CO_config_t Struct Reference
CANopen

CANopen configuration, used with CO_new() More...

`#include <CANopen.h>`

## Data Fields

uint8_t | CNT_NMT
| Number of NMT objects, 0 or 1: NMT slave (CANrx) + Heartbeat producer (CANtx) + optional NMT master (CANtx), configurable by CO_CONFIG_NMT. More...
const OD_entry_t * | ENTRY_H1017
| OD entry for CO_NMT_init()
uint8_t | CNT_HB_CONS
| Number of Heartbeat consumer objects, 0 or 1: object uses from 1 to 127 internal consumers (CANrx), as specified by CO_CONFIG_HB_CONS_SIZE.
const OD_entry_t * | ENTRY_H1016
| OD entry for CO_HBconsumer_init()
uint8_t | CNT_EM
| Number of Emergency objects, 0 or 1: optional producer (CANtx) + optional consumer (CANrx), configurable by CO_CONFIG_EM. More...
const OD_entry_t * | ENTRY_H1001
| OD entry for CO_EM_init()
const OD_entry_t * | ENTRY_H1014
| OD entry for CO_EM_init()
const OD_entry_t * | ENTRY_H1015
| OD entry for CO_EM_init()
const OD_entry_t * | ENTRY_H1003
| OD entry for CO_EM_init()
uint8_t | CNT_SDO_SRV
| Number of SDO server objects, from 0 to 128 (CANrx + CANtx). More...
const OD_entry_t * | ENTRY_H1200
| OD entry for CO_SDOserver_init()
uint8_t | CNT_SDO_CLI
| Number of SDO client objects, from 0 to 128 (CANrx + CANtx).
const OD_entry_t * | ENTRY_H1280
| OD entry for CO_SDOclient_init()
uint8_t | CNT_TIME
| Number of TIME objects, 0 or 1: consumer (CANrx) + optional producer (CANtx), configurable by CO_CONFIG_TIME.
const OD_entry_t * | ENTRY_H1012
| OD entry for CO_TIME_init()
uint8_t | CNT_SYNC
| Number of SYNC objects, 0 or 1: consumer (CANrx) + optional producer (CANtx), configurable by CO_CONFIG_SYNC.
const OD_entry_t * | ENTRY_H1005
| OD entry for CO_SYNC_init()
const OD_entry_t * | ENTRY_H1006
| OD entry for CO_SYNC_init()
const OD_entry_t * | ENTRY_H1007
| OD entry for CO_SYNC_init()
const OD_entry_t * | ENTRY_H1019
| OD entry for CO_SYNC_init()
uint16_t | CNT_RPDO
| Number of RPDO objects, from 0 to 512 consumers (CANrx)
const OD_entry_t * | ENTRY_H1400
| OD entry for CO_RPDO_init()
const OD_entry_t * | ENTRY_H1600
| OD entry for CO_RPDO_init()
uint16_t | CNT_TPDO
| Number of TPDO objects, from 0 to 512 producers (CANtx)
const OD_entry_t * | ENTRY_H1800
| OD entry for CO_TPDO_init()
const OD_entry_t * | ENTRY_H1A00
| OD entry for CO_TPDO_init()
uint8_t | CNT_LEDS
| Number of LEDs objects, 0 or 1.
uint8_t | CNT_GFC
| Number of GFC objects, 0 or 1 (CANrx + CANtx).
const OD_entry_t * | ENTRY_H1300
| OD entry for CO_GFC_init()
uint8_t | CNT_SRDO
| Number of SRDO objects, from 0 to 64 (2*CANrx + 2*CANtx).
const OD_entry_t * | ENTRY_H1301
| OD entry for CO_SRDO_init()
const OD_entry_t * | ENTRY_H1381
| OD entry for CO_SRDO_init()
const OD_entry_t * | ENTRY_H13FE
| OD entry for CO_SRDOGuard_init()
const OD_entry_t * | ENTRY_H13FF
| OD entry for CO_SRDOGuard_init()
uint8_t | CNT_LSS_SLV
| Number of LSSslave objects, 0 or 1 (CANrx + CANtx).
uint8_t | CNT_LSS_MST
| Number of LSSmaster objects, 0 or 1 (CANrx + CANtx).
uint8_t | CNT_GTWA
| Number of gateway ascii objects, 0 or 1.
uint16_t | CNT_TRACE
| Number of trace objects, 0 or more.

## Detailed Description

CANopen configuration, used with CO_new()

This structure is used only, if CO_MULTIPLE_OD is enabled. Otherwise parameters are retrieved from default "OD.h" file.

## Field Documentation

## CNT_NMT

uint8_t CO_config_t::CNT_NMT

Number of NMT objects, 0 or 1: NMT slave (CANrx) + Heartbeat producer (CANtx) + optional NMT master (CANtx), configurable by CO_CONFIG_NMT.

Start indexes inside CANrx and CANtx are always 0. There must be one NMT object in the device.

## CNT_EM

uint8_t CO_config_t::CNT_EM

Number of Emergency objects, 0 or 1: optional producer (CANtx) + optional consumer (CANrx), configurable by CO_CONFIG_EM.

There must be one Emergency object in the device.

## CNT_SDO_SRV

uint8_t CO_config_t::CNT_SDO_SRV

Number of SDO server objects, from 0 to 128 (CANrx + CANtx).

There must be at least one SDO server object in the device.

The documentation for this struct was generated from the following file:

- CANopen.h