EtherCAT Slave  1.04.01
ESL_cia402Obd.c

Interface for creating CiA 402 Object Dictionary - "AXES_NUMBER" axes.

Author
KUNBUS GmbH
Date
2020-06-19
Copyright
Copyright (c) 2021, KUNBUS GmbH

All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
  1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  2. 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.
  3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ESL_cia402Obd.h"
#include "ESL_cia402Demo.h"
#include <ecSlvApi.h>
#include <ecApiError.h>
#include <ecApiDef.h>
uint32_t EC_SLV_APP_cia402ObjectDictionary(void* pContext_p)
{
EC_API_SLV_SHandle_t* pEcApiSlv = (EC_API_SLV_SHandle_t*) pContext_p;
EC_API_SLV_SCoE_Object_t* pObj607B = NULL;
EC_API_SLV_SCoE_Object_t* pObj607D = NULL;
EC_API_SLV_SCoE_Object_t* pObj608F = NULL;
EC_API_SLV_SCoE_Object_t* pObj6090 = NULL;
EC_API_SLV_SCoE_Object_t* pObj6091 = NULL;
EC_API_SLV_SCoE_Object_t* pObj6092 = NULL;
EC_API_SLV_SCoE_Object_t* pObj6096 = NULL;
EC_API_SLV_SCoE_Object_t* pObj6099 = NULL;
uint32_t err = EC_API_eERR_NONE;
for(uint8_t axis = 0; axis < AXES_NUMBER; axis++)
{
//Object 0x6007: Abort connection
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(axis), "Abort connection option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6040: Controlword
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_CONTROLWORD_INDEX(axis), "Controlword", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6041: Statusword
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_STATUSWORD_INDEX(axis), "Statusword", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x605A: Quickstop option code
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_QUICKSTOP_INDEX(axis), "Quickstop option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x605B: Shutdown option code
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_SHUTDOWN_INDEX(axis), "Shutdown option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x605C: Disable operation option code
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_DISABLE_OPERATION_INDEX(axis), "Disable operation option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x605D: Halt option code
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HALT_OPTION_CODE_INDEX(axis), "Halt option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x605E: Fault reaction option code
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FAULT_REACTION_INDEX(axis), "Fault reaction option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6060: Mode of operation
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MODES_OF_OPERATION_INDEX(axis), "Modes of operation", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6061: Modes of operation display
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MODES_OF_OPERATION_DISPLAY_INDEX(axis), "Modes of operation display", DEFTYPE_INTEGER8, 8, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6062: Position demand value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_DEMAND_VALUE_INDEX(axis), "Position demand value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6063: Position actual internal value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(axis), "Position actual internal value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6064: Position actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_ACTUAL_VALUE_INDEX(axis), "Position actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6065: Following error window
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_WINDOW_INDEX(axis), "Following error window", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6066: Following error timeout
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(axis), "Following error timeout", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6067: Position window
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_WINDOW_INDEX(axis), "Position window", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6068: Position window time
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_WINDOW_TIME_INDEX(axis), "Position window time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6069: Velocity sensor actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(axis), "Velocity sensor actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x606B: Velocity demand value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_DEMAND_VALUE_INDEX(axis), "Velocity demand value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x606C: Velocity actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_ACTUAL_VALUE_INDEX(axis), "Velocity actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x606D: Velocity window
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_WINDOW_INDEX(axis), "Velocity window", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x606E: Velocity window time
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_WINDOW_TIME_INDEX(axis), "Velocity window time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x606F: Velocity threshold
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_THRESHOLD_INDEX(axis), "Velocity threshold", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6070: Velocity threshold time
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_THRESHOLD_TIME_INDEX(axis), "Velocity threshold time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6071: Target torque
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TARGET_TORQUE_INDEX(axis), "Target torque", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6072: Max torque
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_TORQUE_INDEX(axis), "Max torque", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6074: Torque demand
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TORQUE_DEMAND_INDEX(axis), "Torque demand", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6077: Torque actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TORQUE_ACTUAL_VALUE_INDEX(axis), "Torque actual value", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6078: Current actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_CURRENT_ACTUAL_VALUE_INDEX(axis), "Current actual value", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x607A: Target position
