CiA 301 v4.2.0: CANopen application layer and communication profile

Implemented

Process data object (PDO): lely/co/rpdo.h, lely/co/tpdo.h
Service data object (SDO): lely/co/csdo.h, lely/co/ssdo.h
Synchronization object (SYNC): lely/co/sync.h
Time stamp object (TIME): lely/co/time.h
Emergency object (EMCY): lely/co/emcy.h
Network management (NMT): lely/co/nmt.h
Network initialization and system boot-up
Object dictionary: lely/co/dev.h, lely/co/obj.h
- 1000: Device type
- 1001: Error register
- 1003: Pre-defined error field
- 1005: COB-ID SYNC message
- 1006: Communication cycle period
- 1007: Synchronous window length
- 100C: Guard time
- 100D: Life time factor
- 1012: COB-ID time stamp object
- 1013: High resolution time stamp
- 1014: COB-ID EMCY
- 1015: Inhibit time EMCY
- 1016: Consumer heartbeat time
- 1017: Producer heartbeat time
- 1018: Identity object
- 1019: Synchronous counter overflow value
- 1026: OS prompt: cocat/cocatd
- 1028: Emergency consumer object
- 1029: Error behavior object
- 1200..127F: SDO server parameter
- 1280..12FF: SDO client parameter
- 1400..15FF: RPDO communication parameter
- 1600..17FF: RPDO mapping parameter
- 1800..19FF: TPDO communication parameter
- 1A00..1BFF: TPDO mapping parameter

Not implemented/Application specific

Multiplex PDO (MPDO)
Object dictionary:
- 1002: Manufacturer status register
- 1008: Manufacturer device name
- 1009: Manufacturer hardware version
- 100A: Manufacturer software version
- 1010: Store parameters
- 1011: Restore default parameters
- 1020: Verify configuration
- 1021: Store EDS
- 1022: Store format
- 1023: OS command
- 1024: OS command mode
- 1025: OS debugger interface
- 1027: Module list
- 1FA0..1FCF: Object scanner list
- 1FD0..1FFF: Object dispatching list

CiA 302 v4.1.0: Additional application layer functions

Implemented

Network management (CiA 302-2): lely/co/nmt.h
- Startup:
  - NMT startup
  - NMT startup simple
  - Start process boot NMT slave
  - Boot NMT slave
  - Check configuration
  - Check NMT state
  - Error status
- Error control:
  - Start error control
  - Error handler
  - Bootup handler
- Object dictionary:
  - 102A: NMT inhibit time
  - 1F80: NMT startup
  - 1F81: NMT slave assignment
  - 1F82: Request NMT
  - 1F84: Device type identification
  - 1F85: Vendor identification
  - 1F86: Product code
  - 1F87: Revision number
  - 1F88: Serial number
  - 1F89: Boot time
  - 1F8A: Restore configuration
Configuration and program download (CiA 302-3): lely/co/nmt.h
- Configuration manager:
  - 1F20: Store DCF
  - 1F22: Concise DCF
  - 1F25: Configuration request
  - 1F26: Expected configuration date
  - 1F26: Expected configuration time
- Program download:
  - Check and update program software version
  - Objects for program download on a CANopen manager:
    - 1F55: Expected software identification
    - 1F58: Program data

Not implemented/Application specific

Network management (CiA 302-2):
- Startup:
  - NMT flying master startup
- Additional NMT master services and protocols
- Object dictionary:
  - 1F83: Request node guarding
  - 1F90: NMT flying master timing parameters
  - 1F91: Self starting node timing parameters
Configuration and program download (CiA 302-3):
- Configuration manager:
  - 1F21: Store format
  - 1F23: Store EDS NMT slave
  - 1F24: Store format EDS NMT slave
- Program download:
  - Bootloader
  - Objects for program download on a CANopen device:
    - 1F50: Program data
    - 1F51: Program control
    - 1F56: Program software identification
    - 1F57: Flash status identification
Network variables and process image (CiA 302-4)
SDO manager (CiA 302-5)
Network redundancy (CiA 302-6)
Multi-level networking (CiA 302-7)

CiA 305 v3.0.0: Layer setting services (LSS) and protocols: lely/co/lss.h

Implemented

Switch state:
- Switch state global
- Switch state selective
Configuration:
- Configure node-ID
- Configure bit timing parameters
Inquiry:
- Inquire LSS address
- Inquire node-ID
Identification:
- LSS identify remote slave
- LSS identify slave
- LSS identify non-configured remote slave
- LSS identify non-configured slave
- LSS Fastscan

Application specific

Configuration:
- Activate bit timing parameters
- Store configuration

CiA 306 v1.3.7: Electronic device description: lely/co/dcf.h

EDS/DCF files can be parsed at runtime or be compiled with a program as a static device description (lely/co/sdev.h). dcf2c can be used to generate a static device description in C from an EDS/DCF file.

