Documentation bootloader

Description

CANopen Bootloader

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Table of Objects - Line 0


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Communication Segment

Object 1000h: Device Type
The device type specifies the kind of device. The lower 16 bit contain the device profile number and the upper 16 bit an additional information.

Device Profil: Bootloader
Additional Information (bit coded):
bit 16  - load binary files
bit 17  - load ihex files
bit 18  - load srec files

bit 30 - blocktransfer use CRC check
bit 31 - use block transfer
Object Description
INDEX 1000
Name Device Type
Object Code Variable
Data Type UNSIGNED32
Category Mandatory
Entry Description
Access CONST
PDO Mapping No
Default Value 0x1FFFF
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific
Object Description
INDEX 1001
Name Error Register
Object Code Variable
Data Type UNSIGNED8
Category Mandatory
Entry Description
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1008h: Manufacturer Device Name
Contains the device name.
Object Description
INDEX 1008
Name Manufacturer Device Name
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value port CANopen Bootloader
Lower Limit -
Upper Limit -
Unit -
Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle 
time of the heartbeat. If the time is 0 it is not used.
The time has to be a multiple of 1 msec
Object Description
INDEX 1017
Name Producer Heartbeat Time
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x3E8
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 1018h: Identity Object
This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number. Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identified a manufacturer specific serial number.
Object Description
INDEX 1018
Name Identity Object
Object Code Record
Data Type IDENTITY
Category Mandatory
Entry Description
Sub-Index 000
Description number of entries
Entry Category Mandatory
Access CONST
PDO Mapping No
Default Value 0x4
Lower Limit 0x1
Upper Limit 0x4
Unit -
Sub-Index 001
Description Vendor Id
Entry Category Mandatory
Data Type UNSIGNED32
Access CONST
PDO Mapping No
Default Value 52
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Product Code
Entry Category Optional
Data Type UNSIGNED32
Access CONST
PDO Mapping No
Default Value 0x99999999
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Revision number
Entry Category Optional
Data Type UNSIGNED32
Access CONST
PDO Mapping No
Default Value 6
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Serial number
Entry Category Optional
Data Type UNSIGNED32
Access CONST
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1F50h: Download Program Data
This structure contains entries for program download. Sub-index 0 is the number of programs supported. All further entries contain a reference to the program area.
Object Description
INDEX 1F50
Name Download Program Data
Object Code Array
Data Type DOMAIN
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x1
Lower Limit -
Upper Limit -
Unit -
Sub-Index 001
Description Program Area
Entry Category Optional
Data Type DOMAIN
Access WO
PDO Mapping No
Default Value NULL
Lower Limit -
Upper Limit -
Unit -
Object 1F51h: Program Control
This array controls the programs residing at index 0x1F50. The sub-Index 0 contains the number of program control entries. All further sub-indices control the programs. They can have the following values:

for writing:
1 - start downloaded program
4 - erase flash

for reading:
0 - flash changed
4 - flash erased
Object Description
INDEX 1F51
Name Program Control
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x1
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Program Control
Entry Category Optional
Data Type UNSIGNED8
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -




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