 0x18 /* Objects 0x18.. */
#define OD_TPDO1_PAR_LO 0x00 /* Object 0x1800 */
#define OD_TPDO2_PAR_LO 0x01 /* Object 0x1801 */
#define OD_TPDO3_PAR_LO 0x02 /* Object 0x1802 */
#define OD_PDO_COBID 1
#define OD_PDO_TRANSMTYPE 2
#define OD_PDO_INHIBITTIME 3
#define OD_PDO_DUMMY_ENTRY 4
#define OD_PDO_EVENT_TIMER 5
#define OD_TPDO_MAP_HI 0x1A /* Objects 0x1A.. */
#define OD_TPDO1_MAP_LO 0x00 /* Object 0x1A00 */
#define OD_TPDO2_MAP_LO 0x01 /* Object 0x1A01 */
#define OD_TPDO3_MAP_LO 0x02 /* Object 0x1A02 */
/* ============================================================== */
/* Manufacturer-specific objects */
/* Parameters for the ADC */
#define OD_ADC_CONFIG_HI 0x21 /* Objects 0x21.. */
#define OD_ADC_CONFIG_LO 0x00 /* Object 0x2100 */
#define OD_ADC_RESET_CALIB_LO 0x10 /* Object 0x2110 */
#define OD_ADC_RECALIB_SCAN_LO 0x20 /* Object 0x2120 */
#define OD_ADC_DELTA_ENA_LO 0x30 /* Object 0x2130 */
#define OD_ADC_WINDOW_ENA_LO 0x40 /* Object 0x2140 */
#define OD_ADC_WINDOW_CNTR_LO 0x50 /* Object 0x2150 */
/* Parameters for Digital I/O */
#define OD_DIGIN_PAR_HI 0x22 /* Objects 0x22.. */
#define OD_DIGIN_DEBOUNCE_LO 0x00 /* Object 0x2200 */
#define OD_DIGOUT_PAR_HI 0x23 /* Objects 0x23.. */
#define OD_DIGOUT_INIT_LO 0x00 /* Object 0x2300 */
/* Analog inputs in Volts */
#define OD_ANALOG_IN_VOLTS_HI 0x24 /* Object 0x24.. */
#define OD_ANALOG_IN_VOLTS_LO 0x04 /* Object 0x2404 */
/* DAC configuration */
#define OD_DAC_CONFIG_HI 0x25 /* Objects 0x25.. */
#define OD_DAC_CONFIG_LO 0x00 /* Object 0x2500 */
/* SPI */
#define OD_SPI_HI 0x26 /* Objects 0x26.. */
#define OD_SPI_ACCESS_LO 0x00 /* Object 0x2600 */
#define OD_SPI_SELECT_LO 0x01 /* Object 0x2601 */
#define OD_SPI_CONFIG_LO 0x02 /* Object 0x2602 */
/* Analog inputs calibration stuff */
#define OD_ADC_CALIB_RANGE_HI 0x2A /* Objects 0x2A.. */
#define OD_ADC_CALIB_RANGE_LO 0x00 /* Object 0x2A00 */
#define OD_ADC_CALIB_PARS_HI 0x2B /* Objects 0x2B.. */
#define OD_ADC_CALIB_ERASE_HI 0x2C /* Objects 0x2C.. */
#define OD_ADC_CALIB_WR_ENA_HI 0x2D /* Objects 0x2D.. */
#define OD_ADC_CALIB_WR_ENA_LO 0x00 /* Object 0x2D00 */
/* CRC */
#define OD_CALC_CRC_HI 0x30 /* Objects 0x30.. */
#define OD_CALC_CRC_LO 0x00 /* Object 0x3000 */
#define OD_CRC_MASTER_FLASH 1
#define OD_CRC_SLAVE_FLASH 2
#define OD_CRC_MASTER_FLASH_GET 3
/* ELMB Serial Number */
#define OD_ELMB_SERIAL_NO_HI 0x31 /* Objects 0x31.. */
#define OD_ELMB_SERIAL_NO_LO 0x00 /* Object 0x3100 */
