158 lines
3.9 KiB
Protocol Buffer
158 lines
3.9 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.msgs;
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message SdoFrame {
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uint32 node_id = 1; // 节点ID
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CommandSpecifier cs = 2; // SDO命令字
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uint32 index = 3; // 对象字典索引
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uint32 sub_index = 4; // 子索引
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uint32 data = 5; // 数据区
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}
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enum PdoBaseId{
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PDO_BASE_ID_UNSPECIFIED = 0;
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RPDO1_BASE_ID_200 = 0x200;
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RPDO2_BASE_ID_300 = 0x300;
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RPDO3_BASE_ID_400 = 0x400;
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RPDO4_BASE_ID_500 = 0x500;
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TPDO1_BASE_ID_180 = 0x180;
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TPDO2_BASE_ID_280 = 0x280;
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TPDO3_BASE_ID_380 = 0x380;
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TPDO4_BASE_ID_480 = 0x480;
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}
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// PDO 传输类型
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enum TransmissionType {
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// 同步传输
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SYNC_EVENT_DRIVEN = 0x00; // 非循环同步
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SYNC_CYCLIC = 0x01; // 循环同步
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// 远程请求触发
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REMOTE_SYNC = 0xFC; // 远程同步
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REMOTE_ASYNC = 0xFD; // 远程异步
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// 异步传输
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ASYNC_MANUFACTURER_SPECIFIC = 0xFE; // 异步，制造商特定事件
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ASYNC_DEVICE_SPECIFIC = 0xFF; // 异步，设备子协议特定事件
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}
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enum CommandSpecifier {
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CS_NO = 0; // 默认无效
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CS_WRITE_ONE_BYTE = 0x2F; // 写 1 字节
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CS_WRITE_TWO_BYTES = 0x2B; // 写 2 字节
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CS_WRITE_THREE_BYTES = 0x27; // 写 3 字节
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CS_WRITE_FOUR_BYTES = 0x23; // 写 4 字节
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CS_WRITE_SUCCESS_RESPONSE = 0x60; // 写成功响应
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CS_READ_REQUEST = 0x40; // 发起读取请求
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CS_READ_RESPONSE_ONE_BYTE = 0x4F; // 响应 1 字节
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CS_READ_RESPONSE_TWO_BYTES = 0x4B;// 响应 2 字节
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CS_READ_RESPONSE_THREE_BYTES = 0x47;
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CS_READ_RESPONSE_FOUR_BYTES = 0x43;
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CS_EXCEPTION_RESPONSE = 0x80; // 异常响应
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}
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enum NmtState {
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// 0x00 - 正在初始化（Initializing）
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NMT_INITIALIZING = 0x00;
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// 0x01 - 未连接 / 应用复位（Reset Application）
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NMT_RESET_APPLICATION = 0x01;
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// 0x02 - 正在连接（Connecting）
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NMT_CONNECTING = 0x02;
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// 0x03 - 准备（Preparing）
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NMT_PREPARING = 0x03;
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// 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO
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NMT_STOPPED = 0x04;
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// 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT
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NMT_OPERATIONAL = 0x05;
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// 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO
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NMT_PRE_OPERATIONAL = 0x7F;
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}
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enum NmtCommand {
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// 未指定命令
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NMT_COMMAND_UNSPECIFIED = 0x00;
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// 0x01 - 启动远程节点（Start Remote Node）
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NMT_START_REMOTE_NODE = 0x01;
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// 0x02 - 停止远程节点（Stop Remote Node）
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NMT_STOP_REMOTE_NODE = 0x02;
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// 0x80 - 进入预操作状态（Enter Pre-Operational）
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NMT_ENTER_PRE_OPERATIONAL = 0x80;
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// 0x81 - 复位节点（Reset Node）
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NMT_RESET_NODE = 0x81;
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// 0x82 - 复位通信（Reset Communication）
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NMT_RESET_COMMUNICATION = 0x82;
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}
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// CANopen communication object dictionary indexes.
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// CiA402 drive-profile objects are defined in cia402.proto.
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enum CanopenObjectIndex {
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CANOPEN_OBJECT_INDEX_ZERO = 0;
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CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017;
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// PDO 通信参数对象（Communication Object）
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CANOPEN_RPDO1_COMM_1400 = 0x1400;
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CANOPEN_RPDO2_COMM_1401 = 0x1401;
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CANOPEN_RPDO3_COMM_1402 = 0x1402;
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CANOPEN_RPDO4_COMM_1403 = 0x1403;
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CANOPEN_TPDO1_COMM_1800 = 0x1800;
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CANOPEN_TPDO2_COMM_1801 = 0x1801;
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CANOPEN_TPDO3_COMM_1802 = 0x1802;
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CANOPEN_TPDO4_COMM_1803 = 0x1803;
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// PDO 映射对象（Mapping Object）
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CANOPEN_RPDO1_MAP_1600 = 0x1600;
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CANOPEN_RPDO2_MAP_1601 = 0x1601;
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CANOPEN_RPDO3_MAP_1602 = 0x1602;
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CANOPEN_RPDO4_MAP_1603 = 0x1603;
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CANOPEN_TPDO1_MAP_1A00 = 0x1A00;
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CANOPEN_TPDO2_MAP_1A01 = 0x1A01;
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CANOPEN_TPDO3_MAP_1A02 = 0x1A02;
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CANOPEN_TPDO4_MAP_1A03 = 0x1A03;
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// Ti5 vendor-specific objects used through CANopen SDO.
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CANOPEN_USER_SAVE_PARA_2000 = 0x2000;
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CANOPEN_POSITION_OFFSET_2008 = 0x2008;
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}
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// 子索引
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enum ObSubIndex {
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SUB_INDEX_0 = 0;
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SUB_INDEX_1 = 1;
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SUB_INDEX_2 = 2;
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SUB_INDEX_3 = 3;
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SUB_INDEX_4 = 4;
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SUB_INDEX_5 = 5;
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SUB_INDEX_6 = 6;
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SUB_INDEX_7 = 7;
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}
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