Classes | Functions | Variables
canopen Namespace Reference

Classes

class  Device
class  DeviceGroup
struct  SDOkey

Functions

const SDOkey controlword (0x6040, 0x0)
void defaultListener ()
void deviceManager ()
void incomingNodeguardHandler (uint8_t CANid, BYTE data[8])
void init (std::string deviceFile, std::chrono::milliseconds syncInterval)
void initDeviceManagerThread (std::function< void()> const &deviceManager)
void initListenerThread (std::function< void()> const &listener)
const SDOkey ip_time_index (0x60C2, 0x2)
const SDOkey ip_time_units (0x60C2, 0x1)
double mdeg2rad (int32_t alpha)
const SDOkey modes_of_operation (0x6060, 0x0)
const SDOkey modes_of_operation_display (0x6061, 0x0)
void modes_of_operation_display_incoming (uint8_t CANid, BYTE data[8])
bool openConnection (std::string devName)
bool operator< (const SDOkey &a, const SDOkey &b)
int32_t rad2mdeg (double phi)
void schunkDefaultPDO_incoming (uint8_t CANid, const TPCANRdMsg m)
void schunkDefaultPDOOutgoing (uint16_t CANid, double positionValue)
void sendNMT (uint8_t command, uint8_t CANid)
void sendNodeguard (uint8_t CANid)
void sendSDO (uint8_t CANid, SDOkey sdo)
void sendSDO (uint8_t CANid, SDOkey sdo, uint32_t value)
void sendSDO (uint8_t CANid, SDOkey sdo, int32_t value)
void sendSDO (uint8_t CANid, SDOkey sdo, uint8_t value)
void sendSDO (uint8_t CANid, SDOkey sdo, uint16_t value)
void sendSync ()
void setMotorState (uint16_t CANid, std::string targetState)
const SDOkey statusword (0x6041, 0x0)
void statusword_incoming (uint8_t CANid, BYTE data[8])
const SDOkey sync_timeout_factor (0x200e, 0x0)

Variables

bool atFirstInit = true
const uint16_t controlword_enable_ip_mode = 16
const uint16_t controlword_enable_operation = 15
const uint16_t controlword_fault_reset_0 = 0x00
const uint16_t controlword_fault_reset_1 = 0x80
const uint16_t controlword_shutdown = 6
const uint16_t controlword_start_homing = 16
const uint16_t controlword_switch_on = 7
std::map< std::string,
DeviceGroup
deviceGroups
std::map< uint8_t, Devicedevices
HANDLE h
std::map< SDOkey,
std::function< void(uint8_t
CANid, BYTE data[8])> > 
incomingDataHandlers
std::map< uint16_t,
std::function< void(const
TPCANRdMsg m)> > 
incomingPDOHandlers
const int8_t ip_time_index_hundredmicroseconds = 0xFC
const int8_t ip_time_index_milliseconds = 0xFD
const uint8_t modes_of_operation_homing_mode = 0x6
const uint8_t modes_of_operation_interpolated_position_mode = 0x7
const uint8_t modes_of_operation_profile_position_mode = 0x1
const uint8_t modes_of_operation_profile_velocity_mode = 0x3
const uint8_t modes_of_operation_torque_profile_mode = 0x4
const uint8_t modes_of_operation_velocity_mode = 0x2
const uint8_t NMT_reset = 0x81
const uint8_t NMT_start = 0x01
const uint8_t NMT_stop = 0x02
TPCANMsg NMTmsg
TPCANMsg nodeguardMsg
std::function< void(uint16_t
CANid, double positionValue) > 
sendPos
const uint8_t sync_timeout_factor_disable_timeout = 0
std::chrono::milliseconds syncInterval
TPCANMsg syncMsg

Function Documentation

const SDOkey canopen::controlword ( 0x6040  ,
0x0   
)

Definition at line 101 of file canopen.cpp.

Definition at line 133 of file canopen.cpp.

void canopen::incomingNodeguardHandler ( uint8_t  CANid,
BYTE  data[8] 
)

Definition at line 150 of file canopen.cpp.

void canopen::init ( std::string  deviceFile,
std::chrono::milliseconds  syncInterval 
)

Definition at line 55 of file canopen.cpp.

void canopen::initDeviceManagerThread ( std::function< void()> const &  deviceManager)

Definition at line 127 of file canopen.cpp.

void canopen::initListenerThread ( std::function< void()> const &  listener)

Definition at line 121 of file canopen.cpp.

const SDOkey canopen::ip_time_index ( 0x60C2  ,
0x2   
)
const SDOkey canopen::ip_time_units ( 0x60C2  ,
0x1   
)
double canopen::mdeg2rad ( int32_t  alpha) [inline]

Definition at line 210 of file canopen.h.

