Classes | Namespaces | Functions | Variables
canopen.h File Reference

Implementation of canopen driver. More...

#include <iostream>
#include <map>
#include <vector>
#include <string>
#include <cstring>
#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>
#include "schunkErrors.h"
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Classes

class  canopen::Device
class  canopen::DeviceGroup
struct  canopen::SDOkey

Namespaces

namespace  canopen

Functions

const SDOkey canopen::ABORT_CONNECTION (0x6007, 0x0)
void canopen::clearRPDOMapping (int object)
void canopen::clearTPDOMapping (int object)
void canopen::controlPDO (uint8_t CANid, u_int16_t control1, u_int16_t control2)
const SDOkey canopen::CONTROLWORD (0x6040, 0x0)
void canopen::defaultEMCY_incoming (uint16_t CANid, const TPCANRdMsg m)
void canopen::defaultListener ()
void canopen::defaultPDO_incoming (uint16_t CANid, const TPCANRdMsg m)
void canopen::defaultPDO_incoming_pos (uint16_t CANid, const TPCANRdMsg m)
void canopen::defaultPDO_incoming_status (uint16_t CANid, const TPCANRdMsg m)
void canopen::defaultPDOOutgoing (uint16_t CANid, double positionValue)
void canopen::defaultPDOOutgoing_interpolated (uint16_t CANid, double positionValue)
void canopen::deviceManager ()
const SDOkey canopen::DISABLE_CODE (0x605C, 0x0)
void canopen::disableRPDO (int object)
void canopen::disableTPDO (int object)
const SDOkey canopen::DRIVERTEMPERATURE (0x22A2, 0x0)
void canopen::enableRPDO (int object)
void canopen::enableTPDO (int object)
const SDOkey canopen::ERROR_CODE (0x603F, 0x0)
const SDOkey canopen::ERRORWORD (0x1001, 0x0)
void canopen::errorword_incoming (uint8_t CANid, BYTE data[8])
const SDOkey canopen::FAULT (0x605E, 0x0)
void canopen::getErrors (uint16_t CANid)
void canopen::halt (std::string deviceFile, std::chrono::milliseconds syncInterval)
const SDOkey canopen::HALT (0x605D, 0x0)
const SDOkey canopen::HEARTBEAT (0x1017, 0x0)
const SDOkey canopen::IDENTITYPRODUCTCODE (0x1018, 0x02)
const SDOkey canopen::IDENTITYREVNUMBER (0x1018, 0x03)
const SDOkey canopen::IDENTITYVENDORID (0x1018, 0x01)
bool 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)
void canopen::makeRPDOMapping (int object, std::vector< std::string > registers, std::vector< int > sizes, u_int8_t sync_type)
void canopen::makeTPDOMapping (int object, std::vector< std::string > registers, std::vector< int > sizes, u_int8_t sync_type)
const SDOkey canopen::MANUFACTURER (0x1002, 0x0)
void canopen::manufacturer_incoming (uint8_t CANid, BYTE data[8])
const SDOkey canopen::MANUFACTURERDEVICENAME (0x1008, 0x0)
const SDOkey canopen::MANUFACTURERHWVERSION (0x1009, 0x0)
const SDOkey canopen::MANUFACTURERSOFTWAREVERSION (0x100A, 0x0)
double canopen::mdeg2rad (int32_t alpha)
const SDOkey canopen::MODES (0x6060, 0x0)
const SDOkey canopen::MODES_OF_OPERATION (0x6060, 0x0)
const SDOkey canopen::MODES_OF_OPERATION_DISPLAY (0x6061, 0x0)
std::vector< char > canopen::obtainManDevName (uint16_t CANid, int size_name)
std::vector< char > canopen::obtainManHWVersion (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< char > canopen::obtainManSWVersion (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< uint16_t > canopen::obtainProdCode (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
uint16_t canopen::obtainRevNr (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< uint16_t > canopen::obtainVendorID (uint16_t CANid)
bool canopen::openConnection (std::string devName, std::string baudrate)
bool canopen::operator< (const SDOkey &a, const SDOkey &b)
void canopen::pdoChanged ()
void canopen::pre_init ()
void canopen::processSingleSDO (uint8_t CANid, std::shared_ptr< TPCANRdMsg > message)
const SDOkey canopen::QUICK_STOP (0x605A, 0x0)
int32_t canopen::rad2mdeg (double phi)
void canopen::readErrorsRegister (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
void canopen::readManErrReg (uint16_t CANid)
bool canopen::recover (std::string deviceFile, std::chrono::milliseconds syncInterval)
void canopen::requestDataBlock1 (uint8_t CANid)
void canopen::requestDataBlock2 (uint8_t CANid)
const SDOkey canopen::RPDO (0x1400, 0x0)
const SDOkey canopen::RPDO_map (0x1600, 0x0)
const SDOkey canopen::SCHUNKDETAIL (0x200b, 0x3)
const SDOkey canopen::SCHUNKLINE (0x200b, 0x1)
void canopen::sdo_incoming (uint8_t CANid, BYTE data[8])
void canopen::sendNMT (uint8_t CANid, uint8_t command)
void canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint32_t value)
void canopen::sendSDO (uint8_t CANid, SDOkey sdo, int32_t value)
void canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint16_t value)
void canopen::sendSDO (uint8_t CANid, SDOkey sdo, uint8_t value)
void canopen::sendSDO_unknown (uint8_t CANid, SDOkey sdo, int32_t value)
void canopen::sendSync ()
void canopen::setMotorState (uint16_t CANid, std::string targetState)
void canopen::setNMTState (uint16_t CANid, std::string targetState)
void canopen::setObjects ()
const SDOkey canopen::SHUTDOWN (0x605B, 0x0)
const SDOkey canopen::STATUSWORD (0x6041, 0x0)
const SDOkey canopen::SYNC_TIMEOUT_FACTOR (0x200e, 0x0)
const SDOkey canopen::TPDO (0x1800, 0x0)
const SDOkey canopen::TPDO_map (0x1A00, 0x0)
void canopen::uploadSDO (uint8_t CANid, SDOkey sdo)

