Classes
class	Device
class	DeviceGroup
struct	SDOkey
Functions
const SDOkey	ABORT_CONNECTION (0x6007, 0x0)
void	clearRPDOMapping (std::string chainName, int object)
void	clearTPDOMapping (std::string chainName, int object)
void	controlPDO (uint8_t CANid, u_int16_t control1, u_int16_t control2)
const SDOkey	CONTROLWORD (0x6040, 0x0)
void	defaultEMCY_incoming (uint16_t CANid, const TPCANRdMsg m)
void	defaultListener ()
void	defaultPDO_incoming (uint16_t CANid, const TPCANRdMsg m)
void	defaultPDO_incoming_pos (uint16_t CANid, const TPCANRdMsg m)
void	defaultPDO_incoming_status (uint16_t CANid, const TPCANRdMsg m)
void	defaultPDOOutgoing (uint16_t CANid, double positionValue)
void	defaultPDOOutgoing_interpolated (uint16_t CANid, double positionValue)
void	deviceManager (std::string chainName)
const SDOkey	DISABLE_CODE (0x605C, 0x0)
void	disableRPDO (std::string chainName, int object)
void	disableTPDO (std::string chainName, int object)
const SDOkey	DRIVERTEMPERATURE (0x22A2, 0x0)
void	enableRPDO (std::string chainName, int object)
void	enableTPDO (std::string chainName, int object)
const SDOkey	ERROR_CODE (0x603F, 0x0)
const SDOkey	ERRORWORD (0x1001, 0x0)
void	errorword_incoming (uint8_t CANid, BYTE data[8])
const SDOkey	FAULT (0x605E, 0x0)
void	getErrors (uint16_t CANid)
void	halt (std::string deviceFile, std::string chainName, std::chrono::milliseconds syncInterval)
const SDOkey	HALT (0x605D, 0x0)
const SDOkey	HEARTBEAT (0x1017, 0x0)
const SDOkey	IDENTITYPRODUCTCODE (0x1018, 0x02)
const SDOkey	IDENTITYREVNUMBER (0x1018, 0x03)
const SDOkey	IDENTITYVENDORID (0x1018, 0x01)
bool	init (std::string deviceFile, std::string chainName, std::chrono::milliseconds syncInterval)
bool	init (std::string deviceFile, std::string chainName, const int8_t mode_of_operation)
void	initDeviceManagerThread (std::string chainName, std::function< void(std::string)> const &deviceManager)
void	initListenerThread (std::function< void()> const &listener)
const SDOkey	IP_TIME_INDEX (0x60C2, 0x2)
const SDOkey	IP_TIME_UNITS (0x60C2, 0x1)
void	makeRPDOMapping (std::string chainName, int object, std::vector< std::string > registers, std::vector< int > sizes, u_int8_t sync_type)
void	makeTPDOMapping (std::string chainName, int object, std::vector< std::string > registers, std::vector< int > sizes, u_int8_t sync_type)
const SDOkey	MANUFACTURER (0x1002, 0x0)
void	manufacturer_incoming (uint8_t CANid, BYTE data[8])
const SDOkey	MANUFACTURERDEVICENAME (0x1008, 0x0)
const SDOkey	MANUFACTURERHWVERSION (0x1009, 0x0)
const SDOkey	MANUFACTURERSOFTWAREVERSION (0x100A, 0x0)
double	mdeg2rad (int32_t alpha)
const SDOkey	MODES (0x6060, 0x0)
const SDOkey	MODES_OF_OPERATION (0x6060, 0x0)
const SDOkey	MODES_OF_OPERATION_DISPLAY (0x6061, 0x0)
std::vector< char >	obtainManDevName (uint16_t CANid, int size_name)
std::vector< char >	obtainManHWVersion (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< char >	obtainManSWVersion (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< uint16_t >	obtainProdCode (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
uint16_t	obtainRevNr (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
std::vector< uint16_t >	obtainVendorID (uint16_t CANid)
bool	openConnection (std::string devName, std::string baudrate)
bool	operator< (const SDOkey &a, const SDOkey &b)
void	pdoChanged (std::string chainName)
void	pre_init (std::string chainName)
void	processSingleSDO (uint8_t CANid, std::shared_ptr< TPCANRdMsg > message)
const SDOkey	QUICK_STOP (0x605A, 0x0)
int32_t	rad2mdeg (double phi)
void	readErrorsRegister (uint16_t CANid, std::shared_ptr< TPCANRdMsg > m)
void	readManErrReg (uint16_t CANid)
bool	recover (std::string deviceFile, std::string chainName, std::chrono::milliseconds syncInterval)
void	requestDataBlock1 (uint8_t CANid)
void	requestDataBlock2 (uint8_t CANid)
const SDOkey	RPDO (0x1400, 0x0)
const SDOkey	RPDO_map (0x1600, 0x0)
const SDOkey	SCHUNKDETAIL (0x200b, 0x3)
const SDOkey	SCHUNKLINE (0x200b, 0x1)
void	sdo_incoming (uint8_t CANid, BYTE data[8])
void	sendNMT (uint8_t CANid, uint8_t command)
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, uint16_t value)
void	sendSDO (uint8_t CANid, SDOkey sdo, uint8_t value)