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] 
)

Definition at line 181 of file canopen.cpp.

bool canopen::openConnection ( std::string  devName)

Definition at line 25 of file canopen.cpp.

bool canopen::operator< ( const SDOkey &  a,
const SDOkey &  b 
) [inline]

Definition at line 37 of file canopen.h.

int32_t canopen::rad2mdeg ( double  phi) [inline]

Definition at line 208 of file canopen.h.

void canopen::schunkDefaultPDO_incoming ( uint8_t  CANid,
const TPCANRdMsg  m 
)

Definition at line 185 of file canopen.cpp.

void canopen::schunkDefaultPDOOutgoing ( uint16_t  CANid,
double  positionValue 
)

Definition at line 280 of file canopen.cpp.

void canopen::sendNMT ( uint8_t  command,
uint8_t  CANid 
) [inline]

Definition at line 196 of file canopen.h.

void canopen::sendNodeguard ( uint8_t  CANid) [inline]

Definition at line 201 of file canopen.h.

void canopen::sendSDO ( uint8_t  CANid,
SDOkey  sdo 
)

Definition at line 210 of file canopen.cpp.

void canopen::sendSDO ( uint8_t  CANid,
SDOkey  sdo,
uint32_t  value 
)

Definition at line 223 of file canopen.cpp.

void canopen::sendSDO ( uint8_t  CANid,
SDOkey  sdo,
int32_t  value 
)

Definition at line 238 of file canopen.cpp.

void canopen::sendSDO ( uint8_t  CANid,
SDOkey  sdo,
uint8_t  value 
)

Definition at line 253 of file canopen.cpp.

void canopen::sendSDO ( uint8_t  CANid,
SDOkey  sdo,
uint16_t  value 
)

Definition at line 265 of file canopen.cpp.

void canopen::sendSync ( ) [inline]

Definition at line 193 of file canopen.h.

void canopen::setMotorState ( uint16_t  CANid,
std::string  targetState 
)

Definition at line 32 of file canopen.cpp.

const SDOkey canopen::statusword ( 0x6041  ,
0x0   
)
void canopen::statusword_incoming ( uint8_t  CANid,
BYTE  data[8] 
)

Definition at line 154 of file canopen.cpp.

const SDOkey canopen::sync_timeout_factor ( 0x200e  ,
0x0   
)

Variable Documentation

bool canopen::atFirstInit = true

Definition at line 21 of file canopen.cpp.

Definition at line 161 of file canopen.h.

Definition at line 160 of file canopen.h.

const uint16_t canopen::controlword_fault_reset_0 = 0x00

Definition at line 162 of file canopen.h.

const uint16_t canopen::controlword_fault_reset_1 = 0x80

Definition at line 163 of file canopen.h.

const uint16_t canopen::controlword_shutdown = 6

Definition at line 157 of file canopen.h.

const uint16_t canopen::controlword_start_homing = 16

Definition at line 159 of file canopen.h.

const uint16_t canopen::controlword_switch_on = 7

Definition at line 158 of file canopen.h.

std::map< std::string, DeviceGroup > canopen::deviceGroups

Definition at line 10 of file canopen.cpp.

std::map< uint8_t, Device > canopen::devices

Definition at line 9 of file canopen.cpp.

HANDLE canopen::h

Definition at line 8 of file canopen.cpp.

std::map<SDOkey, std::function<void (uint8_t CANid, BYTE data[8])> > canopen::incomingDataHandlers
std::map< uint16_t, std::function< void(const TPCANRdMsg m)> > canopen::incomingPDOHandlers

Definition at line 14 of file canopen.cpp.

Definition at line 145 of file canopen.h.

Definition at line 144 of file canopen.h.

Definition at line 150 of file canopen.h.

Definition at line 155 of file canopen.h.

Definition at line 151 of file canopen.h.

Definition at line 153 of file canopen.h.

Definition at line 154 of file canopen.h.

Definition at line 152 of file canopen.h.

const uint8_t canopen::NMT_reset = 0x81

Definition at line 137 of file canopen.h.

const uint8_t canopen::NMT_start = 0x01

Definition at line 136 of file canopen.h.

const uint8_t canopen::NMT_stop = 0x02

Definition at line 135 of file canopen.h.

TPCANMsg canopen::NMTmsg

Definition at line 18 of file canopen.cpp.

Definition at line 20 of file canopen.cpp.

std::function< void(uint16_t CANid, double positionValue) > canopen::sendPos

Definition at line 278 of file canopen.cpp.

Definition at line 146 of file canopen.h.

std::chrono::milliseconds canopen::syncInterval

Definition at line 7 of file canopen.cpp.

TPCANMsg canopen::syncMsg

Definition at line 19 of file canopen.cpp.

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ipa_canopen_core
Author(s): Tobias Sing
autogenerated on Fri Mar 1 2013 18:36:29