canopen
Version:
CANopen implementation for Javascript
171 lines (129 loc) • 3.79 kB
JavaScript
/**
* @file CANopen type definitions.
* @author Wilkins White
* @copyright 2024 Daxbot
*/
/**
* CANopen object types.
*
* @enum {number}
* @see CiA301 "Object code usage" (§7.4.3)
*/
const ObjectType = {
/** An object with no data fields. */
NULL: 0,
/** Large variable amount of data, e.g. executable program code. */
DOMAIN: 2,
/** Denotes a type definition such as BOOLEAN, UNSIGNED16, etc. */
DEFTYPE: 5,
/** Defines a new record type, e.g. PDO mapping structure. */
DEFSTRUCT: 6,
/** A single value such as an UNSIGNED8, INTEGER16, etc. */
VAR: 7,
/**
* A multiple data field object where each data field is a simple variable
* of the same basic data type, e.g. array of UNSIGNED16. Sub-index 0 of an
* ARRAY is always UNSIGNED8 and therefore not part of the ARRAY data.
*/
ARRAY: 8,
/**
* A multiple data field object where the data fields may be any
* combination of simple variables. Sub-index 0 of a RECORD is always
* UNSIGNED8 and sub-index 255 is always UNSIGNED32 and therefore not part
* of the RECORD data.
*/
RECORD: 9,
};
/**
* CANopen access types.
*
* The access rights for a particular object. The viewpoint is from the network
* into the CANopen device.
*
* @enum {string}
* @see CiA301 "Access usage" (§7.4.5)
*/
const AccessType = {
/** Read and write access. */
READ_WRITE: 'rw',
/** Write only access. */
WRITE_ONLY: 'wo',
/** Read only access. */
READ_ONLY: 'ro',
/**
* Read only access. Contents should not change after initialization.
*/
CONSTANT: 'const',
};
/**
* CANopen data types.
*
* The static data types are placed in the object dictionary at their specified
* index for definition purposes only. Simple types may be mapped to an RPDO
* as a way to define space for data that is not being used by this CANopen
* device.
*
* @enum {number}
* @see CiA301 "Data type entry usage" (§7.4.7)
*/
const DataType = {
/** Boolean value (bool). */
BOOLEAN: 1,
/** 8-bit signed integer (int8_t). */
INTEGER8: 2,
/** 16-bit signed integer (int16_t). */
INTEGER16: 3,
/** 32-bit signed integer (int32_t). */
INTEGER32: 4,
/** 8-bit unsigned integer (uint8_t). */
UNSIGNED8: 5,
/** 16-bit unsigned integer (uint16_t). */
UNSIGNED16: 6,
/** 32-bit unsigned integer (uint32_t). */
UNSIGNED32: 7,
/** 32-bit floating point (float). */
REAL32: 8,
/** Null terminated c-string. */
VISIBLE_STRING: 9,
/** Raw character buffer. */
OCTET_STRING: 10,
/** Unicode string. */
UNICODE_STRING: 11,
/** Time since January 1, 1984. */
TIME_OF_DAY: 12,
/** Time difference. */
TIME_DIFFERENCE: 13,
/** Data of variable length. */
DOMAIN: 15,
/** 64-bit floating point (double) */
REAL64: 17,
/** 24-bit signed integer. */
INTEGER24: 16,
/** 40-bit signed integer. */
INTEGER40: 18,
/** 48-bit signed integer. */
INTEGER48: 19,
/** 56-bit signed integer. */
INTEGER56: 20,
/** 64-bit signed integer (int64_t). */
INTEGER64: 21,
/** 24-bit unsigned integer. */
UNSIGNED24: 22,
/** 40-bit unsigned integer. */
UNSIGNED40: 24,
/** 48-bit unsigned integer. */
UNSIGNED48: 25,
/** 56-bit unsigned integer. */
UNSIGNED56: 26,
/** 64-bit unsigned integer (uint64_t) */
UNSIGNED64: 27,
/** PDO parameter record. */
PDO_PARAMETER: 32,
/** PDO mapping parameter record. */
PDO_MAPPING: 33,
/** SDO parameter record. */
SDO_PARAMETER: 34,
/** Identity record. */
IDENTITY: 35,
};
module.exports = exports = { ObjectType, AccessType, DataType };