#include <iostream>#include <map>#include <vector>#include <string>#include <chrono>#include <unordered_map>#include <functional>#include <cstdlib>#include <thread>#include <math.h>#include <libpcan.h>#include <utility>#include <fcntl.h>#include <stdint.h>#include <inttypes.h>
Go to the source code of this file.
Classes | |
| class | canopen::Device |
| class | canopen::DeviceGroup |
| struct | canopen::SDOkey |
Namespaces | |
| namespace | canopen |
Functions | |
| const SDOkey | canopen::controlword (0x6040, 0x0) |
| void | canopen::defaultListener () |
| void | canopen::deviceManager () |
| void | canopen::incomingNodeguardHandler (uint8_t CANid, BYTE data[8]) |
| void | canopen::init (std::string deviceFile, std::chrono::milliseconds syncInterval) |
| void | canopen::initDeviceManagerThread (std::function< void()> const &deviceManager) |
| void | canopen::initListenerThread (std::function< void()> const &listener) |
| const SDOkey | canopen::ip_time_index (0x60C2, 0x2) |
| const SDOkey | canopen::ip_time_units (0x60C2, 0x1) |
| double | canopen::mdeg2rad (int32_t alpha) |
| const SDOkey | canopen::modes_of_operation (0x6060, 0x0) |
| const SDOkey | canopen::modes_of_operation_display (0x6061, 0x0) |
| void | canopen::modes_of_operation_display_incoming (uint8_t CANid, BYTE data[8]) |
| bool | canopen::openConnection (std::string devName) |
| bool | canopen::operator< (const SDOkey &a, const SDOkey &b) |
| int32_t | canopen::rad2mdeg (double phi) |
| void | canopen::schunkDefaultPDO_incoming (uint8_t CANid, const TPCANRdMsg m) |
| void | canopen::schunkDefaultPDOOutgoing (uint16_t CANid, double positionValue) |
| void | canopen::sendNMT (uint8_t command, uint8_t CANid) |
| void | canopen::sendNodeguard (uint8_t CANid) |
| void | canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint8_t value) |
| void | canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint16_t value) |
| void | canopen::sendSDO (uint8_t CANid, SDOkey sdo, int32_t value) |
| void | canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint32_t value) |
| void | canopen::sendSDO (uint8_t CANid, SDOkey sdo) |
| void | canopen::sendSync () |
| void | canopen::setMotorState (uint16_t CANid, std::string targetState) |
| const SDOkey | canopen::statusword (0x6041, 0x0) |
| void | canopen::statusword_incoming (uint8_t CANid, BYTE data[8]) |
| const SDOkey | canopen::sync_timeout_factor (0x200e, 0x0) |
Variables | |
| const uint16_t | canopen::controlword_enable_ip_mode = 16 |
| const uint16_t | canopen::controlword_enable_operation = 15 |
| const uint16_t | canopen::controlword_fault_reset_0 = 0x00 |
| const uint16_t | canopen::controlword_fault_reset_1 = 0x80 |
| const uint16_t | canopen::controlword_shutdown = 6 |
| const uint16_t | canopen::controlword_start_homing = 16 |
| const uint16_t | canopen::controlword_switch_on = 7 |
| std::map< SDOkey, std::function< void(uint8_t CANid, BYTE data[8])> > | canopen::incomingDataHandlers |
| const int8_t | canopen::ip_time_index_hundredmicroseconds = 0xFC |
| const int8_t | canopen::ip_time_index_milliseconds = 0xFD |
| const uint8_t | canopen::modes_of_operation_homing_mode = 0x6 |
| const uint8_t | canopen::modes_of_operation_interpolated_position_mode = 0x7 |
| const uint8_t | canopen::modes_of_operation_profile_position_mode = 0x1 |
| const uint8_t | canopen::modes_of_operation_profile_velocity_mode = 0x3 |
| const uint8_t | canopen::modes_of_operation_torque_profile_mode = 0x4 |
| const uint8_t | canopen::modes_of_operation_velocity_mode = 0x2 |
| const uint8_t | canopen::NMT_reset = 0x81 |
| const uint8_t | canopen::NMT_start = 0x01 |
| const uint8_t | canopen::NMT_stop = 0x02 |
| const uint8_t | canopen::sync_timeout_factor_disable_timeout = 0 |