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c2000_bootloader.md

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CANopen device documentation

C2000 Bootloader
Project File c2000_bootloader.xdd
File Version 1
Created 17/6/2023 7:20:50 pm
Created By Sicris Rey Embay
Modified 29/5/2024 8:09:28 pm
Modified By

This file was automatically generated by CANopenEditor v4.1-2-gff637a7

[TOC]

Device Information
Vendor Name
Vendor ID
Product Name C2000 Bootloader
Product ID
Granularity 8
RPDO count 0
TPDO count 0
LSS Slave True
LSS Master False

Supported Baud rates

  • 10 kBit/s
  • 20 kBit/s
  • 50 kBit/s
  • 125 kBit/s
  • 250 kBit/s
  • 500 kBit/s
  • 800 kBit/s
  • 1000 kBit/s
  • auto

PDO Mapping

Communication Specific Parameters

0x1000 - Device type

Object Type Count Label Storage Group
VAR NMT PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 ro no no 0x424F4F54
  • bit 16-31: Additional information
  • bit 0-15: Device profile number

Value: 0x424F4F54 ("BOOT")

0x1001 - Error register

Object Type Count Label Storage Group
VAR EM RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 ro t no 0x00
  • bit 7: manufacturer specific
  • bit 6: Reserved (always 0)
  • bit 5: device profile specific
  • bit 4: communication error (overrun, error state)
  • bit 3: temperature
  • bit 2: voltage
  • bit 1: current
  • bit 0: generic error

0x1003 - Pre-defined error field

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of errors UNSIGNED8 rw no no
0x01 Standard error field UNSIGNED32 ro no no
0x02 Standard error field UNSIGNED32 ro no no
0x03 Standard error field UNSIGNED32 ro no no
0x04 Standard error field UNSIGNED32 ro no no
0x05 Standard error field UNSIGNED32 ro no no
0x06 Standard error field UNSIGNED32 ro no no
0x07 Standard error field UNSIGNED32 ro no no
0x08 Standard error field UNSIGNED32 ro no no
0x09 Standard error field UNSIGNED32 ro no no
0x0A Standard error field UNSIGNED32 ro no no
0x0B Standard error field UNSIGNED32 ro no no
0x0C Standard error field UNSIGNED32 ro no no
0x0D Standard error field UNSIGNED32 ro no no
0x0E Standard error field UNSIGNED32 ro no no
0x0F Standard error field UNSIGNED32 ro no no
0x10 Standard error field UNSIGNED32 ro no no
  • Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
  • sub-index 1 and above:
    • bit 16-31: Manufacturer specific additional information
    • bit 0-15: Error code as transmited in the Emergency object

0x1014 - COB-ID EMCY

Object Type Count Label Storage Group
VAR EM_PROD PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no $NODEID+0x80
  • bit 31: If set, EMCY does NOT exist / is NOT valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID

0x1015 - Inhibit time EMCY

Object Type Count Label Storage Group
VAR PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw no no 0

Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time.

0x1017 - Producer heartbeat time

Object Type Count Label Storage Group
VAR HB_PROD PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw no no 5000

Heartbeat producer time in ms (0 = disable transmission).

0x1018 - Identity

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x04
0x01 Vendor-ID UNSIGNED32 ro no no 0x00000000
0x02 Product code UNSIGNED32 ro no no 0x00000000
0x03 Revision number UNSIGNED32 ro no no 0x00000000
0x04 Serial number UNSIGNED32 ro no no 0x00000000
  • Vendor-ID, assigned by CiA
  • Product code, manufacturer specific
  • Revision number:
    • bit 16-31: Major revision number (CANopen behavior has changed)
    • bit 0-15: Minor revision num. (CANopen behavior has not changed)
  • Serial number, manufacturer specific Value: 0x00000000 (Invalid Vendor ID) This value is determined by C2000 Unique Device Number (refer to SPRACD0B)

0x1F50 - Download program data

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of different programs supported UNSIGNED8 ro no no 0x01
0x01 Program number 1 DOMAIN rw no no

0x1F51 - Program control

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of different programs on the node UNSIGNED8 ro no no 0x01
0x01 Program number 1 UNSIGNED32 rw no no 0

0x1F52 - Verify Application Software

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Application software date UNSIGNED32 rw no no 0
0x02 Application software time UNSIGNED32 rw no no 0

Manufacturer Specific Parameters

0x2000 - Bootloader

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Command UNSIGNED16 rw no no 0
0x02 Erase sector mask UNSIGNED16 rw no no 0x00FE

Command Definition:

0x01 : Calculate application CRC Invalid CRC results to Abort SDO transfer with error code 0x06060000

0x02 : Jump to application This command calculates the application CRC and if valid, jumps to application. Invalid CRC results to Abort SDO transfer with error code 0x06060000

0x03 : Erase sector This erases the sector/s specified by Erase sector mask (sub-index 0x02). Failure results to Abort SDO transfer with error code 0x06060000

Flash sector mask definitions

The bit definition below can be used to form a mask specifying which sectors will be erased by the erase API function.

Bit0 = Sector A Bit1 = Sector B Bit2 = Sector C Bit3 = Sector D Bit4 = Sector E Bit5 = Sector F Bit6 = Sector G Bit7 = Sector H