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TARGET_POSITION_INDEX(axis), "Target position", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x607B: Position range limit
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_POSITION_RANGE_LIMIT_INDEX(axis), "Position range limit", NULL, NULL, NULL, NULL, &pObj607B);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj607B)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607B, 1, "Min position range limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607B, 2, "Max position range limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x607C: Home offset
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOME_OFFSET_INDEX(axis), "Home offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x607D: Software position limit
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_SW_POSITION_LIMIT_INDEX(axis), "Software position limit", NULL, NULL, NULL, NULL, &pObj607D);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj607D)
{
EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607D, 1, "Min position limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607D, 2, "Max position limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x607E: Polarity
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POLARITY_INDEX(axis), "Polarity", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6080: Max motor speed
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_MOTOR_SPEED_INDEX(axis), "Max motor speed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6081: Profile velocity
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_VELOCITY_INDEX(axis), "Profile velocity", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6083: Profile acceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_ACCELERATION_INDEX(axis), "Profile acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6084: Profile deceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_DECELERATION_INDEX(axis), "Profile deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6085: Quickstop deceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_QUISTOP_DECELERATION_INDEX(axis), "Quickstop deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6086: Motion profile type
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MOTION_PROFILE_TYPE_INDEX(axis), "Motion profile type", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x608F: Position encoder resolution
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_POSITION_ENCODER_RESOLUTION_INDEX(axis), "Position encoder resolution", NULL, NULL, NULL, NULL, &pObj608F);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj608F)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj608F, 1, "Encoder increments", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj608F, 2, "Motor revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x6090: Velocity encoder resolution
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(axis), "Position encoder resolution", NULL, NULL, NULL, NULL, &pObj6090);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj6090)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6090, 1, "Encoder increments", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6090, 2, "Motor revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x6091: Gear ratio
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_GEAR_RATIO_INDEX(axis), "Gear ratio", NULL, NULL, NULL, NULL, &pObj6091);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj6091)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6091, 1, "Motor shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6091, 2, "Driving shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x6092: Feed constant
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_FEED_CONSTANT_INDEX(axis), "Feed constant", NULL, NULL, NULL, NULL, &pObj6092);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj6092)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6092, 1, "Feed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6092, 2, "Shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x6096: Velocity factor
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_VELOCITY_FACTOR_INDEX(axis), "Velocity factor", NULL, NULL, NULL, NULL, &pObj6096);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj6096)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6096, 1, "Numerator", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6096, 2, "Divisor", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x6098: Homing method
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOMING_METHOD_INDEX(axis), "Homing method", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6099: Homing speeds
err = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_HOMING_SPEEDS_INDEX(axis), "Homing speeds", NULL, NULL, NULL, NULL, &pObj6099);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
if(pObj6099)
{
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6099, 1, "Switch seek velocity", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
err = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6099, 2, "Homing speed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
//Object 0x609A: Homing acceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOMING_ACCELERATION_INDEX(axis), "Homing acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60B0: Position offset
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_OFFSET_INDEX(axis), "Position offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60B1: Velocity offset
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_OFFSET_INDEX(axis), "Velocity offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60B2: Torque offset
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TORQUE_OFFSET_INDEX(axis), "Torque offset", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60B8: Touch probe function
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_FUNCTION_INDEX(axis), "Touch probe function", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60B9: Touch probe status
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_STATUS_INDEX(axis), "Touch probe status", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60BA: Touch probe 1 positive edge
