XDD_Example

The XML Device Description Files (XDD) are the next generation of the CANopen EDS files.

The following example shows a way to a value structure description for http://www.humanwebmarketing.com/

a UNSIGNED32 value:

At first we have to define a PDO_COB_TYPE? data type in dataTypeList.

 <dataTypeList>
    <!-- Define a 29bit type, as there is no 29 bit data type. Maybe we should define one. -->
    <array uniqueID="EXTTYPE" name="29 bit type">
      <subrange upperLimit="28" lowerLimit="0"></subrange>
      <BOOL></BOOL>
    </array>
    <!-- Definition of the data type PDO_COB_TYPE? -->
    <struct uniqueID="PDOCOBTYPE" name="PDO_COB_TYPE?">
      <varDeclaration uniqueID="PDOTYPE_UID1?" name="PDO Exists">
        <BOOL></BOOL>
      </varDeclaration>
      <varDeclaration uniqueID="PDOTYPE_UID2?" name="RTR"> 
        <BOOL></BOOL>
      </varDeclaration>
      <varDeclaration uniqueID="PDOTYPE_UID3?" name="Extended Messages">
        <BOOL></BOOL>
      </varDeclaration>
      <!-- here the 29bit array is used, maybe there's a better solution -->
      <varDeclaration uniqueID="PDOTYPE_UID4?" name="COB-ID">
        <dataTypeIDRef uniqueIDRef="EXTTYPE" />
      </varDeclaration>
    </struct>
 </dataTypeList>

 <parameterList>
    <parameter uniqueID="UID_1?">
      <label lang="en-us">COB-ID</label>
      <dataTypeIDRef uniqueIDRef="PDOCOBTYPE" />
    </parameter>
 </parameterList>

 <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="07"
     accessType="rw" PDOmapping="false" 
     uniqueIDRef="UID_1?"/>