void	sendSDO_unknown (uint8_t CANid, SDOkey sdo, int32_t value)
void	sendSync ()
void	setMotorState (uint16_t CANid, std::string targetState)
void	setNMTState (uint16_t CANid, std::string targetState)
void	setObjects (std::string chainName)
bool	setOperationMode (uint16_t CANid, const int8_t targetMode, double timeout=3.0)
const SDOkey	SHUTDOWN (0x605B, 0x0)
const SDOkey	STATUSWORD (0x6041, 0x0)
const SDOkey	SYNC_TIMEOUT_FACTOR (0x200e, 0x0)
const SDOkey	TPDO (0x1800, 0x0)
const SDOkey	TPDO_map (0x1A00, 0x0)
void	uploadSDO (uint8_t CANid, SDOkey sdo)
Variables
bool	atFirstInit = true
std::string	baudRate
static std::map< std::string, uint32_t >	baudrates
const uint16_t	CONTROL_WORD_DISABLE_VOLTAGE = 0x7D
const uint16_t	CONTROLWORD_DISABLE_INTERPOLATED = 7
const uint16_t	CONTROLWORD_DISABLE_OPERATION = 7
const uint16_t	CONTROLWORD_ENABLE_IP_MODE = 16
const uint16_t	CONTROLWORD_ENABLE_MOVEMENT = 31
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_HALT = 0x100
const uint16_t	CONTROLWORD_QUICKSTOP = 2
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
std::chrono::duration< double >	elapsed_seconds
static unsigned char const	EMC_k_1001_COMMUNICATION = 0x10
static unsigned char const	EMC_k_1001_CURRENT = 0x02
static unsigned char const	EMC_k_1001_DEV_PROF_SPEC = 0x20
static unsigned char const	EMC_k_1001_GENERIC = 0x01
static unsigned char const	EMC_k_1001_MANUFACTURER = 0x80
static unsigned char const	EMC_k_1001_RESERVED = 0x40
static unsigned char const	EMC_k_1001_TEMPERATURE = 0x08
static unsigned char const	EMC_k_1001_VOLTAGE = 0x04
std::chrono::time_point < std::chrono::high_resolution_clock >	end
std::function< void(uint16_t CANid) >	geterrors
HANDLE	h
bool	halt_active
bool	halt_negative
bool	halt_positive
const uint16_t	HEARTBEAT_TIME = 1500
std::map< SDOkey, std::function< void(uint8_t CANid, BYTE data[8])> >	incomingDataHandlers
std::map< uint16_t, std::function< void(const TPCANRdMsg m)> >	incomingEMCYHandlers
std::map< uint16_t, std::function< void(const TPCANRdMsg m)> >	incomingPDOHandlers
int	initTrials = 0
const int8_t	IP_TIME_INDEX_HUNDREDMICROSECONDS = 0xFC
const int8_t	IP_TIME_INDEX_MILLISECONDS = 0xFD
std::vector< std::thread >	managerThreads
const int8_t	MODES_OF_OPERATION_HOMING_MODE = 0x6
const int8_t	MODES_OF_OPERATION_INTERPOLATED_POSITION_MODE = 0x7
const int8_t	MODES_OF_OPERATION_PROFILE_POSITION_MODE = 0x1
const int8_t	MODES_OF_OPERATION_PROFILE_VELOCITY_MODE = 0x3
const int8_t	MODES_OF_OPERATION_TORQUE_PROFILE_MODE = 0x4
const int8_t	MODES_OF_OPERATION_VELOCITY_MODE = 0x2
static const char *const	modesDisplay []
const std::string	MS_FAULT = "FAULT"
const std::string	MS_FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE"
const std::string	MS_NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON"
const std::string	MS_OPERATION_ENABLED = "OPERATION_ENABLED"
const std::string	MS_QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE"
const std::string	MS_READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON"
const std::string	MS_SWITCHED_ON = "SWITCHED_ON"
const std::string	MS_SWITCHED_ON_DISABLED = "SWITCHED_ON_DISABLED"
const uint8_t	NMT_ENTER_PRE_OPERATIONAL = 0x80
const uint8_t	NMT_RESET_COMMUNICATION = 0x82
const uint8_t	NMT_RESET_NODE = 0x81
const uint8_t	NMT_START_REMOTE_NODE = 0x01
const uint8_t	NMT_STOP_REMOTE_NODE = 0x02
TPCANMsg	NMTmsg
bool	no_position
std::vector< std::string >	openDeviceFiles
std::string	operation_mode_param
BYTE	protect_msg []
bool	recover_active
const int	RPDO1_msg = 0x200
const int	RPDO2_msg = 0x300
const int	RPDO3_msg = 0x400
const int	RPDO4_msg = 0x500
const int	RSDO = 0x600
bool	sdo_protect = false
std::function< void(uint16_t CANid, double positionValue) >	sendPos
std::function< void(uint16_t CANid, double positionValue, double velocityValue) >	sendPosPPMode
std::function< void(uint16_t CANid, double velocityValue) >	sendVel
std::chrono::time_point < std::chrono::high_resolution_clock >	start
const uint8_t	SYNC_TIMEOUT_FACTOR_DISABLE_TIMEOUT = 0
std::chrono::milliseconds	syncInterval
TPCANMsg	syncMsg
const int	TPDO1_msg = 0x180
const int	TPDO2_msg = 0x280
const int	TPDO3_msg = 0x380
const int	TPDO4_msg = 0x480
const int	TSDO = 0x580
bool	use_limit_switch = false