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(axis), "Touch probe 1 postive edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60BB: Touch probe 1 negative edge
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(axis), "Touch probe 1 negative edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60BC: Touch probe 2 positive edge
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(axis), "Touch probe 2 postive edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60BD: Touch probe 2 negative edge
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(axis), "Touch probe 2 negative edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60C2: Interpolation time period
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_INTERPOLATION_TIME_PERIOD_INDEX(axis), "Interpolation time period", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60C5: Max acceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_ACCELERATION_INDEX(axis), "Max acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60C6: Max deceleration
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_DECELERATION_INDEX(axis), "Max deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60D5: Touch probe 1 positive edge counter
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(axis), "Touch probe 1 positive edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60D6: Touch probe 1 negative edge counter
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(axis), "Touch probe 2 negative edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60D7: Touch probe 2 positive edge counter
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(axis), "Touch probe 1 positive edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60D8: Touch probe 2 negative edge counter
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(axis), "Touch probe 2 negative edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60E0: Positive torque limit value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(axis), "Positive torque limit value", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60E1: Negative torque limit value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(axis), "Negative torque limit value", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60F4: Following error actual value
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(axis), "Following error actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x60FF: Target velocity
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TARGET_VELOCITY_INDEX(axis), "Target velocity", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
//Object 0x6502: Support drive modes
err = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_SUPPORTED_DRIVE_MODES_INDEX(axis), "Support drive modes", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
if (err != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FILE__, __LINE__, __FUNCTION__, err);
goto Exit;
}
}
err = EC_API_eERR_NONE;
Exit:
return err;
}
OBD_FOLLOWING_ERROR_TIMEOUT_INDEX
#define OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(x)
Definition: ecApiDef.h:556
OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX
#define OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:615
OBD_MAX_ACCELERATION_INDEX
#define OBD_MAX_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:610
OBD_HOMING_METHOD_INDEX
#define OBD_HOMING_METHOD_INDEX(x)
Definition: ecApiDef.h:594
OBD_ABORT_CONNECTION_OPTION_CODE_INDEX
#define OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(x)
Definition: ecApiDef.h:538
OBD_VELOCITY_WINDOW_TIME_INDEX
#define OBD_VELOCITY_WINDOW_TIME_INDEX(x)
Definition: ecApiDef.h:564
EC_API_SLV_CoE_odAddVariable
uint32_t EC_API_SLV_CoE_odAddVariable(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, char *pName_p, uint16_t type_p, uint16_t bitLen_p, uint16_t flags_p, EC_API_SLV_CBObjRead_t cbRead_p, void *pReadCtxt_p, EC_API_SLV_CBObjWrite_t cbWrite_p, void *pWriteCtxt_p)
This function creates a Base Data Type Object for the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:522
OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX
#define OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:560
OBD_POSITION_WINDOW_INDEX
#define OBD_POSITION_WINDOW_INDEX(x)
Definition: ecApiDef.h:557
OBD_MODES_OF_OPERATION_DISPLAY_INDEX
#define OBD_MODES_OF_OPERATION_DISPLAY_INDEX(x)
Definition: ecApiDef.h:550
DEFTYPE_INTEGER16
#define DEFTYPE_INTEGER16
INTEGER16.
Definition: ecApiDef.h:67
OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX
#define OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:613
OBD_MODES_OF_OPERATION_INDEX
#define OBD_MODES_OF_OPERATION_INDEX(x)
Definition: ecApiDef.h:549
OBJACCESS_TXPDOMAPPING
#define OBJACCESS_TXPDOMAPPING
Mappable in TxPDOs.
Definition: ecApiDef.h:143
DEFTYPE_INTEGER8
#define DEFTYPE_INTEGER8
INTEGER8.
Definition: ecApiDef.h:66
OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX
#define OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:616
OBD_TARGET_POSITION_INDEX
#define OBD_TARGET_POSITION_INDEX(x)
Definition: ecApiDef.h:573
OBD_SHUTDOWN_INDEX
#define OBD_SHUTDOWN_INDEX(x)
Definition: ecApiDef.h:544
OBD_STATUSWORD_INDEX
#define OBD_STATUSWORD_INDEX(x)
Definition: ecApiDef.h:541
OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX
#define OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition: ecApiDef.h:618
OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX
#define OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:614
OBD_VELOCITY_DEMAND_VALUE_INDEX
#define OBD_VELOCITY_DEMAND_VALUE_INDEX(x)
Definition: ecApiDef.h:561
ACCESS_READWRITE
#define ACCESS_READWRITE
Read/write in all states.
Definition: ecApiDef.h:132
OBD_HALT_OPTION_CODE_INDEX
#define OBD_HALT_OPTION_CODE_INDEX(x)
Definition: ecApiDef.h:546
OBD_FOLLOWING_ERROR_WINDOW_INDEX
#define OBD_FOLLOWING_ERROR_WINDOW_INDEX(x)
Definition: ecApiDef.h:555
OBD_TORQUE_OFFSET_INDEX
#define OBD_TORQUE_OFFSET_INDEX(x)
Definition: ecApiDef.h:600
OBD_TOUCH_PROBE_FUNCTION_INDEX
#define OBD_TOUCH_PROBE_FUNCTION_INDEX(x)
Definition: ecApiDef.h:602
OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX
#define OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(x)
Definition: ecApiDef.h:607
DEFTYPE_INTEGER32
#define DEFTYPE_INTEGER32
INTEGER32.
