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, Device >	devices
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
	)

void canopen::defaultListener

(

)

Definition at line 101 of file canopen.cpp.

void canopen::deviceManager

(

)

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.

const uint16_t canopen::controlword_enable_ip_mode = 16

Definition at line 161 of file canopen.h.

const uint16_t canopen::controlword_enable_operation = 15

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.

const int8_t canopen::ip_time_index_hundredmicroseconds = 0xFC

Definition at line 145 of file canopen.h.

const int8_t canopen::ip_time_index_milliseconds = 0xFD

Definition at line 144 of file canopen.h.

const uint8_t canopen::modes_of_operation_homing_mode = 0x6

Definition at line 150 of file canopen.h.

const uint8_t canopen::modes_of_operation_interpolated_position_mode = 0x7

Definition at line 155 of file canopen.h.

const uint8_t canopen::modes_of_operation_profile_position_mode = 0x1

Definition at line 151 of file canopen.h.

const uint8_t canopen::modes_of_operation_profile_velocity_mode = 0x3

Definition at line 153 of file canopen.h.

const uint8_t canopen::modes_of_operation_torque_profile_mode = 0x4

Definition at line 154 of file canopen.h.

const uint8_t canopen::modes_of_operation_velocity_mode = 0x2

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.

TPCANMsg canopen::nodeguardMsg

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.

const uint8_t canopen::sync_timeout_factor_disable_timeout = 0

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.