Implemented

Electronic Data Sheet and Device Configuration File (CiA 306-1)
- Electronic data sheet specification:
  - General device information
  - Object dictionary:
    - Mapping of dummy entries
    - Object descriptions:
      - Object lists
      - Object description
      - Specific flags
      - Compact storage:
        
        PDO definitions
        
        Array values
- Device configuration file specification:
  - Object sections:
    - Parameter value in standard description
    - Denotation
    - Compact storage:
      - PDO definitions
      - Array values
    - Device commissioning

Not implemented

Electronic Data Sheet and Device Configuration File (CiA 306-1):
- Electronic data sheet specification:
  - File information
  - Object dictionary:
    - Object descriptions:
      - Compact storage:
        
        Network variables
    - Object links
    - Comments
- Device configuration file specification:
  - File information
  - Object sections:
    - Compact storage:
      - Network variables
- Module concept
Profile database specification (CiA 306-2)
Network variable handling and tool integration (CiA 306-3)

CiA 309 v2.0: Access from other networks

coctl is a Class 3 ASCII gateway providing shell-like access to one or more CANopen networks.

Implemented

General principles and services (CiA 309-1): lely/co/gw.h
- SDO access services:
  - SDO upload
  - SDO download
  - Configure SDO time-out
- PDO access services:
  - Configure RPDO
  - Configure TPDO
  - Read PDO data
  - Write PDO data
  - RPDO received
- CANopen NMT services:
  - Start node
  - Stop node
  - Set node to pre-operational
  - Reset node
  - Reset communication
  - Enable node guarding
  - Disable node guarding
  - Start heartbeat consumer
  - Disable heartbeat consumer
  - Error control event received
- Device failure management services:
  - Emergency event received
- CANopen interface configuration services:
  - Initialize gateway
  - Set heartbeat producer
  - Set node-ID
  - Start emergency consumer
  - Stop emergency consumer
  - Boot-up forwarding
- Gateway management services:
  - Set default network
  - Set default node-ID
  - Get version
- Layer setting services:
  - LSS switch state global
  - LSS switch state selective
  - LSS configure node-ID
  - LSS configure bit-rate
  - LSS activate new bit-rate
  - LSS store configuration
  - Inquire LSS address
  - LSS inquire node-ID
  - LSS identify remote slave
  - LSS identify non-configured remote slaves
  - LSS Fastscan
ASCII mapping (CiA 309-3): lely/co/gw_txt.h
- SDO access commands:
  - Upload SDO
  - Download SDO
  - Configure SDO time-out
- PDO access access commands:
  - Configure RPDO
  - Configure TPDO
  - Read PDO data
  - Write PDO data
  - RPDO received
- CANopen NMT access commands:
  - Start node
  - Stop node
  - Set node to pre-operational
  - Reset node
  - Reset communication
  - Enable node guarding
  - Disable node guarding
  - Start heartbeat consumer
  - Disable heartbeat consumer
  - Error control event received
- Device failure management commands:
  - Emergency event received
- CANopen interface configuration access commands:
  - Initialize gateway
  - Set heartbeat producer
  - Set node-ID
  - Set command time-out
  - Boot-up forwarding
- Gateway management access commands:
  - Set default network
  - Set default node-ID
  - Get version
  - Set command size
- Layer setting access commands:
  - LSS switch state global
  - LSS switch state selective
  - LSS configure node-ID
  - LSS configure bit-rate
  - LSS activate new bit-rate
  - LSS store configuration
  - Inquire LSS address
  - LSS inquire node-ID
  - LSS identify remote slave
  - Identify non-configured remote slaves
  - LSS Fastscan

Not implemented

General principles and services (CiA 309-1):
- SDO access services:
  - Extended SDO upload
- Device failure management services:
  - Read device error
- CANopen interface configuration services:
  - Store configuration
  - Restore configuration
  - Set command time-out
- Gateway management services:
  - Set command size
- Controller management services
- Layer setting services:
  - LSS assign node-ID to LSS address
  - LSS complete node-ID configuration
Modbus/TCP mapping (CiA 309-2)
ASCII mapping (CiA 309-3):
- Device failure management commands:
  - Read device error
- CANopen interface configuration commands:
  - Store configuration
  - Restore configuration
- Layer setting commands:
  - LSS assign node-ID to LSS address
  - LSS complete node-ID configuration
Amendment 7 to Fieldbus Integration into PROFINET IO (CiA 309-4)

CiA 315 v1.0.0: Generic frame: lely/co/wtm.h

can2udp forms a bridge between the CAN bus and UDP by converting CAN frames to and from generic frames.