Function Documentation

const SDOkey canopen::ABORT_CONNECTION	(	0x6007	,
		0x0
	)

void canopen::clearRPDOMapping	(	std::string	chainName,
		int	object
	)

Definition at line 1766 of file ipa_canopen_core.cpp.

void canopen::clearTPDOMapping	(	std::string	chainName,
		int	object
	)

clear mapping

Definition at line 1908 of file ipa_canopen_core.cpp.

void canopen::controlPDO	(	uint8_t	CANid,
		u_int16_t	control1,
		u_int16_t	control2
	)

Definition at line 707 of file ipa_canopen_core.cpp.

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

void canopen::defaultEMCY_incoming	(	uint16_t	CANid,
		const TPCANRdMsg	m
	)

Definition at line 916 of file ipa_canopen_core.cpp.

void canopen::defaultListener ( )

Definition at line 1194 of file ipa_canopen_core.cpp.

void canopen::defaultPDO_incoming	(	uint16_t	CANid,
		const TPCANRdMsg	m
	)

Definition at line 1068 of file ipa_canopen_core.cpp.

void canopen::defaultPDO_incoming_pos	(	uint16_t	CANid,
		const TPCANRdMsg	m
	)

Definition at line 1039 of file ipa_canopen_core.cpp.

void canopen::defaultPDO_incoming_status	(	uint16_t	CANid,
		const TPCANRdMsg	m
	)

Definition at line 928 of file ipa_canopen_core.cpp.

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

Definition at line 893 of file ipa_canopen_core.cpp.

