CANOpenCiA402_Objects.h

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/****************************************************************
 *
 * Copyright (c) 2012
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: CIN-Reha
 * ROS stack name: cob_drivers
 * ROS package name: cob_generic_can
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: 
 * Supervised by:
 *
 * Date of creation: Jan 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. 
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 ****************************************************************/

#ifndef CANOpenCiA401_Objects_INCLUDEDEF_H
#define CANOpenCiA401_Objects_INCLUDEDEF_H
//-----------------------------------------------

/*===============================================
 * Object structure     

struct CANOpenObj
{       
        unsigned short Index;
        unsigned char SubIndex; 
        unsigned char Format;
};

 *=============================================*/
 
class CANOpenCiA401ObjDirectory
{       
        public: 
        
        struct CANOpenObj
        {       
                unsigned short Index;
                unsigned char SubIndex; 
                unsigned char Format; //UInt8/Int8 == 0x2F; Uint16/Int16 == 0x2B; UInt32/Int32 == 0x23
        };
        
        #define Errorcue 5
        
        CANOpenObj manufacturer_status_register;
        CANOpenObj pre_defined_error_field[Errorcue]; 
        CANOpenObj producer_heartbeat_time; 

        
        CANOpenObj controlword;
        CANOpenObj statusword;
        
        CANOpenObj mode_of_operation;
                // modes of operation 
                unsigned char POSITION_MODE; 
                unsigned char VELOCITY_MODE; 
                unsigned char TORQUE_MODE; 
                unsigned char HOMING_MODE; 
                unsigned char IP_MODE; //interpolated mode
        
        CANOpenObj mode_of_operation_display;
        
        CANOpenObj velocity_actual_value; 
        CANOpenObj target_velocity; 
        
        CANOpenObj digital_inputs; 
        
        // constructor
        CANOpenCiA401ObjDirectory()
        {       
                // 0x1000er mandatory objects            
                        pre_defined_error_field[0].Index = 0x1003;
                        pre_defined_error_field[0].SubIndex = 0x00;
                        pre_defined_error_field[0].Format = 0x2f;
                        
                        pre_defined_error_field[1].Index = 0x1003;
                        pre_defined_error_field[1].SubIndex = 0x01;
                        pre_defined_error_field[1].Format = 0x23;
                        
                        pre_defined_error_field[2].Index = 0x1003;
                        pre_defined_error_field[2].SubIndex = 0x02;
                        pre_defined_error_field[2].Format = 0x23;
                        
                        pre_defined_error_field[3].Index = 0x1003;
                        pre_defined_error_field[3].SubIndex = 0x03;
                        pre_defined_error_field[3].Format = 0x23;
                        
                        pre_defined_error_field[4].Index = 0x1003;
                        pre_defined_error_field[4].SubIndex = 0x04;
                        pre_defined_error_field[4].Format = 0x23;
                        
                        manufacturer_status_register.Index = 0x1002;
                        manufacturer_status_register.SubIndex = 0x00;
                        manufacturer_status_register.Format = 0x23;
                        
                        producer_heartbeat_time.Index = 0x1017;
                        producer_heartbeat_time.SubIndex = 0x00;
                        producer_heartbeat_time.Format = 0x2b;
        
                // 0x6000er mandatory objects
                        controlword.Index = 0x6040;
                        controlword.SubIndex = 0x00;
                        controlword.Format = 0x2b;
                        
                        statusword.Index = 0x6041;
                        statusword.SubIndex = 0x00;
                        statusword.Format = 0x2b;
                        
                        mode_of_operation.Index = 0x6060;
                        mode_of_operation.SubIndex = 0x00;
                        mode_of_operation.Format = 0x2f;        
                        
                        // modes of operation values
                        POSITION_MODE = 0x1; 
                        VELOCITY_MODE = 0x3; 
                        TORQUE_MODE = 0x4; 
                        HOMING_MODE = 0x6; 
                        IP_MODE = 0x7;
                        
                        mode_of_operation_display.Index = 0x6061;
                        mode_of_operation_display.SubIndex = 0x00;
                        mode_of_operation_display.Format = 0x2f;        
                
                        velocity_actual_value.Index = 0x606c;
                        velocity_actual_value.SubIndex = 0x00;
                        velocity_actual_value.Format = 0x23;
                        
                        target_velocity.Index = 0x60FF;
                        target_velocity.SubIndex = 0x00;
                        target_velocity.Format = 0x23;
                        
                        digital_inputs.Index = 0x60FD;
                        digital_inputs.SubIndex = 0x00;
                        digital_inputs.Format = 0x23;
        }
        
        // destructor
        ~CANOpenCiA401ObjDirectory()
        {}
};      
        
        

//-----------------------------------------------
#endif