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"
Include dependency graph for canopen.h:
This graph shows which files directly or indirectly include this file:
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::ABORT_CONNECTION (0x6007, 0x0) |
| void | canopen::clearRPDOMapping (std::string chainName, int object) |
| void | canopen::clearTPDOMapping (std::string chainName, 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 (std::string chainName) |
| const SDOkey | canopen::DISABLE_CODE (0x605C, 0x0) |
| void | canopen::disableRPDO (std::string chainName, int object) |
| void | canopen::disableTPDO (std::string chainName, int object) |
| const SDOkey | canopen::DRIVERTEMPERATURE (0x22A2, 0x0) |
| void | canopen::enableRPDO (std::string chainName, int object) |
| void | canopen::enableTPDO (std::string chainName, 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::string chainName, 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::string chainName, std::chrono::milliseconds syncInterval) |
| bool | canopen::init (std::string deviceFile, std::string chainName, const int8_t mode_of_operation) |
| void | canopen::initDeviceManagerThread (std::string chainName, std::function< void(std::string)> 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 (std::string chainName, int object, std::vector< std::string > registers, std::vector< int > sizes, u_int8_t sync_type) |
| void | canopen::makeTPDOMapping (std::string chainName, 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 (std::string chainName) |
| void | canopen::pre_init (std::string chainName) |
| 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::string chainName, 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 (std::string chainName) |
| bool | canopen::setOperationMode (uint16_t CANid, const int8_t targetMode, double timeout=3.0) |
| 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 |
| int | canopen::initTrials = 0 |
| const int8_t | canopen::IP_TIME_INDEX_HUNDREDMICROSECONDS = 0xFC |
| const int8_t | canopen::IP_TIME_INDEX_MILLISECONDS = 0xFD |
| std::vector< std::thread > | canopen::managerThreads |
| const int8_t | canopen::MODES_OF_OPERATION_HOMING_MODE = 0x6 |
| const int8_t | canopen::MODES_OF_OPERATION_INTERPOLATED_POSITION_MODE = 0x7 |
| const int8_t | canopen::MODES_OF_OPERATION_PROFILE_POSITION_MODE = 0x1 |
| const int8_t | canopen::MODES_OF_OPERATION_PROFILE_VELOCITY_MODE = 0x3 |
| const int8_t | canopen::MODES_OF_OPERATION_TORQUE_PROFILE_MODE = 0x4 |
| const int8_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 |
| std::vector< std::string > | canopen::openDeviceFiles |
| 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
- 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:
- Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
- Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
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.