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Using the Object Directory

The main application interface within the CANopen network is the object directory of the CANopen nodes. The object directory of a node is accessible from the network as well as from the node application.

The definition of the object directory table is possible with a template based code generation environment called "CANopen Config". The generated source files are human readable and well commented automatically. A small example is shown below:

const CO_OBJ DemoObjDir[] = {
   { CO_KEY(0x1001, 0, CO_UNSIGNED8 |CO_OBJ___PR_), 0, (CPU_INT32U)&DemoErrReg  },
   { CO_KEY(0x1005, 0, CO_UNSIGNED32|CO_OBJ_D__R_), 0, (CPU_INT32U) 0x00000080  },
   { CO_KEY(0x1014, 0, CO_UNSIGNED32|CO_OBJ__N_R_), 0, (CPU_INT32U)&DemoEmcyId  },
   { CO_KEY(0x2500, 0, CO_UNSIGNED32|CO_OBJ____RW), 0, (CPU_INT32U)&DemoVarLong },
         :
   CO_OBJ_DIR_ENDMARK
 };

Note: The object directory can manage different data types with different properties. This information is encoded within the CO_KEY() and is described in detail in the configuration sections.

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