File syn_cia401.h¶

FileList > proto > syn_cia401.h

CANopen CiA 401 Device Profile for Generic I/O Modules. More...

#include "../common/syn_defs.h"
#include "syn_canopen.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Classes¶

Type	Name
struct	SYN_CiA401_Device CiA 401 Generic I/O Device State Instance.

Public Functions¶

Type	Name
bool	syn_cia401_check_analog_delta (SYN_CiA401_Device * dev, uint8_t * channel) Check if any analog input has exceeded its delta threshold for event-driven TPDO.
void	syn_cia401_init (SYN_CiA401_Device * dev, uint8_t dig_in_bytes, uint8_t dig_out_bytes, uint8_t analog_in_ch, uint8_t analog_out_ch) Initialize a CiA 401 device state instance.
size_t	syn_cia401_populate_od (SYN_CiA401_Device * dev, SYN_CANOpenODEntry * od_table, size_t max_entries) Populate a standard CANopen Object Dictionary array with CiA 401 entries.

Macros¶

Type	Name
define	SYN_CIA401_MAX_ANALOG_16BIT `8`
define	SYN_CIA401_MAX_DIGITAL_8BIT `4` Maximum channel capacities for CiA 401 instance.
define	SYN_CIA401_OD_ANALOG_INPUT_16BIT `0x6401U`
define	SYN_CIA401_OD_ANALOG_INPUT_DELTA `0x6421U`
define	SYN_CIA401_OD_ANALOG_INPUT_LIMIT_H `0x6425U`
define	SYN_CIA401_OD_ANALOG_INPUT_LIMIT_L `0x6424U`
define	SYN_CIA401_OD_ANALOG_OUTPUT_16BIT `0x6411U`
define	SYN_CIA401_OD_DIGITAL_INPUT_8BIT `0x6000U` CiA 401 Standard Object Dictionary Indices.
define	SYN_CIA401_OD_DIGITAL_OUTPUT_8BIT `0x6200U`

Detailed Description¶

Implements CiA 401 Object Dictionary definitions and helper binding state for 8-bit digital inputs/outputs and 16-bit analog inputs/outputs.

Public Functions Documentation¶

function syn_cia401_check_analog_delta¶

Check if any analog input has exceeded its delta threshold for event-driven TPDO.

bool syn_cia401_check_analog_delta (
    SYN_CiA401_Device * dev,
    uint8_t * channel
)

Parameters:

dev Pointer to CiA 401 device instance.
channel Output channel index (0..analog_in_count-1) that changed.

Returns:

True if a change occurred exceeding delta.

function syn_cia401_init¶

Initialize a CiA 401 device state instance.

void syn_cia401_init (
    SYN_CiA401_Device * dev,
    uint8_t dig_in_bytes,
    uint8_t dig_out_bytes,
    uint8_t analog_in_ch,
    uint8_t analog_out_ch
)

Parameters:

dev Pointer to CiA 401 device handle.
dig_in_bytes Number of 8-bit digital input blocks (1..4).
dig_out_bytes Number of 8-bit digital output blocks (1..4).
analog_in_ch Number of 16-bit analog input channels (1..8).
analog_out_ch Number of 16-bit analog output channels (1..8).

function syn_cia401_populate_od¶

Populate a standard CANopen Object Dictionary array with CiA 401 entries.

size_t syn_cia401_populate_od (
    SYN_CiA401_Device * dev,
    SYN_CANOpenODEntry * od_table,
    size_t max_entries
)

Parameters:

dev Pointer to initialized CiA 401 device instance.
od_table Output array of SYN_CANOpenODEntry elements.
max_entries Capacity of od_table array.

Returns:

Number of OD entries populated.

Macro Definition Documentation¶

define SYN_CIA401_MAX_ANALOG_16BIT¶

#define SYN_CIA401_MAX_ANALOG_16BIT `8`

Maximum 16-bit analog I/O channels

define SYN_CIA401_MAX_DIGITAL_8BIT¶

Maximum channel capacities for CiA 401 instance.

#define SYN_CIA401_MAX_DIGITAL_8BIT `4`

Maximum 8-bit digital I/O ports

define SYN_CIA401_OD_ANALOG_INPUT_16BIT¶

#define SYN_CIA401_OD_ANALOG_INPUT_16BIT `0x6401U`

Read 16-bit Analog Inputs

define SYN_CIA401_OD_ANALOG_INPUT_DELTA¶

#define SYN_CIA401_OD_ANALOG_INPUT_DELTA `0x6421U`

Analog Input Delta Interrupt Threshold

define SYN_CIA401_OD_ANALOG_INPUT_LIMIT_H¶

#define SYN_CIA401_OD_ANALOG_INPUT_LIMIT_H `0x6425U`

Analog Input High Limit Alarm

define SYN_CIA401_OD_ANALOG_INPUT_LIMIT_L¶

#define SYN_CIA401_OD_ANALOG_INPUT_LIMIT_L `0x6424U`

Analog Input Low Limit Alarm

define SYN_CIA401_OD_ANALOG_OUTPUT_16BIT¶

#define SYN_CIA401_OD_ANALOG_OUTPUT_16BIT `0x6411U`

Write 16-bit Analog Outputs

define SYN_CIA401_OD_DIGITAL_INPUT_8BIT¶

CiA 401 Standard Object Dictionary Indices.

#define SYN_CIA401_OD_DIGITAL_INPUT_8BIT `0x6000U`

Read 8-bit Digital Inputs

define SYN_CIA401_OD_DIGITAL_OUTPUT_8BIT¶

#define SYN_CIA401_OD_DIGITAL_OUTPUT_8BIT `0x6200U`

Write 8-bit Digital Outputs

The documentation for this class was generated from the following file src/syntropic/proto/syn_cia401.h