#define OD_ELMB_SN_WRITE_ENA_LO 0x01 /* Object 0x3101 */
/* CAN-controller configuration */
#define OD_CAN_CONFIG_HI 0x32 /* Objects 0x32.. */
#define OD_CAN_CONFIG_LO 0x00 /* Object 0x3200 */
/* Other */
#define OD_COMPILE_OPTIONS_HI 0x5C /* Objects 0x5C.. */
#define OD_COMPILE_OPTIONS_LO 0x00 /* Object 0x5C00 */
#define OD_TEST_HI 0x5D /* Objects 0x5D.. */
#define OD_TEST_LO 0xFF /* Object 0x5DFF */
#define OD_IO_TEST 1
#define OD_WATCHDOG_RESET_TEST 2
#define OD_SWITCH_TO_LOADER_HI 0x5E /* Objects 0x5E.. */
#define OD_SWITCH_TO_LOADER_LO 0x00 /* Object 0x5E00 */
#define OD_PROGRAM_CODE_HI 0x5F /* Objects 0x5F.. */
#define OD_PROGRAM_CODE_LO 0x50 /* Object 0x5F50 */
/* ============================================================== */
/* Standardised CANopen Device Profile objects */
#define OD_DIGITAL_IN_HI 0x60 /* Objects 0x60.. */
#define OD_DIGITAL_IN_8_LO 0x00 /* Object 0x6000 */
#define OD_DIGIN_INTRPT_ENA_LO 0x05 /* Object 0x6005 */
#define OD_DIGIN_INTRPT_MSK_LO 0x06 /* Object 0x6006 */
#define OD_DIGITAL_OUT_HI 0x62 /* Objects 0x62.. */
#define OD_DIGITAL_OUT_8_LO 0x00 /* Object 0x6200 */
#define OD_DIGITAL_OUT_8_MSK_LO 0x08 /* Object 0x6208 */
#define OD_ANALOG_HI 0x64 /* Objects 0x64.. */
#define OD_ANALOG_IN_LO 0x04 /* Object 0x6404 */
#define OD_ANALOG_OUT_8_LO 0x10 /* Object 0x6410 */
#define OD_ANALOG_OUT_16_LO 0x11 /* Object 0x6411 */
#define OD_ANALOG_OUT_32_LO 0x12 /* Object 0x6412 */
#define OD_ANALOG_IN_INT_ENA_LO 0x23 /* Object 0x6423 */
#define OD_ANALOG_IN_UPPER_LO 0x24 /* Object 0x6424 */
#define OD_ANALOG_IN_LOWER_LO 0x25 /* Object 0x6425 */
#define OD_ANALOG_IN_DELTA_LO 0x26 /* Object 0x6426 */
/* ============================================================== */
/* Emergency objects: stuff for the Manufacturer-specific Error Field
(first byte) */
#define EMG_ADC_CONVERSION 0x01
#define EMG_ADC_RESET 0x02
#define EMG_ADC_OFFSET_CALIB 0x03
#define EMG_ADC_GAIN_CALIB 0x04
#define EMG_ADC_INIT 0x10
#define EMG_ADC_NO_CALIB 0x11
#define EMG_SLAVE_PROCESSOR 0x20
#define EMG_CRC 0x30
#define EMG_EEPROM_WRITE_PARS 0x41
#define EMG_EEPROM_READ_PARS 0x42
#define EMG_EEPROM_WRITE_LIMITS 0x43
#define EMG_EEPROM_READ_LIMITS 0x44
#define EMG_IRREGULAR_RESET 0xF0
#define EMG_NO_BOOTLOADER 0xF1
#endif /* OBJECTS_H */
/* ------------------------------------------------------------------------ */
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