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

Definition at line 877 of file ipa_canopen_core.cpp.

void canopen::deviceManager ( std::string chainName )

Definition at line 836 of file ipa_canopen_core.cpp.

const SDOkey canopen::DISABLE_CODE	(	0x605C	,
		0x0
	)

void canopen::disableRPDO	(	std::string	chainName,
		int	object
	)

Definition at line 1699 of file ipa_canopen_core.cpp.

void canopen::disableTPDO	(	std::string	chainName,
		int	object
	)

Definition at line 1862 of file ipa_canopen_core.cpp.

const SDOkey canopen::DRIVERTEMPERATURE	(	0x22A2	,
		0x0
	)

void canopen::enableRPDO	(	std::string	chainName,
		int	object
	)

Definition at line 1821 of file ipa_canopen_core.cpp.

void canopen::enableTPDO	(	std::string	chainName,
		int	object
	)

Enable tpdo4

Definition at line 1968 of file ipa_canopen_core.cpp.

const SDOkey canopen::ERROR_CODE	(	0x603F	,
		0x0
	)

const SDOkey canopen::ERRORWORD	(	0x1001	,
		0x0
	)

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

Definition at line 1307 of file ipa_canopen_core.cpp.

const SDOkey canopen::FAULT	(	0x605E	,
		0x0
	)

void canopen::getErrors ( uint16_t CANid )

Definition at line 1284 of file ipa_canopen_core.cpp.

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

7

Definition at line 470 of file ipa_canopen_core.cpp.

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
	)

Definition at line 363 of file ipa_canopen_core.cpp.

bool canopen::init	(	std::string	deviceFile,
		std::string	chainName,
		const int8_t	mode_of_operation
	)

Definition at line 142 of file ipa_canopen_core.cpp.

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

Definition at line 828 of file ipa_canopen_core.cpp.

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

Definition at line 1186 of file ipa_canopen_core.cpp.

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
	)

data

Definition at line 1778 of file ipa_canopen_core.cpp.

void canopen::makeTPDOMapping	(	std::string	chainName,
		int	object,
		std::vector< std::string >	registers,
		std::vector< int >	sizes,
		u_int8_t	sync_type
	)

sub ind1=63

data

sub ind1=63

data

Definition at line 1921 of file ipa_canopen_core.cpp.

const SDOkey canopen::MANUFACTURER	(	0x1002	,
		0x0
	)

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

Definition at line 1289 of file ipa_canopen_core.cpp.

const SDOkey canopen::MANUFACTURERDEVICENAME	(	0x1008	,
		0x0
	)

const SDOkey canopen::MANUFACTURERHWVERSION	(	0x1009	,
		0x0
	)

const SDOkey canopen::MANUFACTURERSOFTWAREVERSION	(	0x100A	,
		0x0
	)

double canopen::mdeg2rad ( int32_t alpha ) [inline]

Definition at line 704 of file canopen.h.

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
	)

Definition at line 1440 of file ipa_canopen_core.cpp.

std::vector< char > canopen::obtainManHWVersion	(	uint16_t	CANid,
		std::shared_ptr< TPCANRdMsg >	m
	)

Definition at line 1460 of file ipa_canopen_core.cpp.

std::vector< char > canopen::obtainManSWVersion	(	uint16_t	CANid,
		std::shared_ptr< TPCANRdMsg >	m
	)

Definition at line 1499 of file ipa_canopen_core.cpp.

std::vector< uint16_t > canopen::obtainProdCode	(	uint16_t	CANid,
		std::shared_ptr< TPCANRdMsg >	m
	)

Definition at line 1403 of file ipa_canopen_core.cpp.

uint16_t canopen::obtainRevNr	(	uint16_t	CANid,
		std::shared_ptr< TPCANRdMsg >	m
	)

Definition at line 1426 of file ipa_canopen_core.cpp.

std::vector< uint16_t > canopen::obtainVendorID ( uint16_t CANid )

Definition at line 1397 of file ipa_canopen_core.cpp.

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

Definition at line 109 of file ipa_canopen_core.cpp.

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

Definition at line 696 of file canopen.h.

void canopen::pdoChanged ( std::string chainName )

Definition at line 1676 of file ipa_canopen_core.cpp.

void canopen::pre_init ( std::string chainName )

Definition at line 120 of file ipa_canopen_core.cpp.

void canopen::processSingleSDO	(	uint8_t	CANid,
		std::shared_ptr< TPCANRdMsg >	message
	)

Definition at line 1665 of file ipa_canopen_core.cpp.

const SDOkey canopen::QUICK_STOP	(	0x605A	,
		0x0
	)

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

Definition at line 700 of file canopen.h.

void canopen::readErrorsRegister	(	uint16_t	CANid,
		std::shared_ptr< TPCANRdMsg >	m
	)

Definition at line 1363 of file ipa_canopen_core.cpp.

void canopen::readManErrReg ( uint16_t CANid )

Definition at line 1358 of file ipa_canopen_core.cpp.

bool canopen::recover	(	std::string	deviceFile,
		std::string	chainName,
		std::chrono::milliseconds	syncInterval
	)

Definition at line 380 of file ipa_canopen_core.cpp.

void canopen::requestDataBlock1 ( uint8_t CANid )

Definition at line 671 of file ipa_canopen_core.cpp.

void canopen::requestDataBlock2 ( uint8_t CANid )

Definition at line 689 of file ipa_canopen_core.cpp.