Definition: ecApiDef.h:68
OBD_MOTION_PROFILE_TYPE_INDEX
#define OBD_MOTION_PROFILE_TYPE_INDEX(x)
Definition: ecApiDef.h:586
OBD_VELOCITY_OFFSET_INDEX
#define OBD_VELOCITY_OFFSET_INDEX(x)
Definition: ecApiDef.h:599
OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX
#define OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition: ecApiDef.h:619
EC_API_SLV_SCoE_Object_t
struct EC_API_SLV_SCoE_Object EC_API_SLV_SCoE_Object_t
TSdo describes an Object Dictionary Object.
Definition: ecSlvApi.h:131
EC_API_SLV_SHandle_t
struct EC_API_SLV_SHandle EC_API_SLV_SHandle_t
EC_API_SLV_SHandle_t describes the EtherCAT Slave API.
Definition: ecSlvApi.h:134
OBD_TOUCH_PROBE_1_POS_EDGE_INDEX
#define OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(x)
Definition: ecApiDef.h:604
OBD_INTERPOLATION_TIME_PERIOD_INDEX
#define OBD_INTERPOLATION_TIME_PERIOD_INDEX(x)
Definition: ecApiDef.h:609
OBD_POSITION_RANGE_LIMIT_INDEX
#define OBD_POSITION_RANGE_LIMIT_INDEX(x)
Definition: ecApiDef.h:575
OBD_POSITION_ENCODER_RESOLUTION_INDEX
#define OBD_POSITION_ENCODER_RESOLUTION_INDEX(x)
Definition: ecApiDef.h:588
OBD_POSITION_OFFSET_INDEX
#define OBD_POSITION_OFFSET_INDEX(x)
Definition: ecApiDef.h:598
OBD_VELOCITY_THRESHOLD_TIME_INDEX
#define OBD_VELOCITY_THRESHOLD_TIME_INDEX(x)
Definition: ecApiDef.h:566
EC_SLV_APP_cia402ObjectDictionary
uint32_t EC_SLV_APP_cia402ObjectDictionary(void *pContext_p)
Generate CiA402 Objects.
Definition: ESL_cia402Obd.c:80
OBD_TOUCH_PROBE_STATUS_INDEX
#define OBD_TOUCH_PROBE_STATUS_INDEX(x)
Definition: ecApiDef.h:603
OBD_QUISTOP_DECELERATION_INDEX
#define OBD_QUISTOP_DECELERATION_INDEX(x)
Definition: ecApiDef.h:585
OBD_PROFILE_VELOCITY_INDEX
#define OBD_PROFILE_VELOCITY_INDEX(x)
Definition: ecApiDef.h:582
OBD_FAULT_REACTION_INDEX
#define OBD_FAULT_REACTION_INDEX(x)
Definition: ecApiDef.h:547
OBD_HOMING_SPEEDS_INDEX
#define OBD_HOMING_SPEEDS_INDEX(x)
Definition: ecApiDef.h:595
OBD_DISABLE_OPERATION_INDEX
#define OBD_DISABLE_OPERATION_INDEX(x)
Definition: ecApiDef.h:545
OBD_VELOCITY_WINDOW_INDEX
#define OBD_VELOCITY_WINDOW_INDEX(x)
Definition: ecApiDef.h:563
OBD_PROFILE_DECELERATION_INDEX
#define OBD_PROFILE_DECELERATION_INDEX(x)
Definition: ecApiDef.h:584
OBD_HOME_OFFSET_INDEX
#define OBD_HOME_OFFSET_INDEX(x)
Definition: ecApiDef.h:576
OBD_CONTROLWORD_INDEX
#define OBD_CONTROLWORD_INDEX(x)
Definition: ecApiDef.h:540
OBD_POSITION_ACTUAL_VALUE_INDEX
#define OBD_POSITION_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:554
OBD_GEAR_RATIO_INDEX
#define OBD_GEAR_RATIO_INDEX(x)
Definition: ecApiDef.h:590
ACCESS_READ
#define ACCESS_READ
Read only in all states.
Definition: ecApiDef.h:133
EC_API_SLV_CoE_configRecordSubIndex
uint32_t EC_API_SLV_CoE_configRecordSubIndex(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint8_t subIndex_p, char *pName_p, uint16_t type_p, uint16_t bitLen_p, uint16_t flags_p)
This function creates a subIndex for the Record Object.
