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nuttx-apps/examples/lely_master/sdev_master.c
raiden00pl 962d90bb6e examples: add Lely CANopen master example 
add Lely CANopen master example

Signed-off-by: raiden00pl <raiden00@railab.me>
2026-07-06 11:02:13 -03:00

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/****************************************************************************
* apps/examples/lely_master/sdev_master.c
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "sdev.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define CO_SDEV_STRING(s) s
/****************************************************************************
* Private Data
****************************************************************************/
/* Object 0x1000 sub-objects */
static const struct co_ssub g_1000_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Device type"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1001 sub-objects */
static const struct co_ssub g_1001_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Error register"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = CO_UNSIGNED8_MIN,
#endif
.val.u8 = CO_UNSIGNED8_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1005 sub-objects */
static const struct co_ssub g_1005_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID SYNC message"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x40000080lu,
#endif
.val.u32 = 0x40000080lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1006 sub-objects */
static const struct co_ssub g_1006_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Communication cycle period"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x000186a0lu,
#endif
.val.u32 = 0x000186a0lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1012 sub-objects */
static const struct co_ssub g_1012_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID time stamp object"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x80000100lu,
#endif
.val.u32 = 0x80000100lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1017 sub-objects */
static const struct co_ssub g_1017_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Producer heartbeat time"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED16,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u16 = CO_UNSIGNED16_MIN,
.max.u16 = CO_UNSIGNED16_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u16 = 0x0032,
#endif
.val.u16 = 0x0032,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1018 sub-objects */
static const struct co_ssub g_1018_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Highest sub-index supported"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x04,
#endif
.val.u8 = 0x04,
.access = CO_ACCESS_CONST,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Vendor-ID"),
#endif
.subidx = 0x01,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x00000360lu,
#endif
.val.u32 = 0x00000360lu,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Product code"),
#endif
.subidx = 0x02,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Revision number"),
#endif
.subidx = 0x03,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Serial number"),
#endif
.subidx = 0x04,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1280 sub-objects */
static const struct co_ssub g_1280_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Highest sub-index supported"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x03,
#endif
.val.u8 = 0x03,
.access = CO_ACCESS_CONST,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID client to server"),
#endif
.subidx = 0x01,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x00000602lu,
#endif
.val.u32 = 0x00000602lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID server to client"),
#endif
.subidx = 0x02,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x00000582lu,
#endif
.val.u32 = 0x00000582lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Node-ID of the SDO server"),
#endif
.subidx = 0x03,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x02,
#endif
.val.u8 = 0x02,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1400 sub-objects */
static const struct co_ssub g_1400_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Highest sub-index supported"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x02,
#endif
.val.u8 = 0x02,
.access = CO_ACCESS_CONST,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID"),
#endif
.subidx = 0x01,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x00000182lu,
#endif
.val.u32 = 0x00000182lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Transmission type"),
#endif
.subidx = 0x02,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x01,
#endif
.val.u8 = 0x01,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1600 sub-objects */
static const struct co_ssub g_1600_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Number of mapped objects"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED8,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u8 = CO_UNSIGNED8_MIN,
.max.u8 = CO_UNSIGNED8_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u8 = 0x01,
#endif
.val.u8 = 0x01,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Mapping 1"),
#endif
.subidx = 0x01,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = 0x21000020lu,
#endif
.val.u32 = 0x21000020lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x1f80 sub-objects */
static const struct co_ssub g_1f80_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("NMT startup"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = 0x00000000lu,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
| CO_OBJ_FLAGS_PARAMETER_VALUE
}
};
/* Object 0x2000 sub-objects */
static const struct co_ssub g_2000_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Object with custom SDO download callback"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RW,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x2001 sub-objects */
static const struct co_ssub g_2001_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Object with custom SDO upload callback"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RO,
.pdo_mapping = 0,
.flags = 0
}
};
/* Object 0x2100 sub-objects */
static const struct co_ssub g_2100_sub[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Counter"),
#endif
.subidx = 0x00,
.type = CO_DEFTYPE_UNSIGNED32,
#if !LELY_NO_CO_OBJ_LIMITS
.min.u32 = CO_UNSIGNED32_MIN,
.max.u32 = CO_UNSIGNED32_MAX,
#endif
#if !LELY_NO_CO_OBJ_DEFAULT
.def.u32 = CO_UNSIGNED32_MIN,
#endif
.val.u32 = CO_UNSIGNED32_MIN,
.access = CO_ACCESS_RW,
.pdo_mapping = 1,
.flags = 0
}
};
/* Object dictionary */
static const struct co_sobj g_g_sdev_master_objs[] =
{
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Device type"),
#endif
.idx = 0x1000,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1000_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Error register"),
#endif
.idx = 0x1001,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1001_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID SYNC message"),
#endif
.idx = 0x1005,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1005_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Communication cycle period"),
#endif
.idx = 0x1006,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1006_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("COB-ID time stamp object"),
#endif
.idx = 0x1012,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1012_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Producer heartbeat time"),
#endif
.idx = 0x1017,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1017_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Identity object"),
#endif
.idx = 0x1018,
.code = CO_OBJECT_RECORD,
.nsub = 5,
.subs = g_1018_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("SDO client parameter"),
#endif
.idx = 0x1280,
.code = CO_OBJECT_RECORD,
.nsub = 4,
.subs = g_1280_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("RPDO communication parameter"),
#endif
.idx = 0x1400,
.code = CO_OBJECT_RECORD,
.nsub = 3,
.subs = g_1400_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("RPDO mapping parameter"),
#endif
.idx = 0x1600,
.code = CO_OBJECT_RECORD,
.nsub = 2,
.subs = g_1600_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("NMT startup"),
#endif
.idx = 0x1f80,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_1f80_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Object with custom SDO download callback"),
#endif
.idx = 0x2000,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_2000_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Object with custom SDO upload callback"),
#endif
.idx = 0x2001,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_2001_sub
},
{
#if !LELY_NO_CO_OBJ_NAME
.name = CO_SDEV_STRING("Counter"),
#endif
.idx = 0x2100,
.code = CO_OBJECT_VAR,
.nsub = 1,
.subs = g_2100_sub
}
};
/****************************************************************************
* Public Data
****************************************************************************/
const struct co_sdev g_sdev_master =
{
.id = 0x01,
.name = NULL,
.vendor_name = CO_SDEV_STRING("Apache NuttX RTOS"),
.vendor_id = 0x00000000,
.product_name = NULL,
.product_code = 0x00000000,
.revision = 0x00000000,
.order_code = NULL,
.baud = CO_BAUD_125,
.rate = 0,
.lss = 0,
.dummy = 0x000000fe,
.nobj = 14,
.objs = g_g_sdev_master_objs
};
/****************************************************************************
* Public Functions
****************************************************************************/
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