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]
	)

Definition at line 1565 of file ipa_canopen_core.cpp.

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

Definition at line 804 of file canopen.h.

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

Definition at line 737 of file ipa_canopen_core.cpp.

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

Definition at line 754 of file ipa_canopen_core.cpp.

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

Definition at line 807 of file ipa_canopen_core.cpp.

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

Definition at line 788 of file ipa_canopen_core.cpp.

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

Definition at line 771 of file ipa_canopen_core.cpp.

void canopen::sendSync ( ) [inline]

Definition at line 824 of file canopen.h.

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

Definition at line 567 of file ipa_canopen_core.cpp.

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

Definition at line 526 of file ipa_canopen_core.cpp.

void canopen::setObjects ( std::string chainName )

Definition at line 1735 of file ipa_canopen_core.cpp.

bool canopen::setOperationMode	(	uint16_t	CANid,
		const int8_t	targetMode,
		double	timeout = `3.0`
	)

Definition at line 531 of file ipa_canopen_core.cpp.

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
	)

Definition at line 719 of file ipa_canopen_core.cpp.

Variable Documentation

bool canopen::atFirstInit = true

Definition at line 765 of file canopen.h.

std::string canopen::baudRate

Definition at line 77 of file ipa_canopen_core.cpp.

std::map<std::string, uint32_t> canopen::baudrates [static]

Initial value:

 {
        {"1M" , CAN_BAUD_1M},
        {"500K" , CAN_BAUD_500K},
        {"250K" , CAN_BAUD_250K},
        {"125K" , CAN_BAUD_125K},
        {"100K" , CAN_BAUD_100K},
        {"50K" , CAN_BAUD_50K},
        {"20K" , CAN_BAUD_20K},
        {"10K" , CAN_BAUD_10K},
        {"5K" , CAN_BAUD_5K}
    }

Definition at line 92 of file canopen.h.

const uint16_t canopen::CONTROL_WORD_DISABLE_VOLTAGE = 0x7D

Definition at line 943 of file canopen.h.

const uint16_t canopen::CONTROLWORD_DISABLE_INTERPOLATED = 7

Definition at line 941 of file canopen.h.

const uint16_t canopen::CONTROLWORD_DISABLE_OPERATION = 7

Definition at line 942 of file canopen.h.

const uint16_t canopen::CONTROLWORD_ENABLE_IP_MODE = 16

Definition at line 940 of file canopen.h.

const uint16_t canopen::CONTROLWORD_ENABLE_MOVEMENT = 31

Definition at line 938 of file canopen.h.

const uint16_t canopen::CONTROLWORD_ENABLE_OPERATION = 15

Definition at line 937 of file canopen.h.

const uint16_t canopen::CONTROLWORD_FAULT_RESET_0 = 0x00

Definition at line 944 of file canopen.h.

const uint16_t canopen::CONTROLWORD_FAULT_RESET_1 = 0x80

Definition at line 945 of file canopen.h.

const uint16_t canopen::CONTROLWORD_HALT = 0x100

Definition at line 946 of file canopen.h.

const uint16_t canopen::CONTROLWORD_QUICKSTOP = 2

Definition at line 935 of file canopen.h.

const uint16_t canopen::CONTROLWORD_SHUTDOWN = 6

Definition at line 934 of file canopen.h.

const uint16_t canopen::CONTROLWORD_START_HOMING = 16

Definition at line 939 of file canopen.h.

const uint16_t canopen::CONTROLWORD_SWITCH_ON = 7

Definition at line 936 of file canopen.h.

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

Definition at line 79 of file ipa_canopen_core.cpp.

