CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
Handler is the object event handler of this entry which is called by the CANopen
slave library to indicate data changes to the application. Refer to chapter 4.6 for
a detailed description of the data event handler.
Return: 0 or an error code described in the appendix.
canOpenInitDictionaryTS()
Name: canOpenInitDictionary() - Initialize dictionary and attach timestamp handler
Synopsis: int canOpenInitDictionaryTs
(
HNODE Hnode, /* Node handle */
unsigned short Index, /* Index */
unsigned short Subindex, /* Subindex */
const char * EntryName, /* Textual description */
unsigned short Flags, /* Properties of entry */
pDictionaryData Data, /* Default data */
PFN_COS_DATA_HANDLER_TS Handler /* Data event handler */
)
Description: Initialize a single dictionary entry of the CANopen nodes Hnode object
dictionary. The entry has to be created previously with a call to
canOpenExtendDictionary(). This initialization has to take place for every entry
in the object dictionary before the object can be used. If the function is called in
any other node state but NodeOffline it will return with an error.
Index has to be in range of the Manufacturer Specific Area or the Standardized
Device Profile Area (0x2000 to 0x9FFF) and Subindex in the range from 0x00 to
0xFE. The entry at sub-index 0xFF which describes the structure of this object
dictionary entry according to /1/ is initialized implicitely. For complex data types
of OBJ_ARRAY the sub-index 0 is initialized automatically to the number of subentries.
For complex data types of OBJ_RECORD the sub-index 0 has to be
initialized to the number of sub-entries by the application.
EntryName is an optional textual description of the entry. This description is only
important for configuration file generation. Usually set this parameter to NULL,
because this description extends the memory requirements for an individual
subentry.
The parameter flags defines the access rights and other properties of the object
dictionary entry. Supported values are READ_ACCESSand WRITE_ACCESS. To
allow the mapping into a PDO the entry has to be marked as MAPPABLE. If the
entry should be mappable more than once it has to be marked as MULTI_MAP.
Data is a pointer to a union of structures of type DictionaryData. The
application has to initialize the data type related part of the union and is
responsible. For numerical data types the structure has members for the current
value, the default value and the lower and upper limits. The memory to keep
CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 31 of 65