CAN API: Structures and Data Types#

.BaseAddr

CPU_ADDR

Controller's registers base address.

.InfoExtPtr

const void *

Extended (driver specific) hardware information.

.IF_Rx

CPU_INT08U

BSP RX interface.

.IF_Tx

CPU_INT08U

BSP TX interface.

.HW_Info

CAN_CTRLR_HW_INFO

Hardware information structure.

.BSP_API_Ptr

const CAN_CTRLR_BSP_API *

Pointer to BSP API structure.

.Open

void(* Open) (void)

BSP open function pointer.

.Close

void(* Close) (void)

BSP close function pointer.

.IntCtrl

void(* IntCtrl) (CAN_BUS_HANDLE bus_handle)

BSP interrupt control pointer.

.TmrCfg

void(* TmrCfg) (CPU_INT32U tmr_period)

BSP timer configuration pointer.

CANOPEN_INVALID

Device in INVALID state.

CANOPEN_INIT

Device in INIT state.

CANOPEN_PREOP

Device in PRE-OPERATIONAL state.

CANOPEN_OPERATIONAL

Device in OPERATIONAL state.

CANOPEN_STOP

Device in STOP state.

CANOPEN_STATE_QTY

Number of device states.

CANOPEN_RESET_NODE

Reset application (and communication).

CANOPEN_RESET_COMM

Reset communication.

CANOPEN_RESET_QTY

Number of reset types.

.RpdoOnRx

CPU_INT16S(* RpdoOnRx) (CANOPEN_NODE_HANDLE handle, CANOPEN_IF_FRM *p_frm)

This callback is used when a RPDO is received.

.TpdoOnTx

void(* TpdoOnTx) (CANOPEN_NODE_HANDLE handle, CANOPEN_IF_FRM *p_frm)

This callback is used before a TPDO is transmitted.

.StateOnChange

void(* StateOnChange) (CANOPEN_NODE_HANDLE handle, CANOPEN_NODE_STATE state)

This callback is used when the NMT state is changed.

.HbcOnEvent

void(* HbcOnEvent) (CANOPEN_NODE_HANDLE handle, CPU_INT08U node_id)

This callback is used when a heartbeat consumer monitor timer elapses, before receiving the corresponding heartbeat message.

.HbcOnChange

void(* HbcOnChange) (CANOPEN_NODE_HANDLE handle, CPU_INT08U node_id, CANOPEN_NODE_STATE state)

This callback is used when a heartbeat consumer monitor detects a state change, of a monitored node.

.ParamOnLoad

CPU_BOOLEAN(* ParamOnLoad) (CANOPEN_NODE_HANDLE handle, CANOPEN_PARAM *p_pg)

This callback is used when the NMT slave node is reseted by the NMT master node.

.ParamOnSave

CPU_BOOLEAN(* ParamOnSave) (CANOPEN_NODE_HANDLE handle, CANOPEN_PARAM *p_pg)

This callback is used when the standard object "Store" at index 0x1010 is written.

.ParamOnDflt

CPU_BOOLEAN(* ParamOnDflt) (CANOPEN_NODE_HANDLE handle, CANOPEN_PARAM *p_pg)

This callback is used when the standard object "Restore default parameters" at index 0x1011 is written.

.Id

CPU_INT16U

Unique action identifier.

.NextActionPtr

CANOPEN_TMR_ACTION *

Link to next action.

.Fnct

CANOPEN_TMR_FNCT

Pointer to callback function.

.ParamPtr

void *

Callback function parameter.

.CycleTime

CPU_INT32U

Action cycle time in ticks.

.Action

canopen_tmr_action

Memory portion for action info.

.Tmr

canopen_tmr_time

Memory portion for timer info.

.MemBlkSize

CPU_INT32U

Size of parameter memory block.

.StartMemBlkPtr

CPU_INT08U *

Start of parameter memory block.

.DfltMemBlkPtr

CPU_INT08U *

Start of default memory block.

.ResetType

CANOPEN_NMT_RESET

Parameter reset type.

.IdPtr

void *

Pointer to User Identification-Code for this group.

.Val

CPU_INT32U

Value when reading parameter object.

.SvcTaskStkSizeElements

CPU_INT32U

Service task's stack size, in quantity of elements.

.SvcTaskStkPtr

void *

Pointer to Service stack's stack base.

.MemSegPtr

MEM_SEG *

Pointer to memory segment used for internal data.

.EventQtyTot

CPU_SIZE_T

Number of events allocated from the pool.

.HwTmrPeriod

CPU_INT32U

Timer base time in microsecond.

.Key

CPU_INT32U

Bitmap with information about object (see Note #2).

.TypePtr

canopen_obj_type *

Pointer to object access specialized functions. See Note #3.

.Data

CPU_INT32U

Address of value/data structure or data value for direct access.

.NextPtr

CANOPEN_TMR_TIME *

Link to next timer.

.ActionPtr

canopen_tmr_action *

Root of linked action list.

.ActionEndPtr

canopen_tmr_action *

Last element in linked action list.

.Delta

CPU_INT32U

Delta ticks from previous timer event.

.MsgId

CPU_INT32U

CAN message identifier.

.Data

CPU_INT08U

CAN message Data (payload).

.DLC

CPU_INT08U

CAN message data length code (DLC).

.MsgNbr

CPU_INT08U

CAN message number.

.SizeCb

CANOPEN_OBJ_SIZE_FNCT

Get size of type function.

.CtrlCb

CANOPEN_OBJ_CTRL_FNCT

Special type control function.

.RdCb

CANOPEN_OBJ_RD_FNCT

Read function.

.WrCb

CANOPEN_OBJ_WR_FNCT

Write function.

.NodeId

CPU_INT08U

Default Node ID.

.Baudrate

CPU_INT32U

Default baudrate for this node.

.DictPtr

CANOPEN_OBJ *

Pointer to object dictionary associated to node.

.DictLen

CPU_INT16U

Object dictionary (maximum) length.

.EmcyCodePtr

CANOPEN_EMCY_TBL *

Pointer to application EMCY information fields.

.TmrMemPtr

CANOPEN_TMR_MEM *

Pointer to timer memory blocks.

.TmrQty

CPU_INT16U

Number of timer memory blocks.

.SdoBufPtr

CPU_INT08U *

Pointer to SDO transfer buffer memory.

.DataMemStartPtr

CPU_INT08U *

Pointer to Domain/String memory region.

.DataMemSize

CPU_INT32U

Domain/String memory region size, in bytes.

.DataMemOffset

CPU_INT32U

Offset within Domain/String memory region.

.TotLen

CPU_INT08U

Total length of EMCY history.

.HistQty

CPU_INT08U

Number of EMCY in history.

.Offset

CPU_INT08U

Sub-index-Offset to newest EMCY entry.

.Reg

CPU_INT08U

Bit number (0..7) in error register.

.Code

CPU_INT16U

Error code (See Note #1).

.Hist

CPU_INT16U

Manufacturer specific field in History.

.Emcy

CPU_INT08U

Manufacturer specific field in EMCY message.

.NextPtr

CANOPEN_HBCONS *

Link to next consumer in active chain.

.State

CANOPEN_NODE_STATE

Received Node-State.

.TmrId

CPU_INT16S

Timer Identifier.

.TimeMs

CPU_INT16U

Time (Bit 00-15 when read object).

.NodeId

CPU_INT08U

Node ID (Bit 16-23 when read object).

.MissedEventCnt

CPU_INT08U

Event Counter.