Definition: ecSlvApi_CoEStub.c:678
OBD_FEED_CONSTANT_INDEX
#define OBD_FEED_CONSTANT_INDEX(x)
Definition: ecApiDef.h:591
OBD_TORQUE_ACTUAL_VALUE_INDEX
#define OBD_TORQUE_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:571
OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX
#define OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:621
OBD_TARGET_TORQUE_INDEX
#define OBD_TARGET_TORQUE_INDEX(x)
Definition: ecApiDef.h:568
OBD_SUPPORTED_DRIVE_MODES_INDEX
#define OBD_SUPPORTED_DRIVE_MODES_INDEX(x)
Definition: ecApiDef.h:624
OBD_TORQUE_DEMAND_INDEX
#define OBD_TORQUE_DEMAND_INDEX(x)
Definition: ecApiDef.h:570
OBD_TOUCH_PROBE_2_POS_EDGE_INDEX
#define OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(x)
Definition: ecApiDef.h:606
DEFTYPE_UNSIGNED16
#define DEFTYPE_UNSIGNED16
UNSIGNED16.
Definition: ecApiDef.h:70
OBD_CURRENT_ACTUAL_VALUE_INDEX
#define OBD_CURRENT_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:572
OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX
#define OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(x)
Definition: ecApiDef.h:605
EC_API_SLV_CoE_odAddRecord
uint32_t EC_API_SLV_CoE_odAddRecord(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, char *pName_p, EC_API_SLV_CBObjRead_t cbRead_p, void *pReadCtxt_p, EC_API_SLV_CBObjWrite_t cbWrite_p, void *pWriteCtxt_p, EC_API_SLV_SCoE_Object_t **pOutSdo_p)
This function creates a Record Object.
Definition: ecSlvApi_CoEStub.c:629
OBD_PROFILE_ACCELERATION_INDEX
#define OBD_PROFILE_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:583
OBD_SW_POSITION_LIMIT_INDEX
#define OBD_SW_POSITION_LIMIT_INDEX(x)
Definition: ecApiDef.h:577
OBD_TARGET_VELOCITY_INDEX
#define OBD_TARGET_VELOCITY_INDEX(x)
Definition: ecApiDef.h:622
OBD_VELOCITY_THRESHOLD_INDEX
#define OBD_VELOCITY_THRESHOLD_INDEX(x)
Definition: ecApiDef.h:565
OBD_QUICKSTOP_INDEX
#define OBD_QUICKSTOP_INDEX(x)
Definition: ecApiDef.h:543
OBJACCESS_RXPDOMAPPING
#define OBJACCESS_RXPDOMAPPING
Mappable in RxPDOs.
Definition: ecApiDef.h:142
OBD_HOMING_ACCELERATION_INDEX
#define OBD_HOMING_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:596
OBD_POLARITY_INDEX
#define OBD_POLARITY_INDEX(x)
Definition: ecApiDef.h:578
OBD_POSITION_WINDOW_TIME_INDEX
#define OBD_POSITION_WINDOW_TIME_INDEX(x)
Definition: ecApiDef.h:558
DEFTYPE_UNSIGNED32
#define DEFTYPE_UNSIGNED32
UNSIGNED32.
Definition: ecApiDef.h:71
OBD_VELOCITY_ACTUAL_VALUE_INDEX
#define OBD_VELOCITY_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:562
OBD_VELOCITY_FACTOR_INDEX
#define OBD_VELOCITY_FACTOR_INDEX(x)
Definition: ecApiDef.h:592
OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX
#define OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(x)
Definition: ecApiDef.h:553
OBD_MAX_TORQUE_INDEX
#define OBD_MAX_TORQUE_INDEX(x)
Definition: ecApiDef.h:569
OBD_MAX_MOTOR_SPEED_INDEX
#define OBD_MAX_MOTOR_SPEED_INDEX(x)
Definition: ecApiDef.h:581
OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX
#define OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(x)
Definition: ecApiDef.h:589
EC_API_eERR_NONE
@ EC_API_eERR_NONE
Definition: ecApiError.h:66
OBD_MAX_DECELERATION_INDEX
#define OBD_MAX_DECELERATION_INDEX(x)
Definition: ecApiDef.h:611
OBD_POSITION_DEMAND_VALUE_INDEX
#define OBD_POSITION_DEMAND_VALUE_INDEX(x)
Definition: ecApiDef.h:552