Variables

bool canopen::atFirstInit = true
std::string canopen::baudRate
static std::map< std::string,
uint32_t > 
canopen::baudrates
const uint16_t canopen::CONTROL_WORD_DISABLE_VOLTAGE = 0x7D
const uint16_t canopen::CONTROLWORD_DISABLE_INTERPOLATED = 7
const uint16_t canopen::CONTROLWORD_DISABLE_OPERATION = 7
const uint16_t canopen::CONTROLWORD_ENABLE_IP_MODE = 16
const uint16_t canopen::CONTROLWORD_ENABLE_MOVEMENT = 31
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_HALT = 0x100
const uint16_t canopen::CONTROLWORD_QUICKSTOP = 2
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< std::string,
DeviceGroup > 
canopen::deviceGroups
std::map< uint8_t, Device > canopen::devices
static unsigned char const canopen::EMC_k_1001_COMMUNICATION = 0x10
static unsigned char const canopen::EMC_k_1001_CURRENT = 0x02
static unsigned char const canopen::EMC_k_1001_DEV_PROF_SPEC = 0x20
static unsigned char const canopen::EMC_k_1001_GENERIC = 0x01
static unsigned char const canopen::EMC_k_1001_MANUFACTURER = 0x80
static unsigned char const canopen::EMC_k_1001_RESERVED = 0x40
static unsigned char const canopen::EMC_k_1001_TEMPERATURE = 0x08
static unsigned char const canopen::EMC_k_1001_VOLTAGE = 0x04
std::function< void(uint16_t
CANid) > 
canopen::geterrors
HANDLE canopen::h
bool canopen::halt_active
bool canopen::halt_negative
bool canopen::halt_positive
const uint16_t canopen::HEARTBEAT_TIME = 1500
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::incomingEMCYHandlers
std::map< uint16_t,
std::function< void(const
TPCANRdMsg m)> > 
canopen::incomingPDOHandlers
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
static const char *const canopen::modesDisplay []
const std::string canopen::MS_FAULT = "FAULT"
const std::string canopen::MS_FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE"
const std::string canopen::MS_NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON"
const std::string canopen::MS_OPERATION_ENABLED = "OPERATION_ENABLED"
const std::string canopen::MS_QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE"
const std::string canopen::MS_READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON"
const std::string canopen::MS_SWITCHED_ON = "SWITCHED_ON"
const std::string canopen::MS_SWITCHED_ON_DISABLED = "SWITCHED_ON_DISABLED"
const uint8_t canopen::NMT_ENTER_PRE_OPERATIONAL = 0x80
const uint8_t canopen::NMT_RESET_COMMUNICATION = 0x82
const uint8_t canopen::NMT_RESET_NODE = 0x81
const uint8_t canopen::NMT_START_REMOTE_NODE = 0x01
const uint8_t canopen::NMT_STOP_REMOTE_NODE = 0x02
TPCANMsg canopen::NMTmsg
bool canopen::no_position
uint8_t canopen::operation_mode
std::string canopen::operation_mode_param
BYTE canopen::protect_msg []
bool canopen::recover_active
const int canopen::RPDO1_msg = 0x200
const int canopen::RPDO2_msg = 0x300
const int canopen::RPDO3_msg = 0x400
const int canopen::RPDO4_msg = 0x500
const int canopen::RSDO = 0x600
bool canopen::sdo_protect = false
std::function< void(uint16_t
CANid, double positionValue) > 
canopen::sendPos
std::function< void(uint16_t
CANid, double positionValue,
double velocityValue) > 
canopen::sendPosPPMode
std::function< void(uint16_t
CANid, double velocityValue) > 
canopen::sendVel
const uint8_t canopen::SYNC_TIMEOUT_FACTOR_DISABLE_TIMEOUT = 0
std::chrono::milliseconds canopen::syncInterval
TPCANMsg canopen::syncMsg
const int canopen::TPDO1_msg = 0x180
const int canopen::TPDO2_msg = 0x280
const int canopen::TPDO3_msg = 0x380
const int canopen::TPDO4_msg = 0x480
const int canopen::TSDO = 0x580
bool canopen::use_limit_switch = false

Detailed Description

Implementation of canopen driver.

Note:
Copyright (c) 2013
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: ipa_canopen
ROS stack name: ipa_canopen
ROS package name: ipa_canopen_core
Author:
Author: Thiago de Freitas, Tobias Sing, Eduard Herkel
Supervised by: Thiago de Freitas email:tdf@ipa.fhg.de
Date:
Date of creation: December 2012

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file canopen.h.



ipa_canopen_core
Author(s): Tobias Sing, Thiago de Freitas
autogenerated on Mon Oct 6 2014 00:59:25