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

Definition at line 78 of file ipa_canopen_core.cpp.

std::chrono::duration<double> canopen::elapsed_seconds

Definition at line 102 of file ipa_canopen_core.cpp.

unsigned char const canopen::EMC_k_1001_COMMUNICATION = 0x10 [static]

Definition at line 851 of file canopen.h.

unsigned char const canopen::EMC_k_1001_CURRENT = 0x02 [static]

Definition at line 848 of file canopen.h.

unsigned char const canopen::EMC_k_1001_DEV_PROF_SPEC = 0x20 [static]

Definition at line 852 of file canopen.h.

unsigned char const canopen::EMC_k_1001_GENERIC = 0x01 [static]

Definition at line 847 of file canopen.h.

unsigned char const canopen::EMC_k_1001_MANUFACTURER = 0x80 [static]

Definition at line 854 of file canopen.h.

unsigned char const canopen::EMC_k_1001_RESERVED = 0x40 [static]

Definition at line 853 of file canopen.h.

unsigned char const canopen::EMC_k_1001_TEMPERATURE = 0x08 [static]

Definition at line 850 of file canopen.h.

unsigned char const canopen::EMC_k_1001_VOLTAGE = 0x04 [static]

Definition at line 849 of file canopen.h.

std::chrono::time_point<std::chrono::high_resolution_clock> canopen::end

Definition at line 100 of file ipa_canopen_core.cpp.

std::function< void (uint16_t CANid) > canopen::geterrors

HANDLE canopen::h

Definition at line 80 of file ipa_canopen_core.cpp.

bool canopen::halt_active

Definition at line 91 of file ipa_canopen_core.cpp.

bool canopen::halt_negative

Definition at line 94 of file ipa_canopen_core.cpp.

bool canopen::halt_positive

Definition at line 93 of file ipa_canopen_core.cpp.

const uint16_t canopen::HEARTBEAT_TIME = 1500

Definition at line 841 of file canopen.h.

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

Definition at line 89 of file ipa_canopen_core.cpp.

std::map< uint16_t, std::function< void(const TPCANRdMsg m)> > canopen::incomingPDOHandlers

Definition at line 85 of file ipa_canopen_core.cpp.

int canopen::initTrials = 0

Definition at line 84 of file ipa_canopen_core.cpp.

const int8_t canopen::IP_TIME_INDEX_HUNDREDMICROSECONDS = 0xFC

Definition at line 961 of file canopen.h.

const int8_t canopen::IP_TIME_INDEX_MILLISECONDS = 0xFD

Definition at line 960 of file canopen.h.

std::vector< std::thread > canopen::managerThreads

Definition at line 81 of file ipa_canopen_core.cpp.

const int8_t canopen::MODES_OF_OPERATION_HOMING_MODE = 0x6

Definition at line 948 of file canopen.h.

const int8_t canopen::MODES_OF_OPERATION_INTERPOLATED_POSITION_MODE = 0x7

Definition at line 953 of file canopen.h.

const int8_t canopen::MODES_OF_OPERATION_PROFILE_POSITION_MODE = 0x1

Definition at line 949 of file canopen.h.

const int8_t canopen::MODES_OF_OPERATION_PROFILE_VELOCITY_MODE = 0x3

Definition at line 951 of file canopen.h.

const int8_t canopen::MODES_OF_OPERATION_TORQUE_PROFILE_MODE = 0x4

Definition at line 952 of file canopen.h.

const int8_t canopen::MODES_OF_OPERATION_VELOCITY_MODE = 0x2

Definition at line 950 of file canopen.h.

const char* const canopen::modesDisplay[] [static]

Initial value:

    {"NO_MODE", "PROFILE_POSITION_MODE", "VELOCITY", "PROFILE_VELOCITY_MODE",
                              "TORQUE_PROFILED_MODE", "RESERVED", "HOMING_MODE", "INTERPOLATED_POSITION_MODE",
                              "CYCLIC_SYNCHRONOUS_POSITION"}

Definition at line 955 of file canopen.h.

const std::string canopen::MS_FAULT = "FAULT"

Definition at line 861 of file canopen.h.

const std::string canopen::MS_FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE"

Definition at line 867 of file canopen.h.

const std::string canopen::MS_NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON"

Definition at line 860 of file canopen.h.

const std::string canopen::MS_OPERATION_ENABLED = "OPERATION_ENABLED"

Definition at line 865 of file canopen.h.

const std::string canopen::MS_QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE"

Definition at line 866 of file canopen.h.

const std::string canopen::MS_READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON"