standard_objects.yaml

- index: 0x1000
  name: device_type
  object_type: variable
  bit_definitions:
    additional_info: "31-16"
    device_profile_numer: "15-0"
  data_type: uint32
  access_type: ro

- index: 0x1001
  name: error_register
  object_type: variable
  bit_definitions:
    manufacturer_specific: 7
    device_profile_specfic: 5
    communication_error: 4
    temperature: 3
    voltage: 2
    current: 1
    generic_error: 0
  data_type: uint8
  access_type: ro

- index: 0x1003
  name: predefined_error_field
  object_type: array
  description: emcy history for device
  generate_subindexes:
    name: error
    subindexes: fixed_length
    length: 8  # can be bewteen 1 and 254
    data_type: uint32
    access_type: ro
    bit_definitions:
      additional_info: "31-16"
      error_code: "15-0"

- index: 0x1005
  name: cob_id_sync
  object_type: variable
  description: COB-ID of the SYNC message
  data_type: uint32
  access_type: rw
  default: 0x80
  bit_definitions:
    gen: 30
    frame: 29
    can_id: "10-0"

- index: 0x1006
  name: communication_cycle_period
  object_type: variable
  description: SYNC interval in mircoseconds
  data_type: uint32
  access_type: rw

- index: 0x1014
  name: cob_id_emergency_message
  object_type: variable
  bit_definitions:
    not_valid: 31
    frame: 29
    can_id: "10-0"
  data_type: uint32
  access_type: rw
  default: 0x80

- index: 0x1015
  name: inhibit_time_emcy
  object_type: variable
  description: inhibit time (in 100 us) for emcy messages
  data_type: uint16
  access_type: rw
  unit: s
  scale_factor: 0.0001

- index: 0x1016
  name: consumer_heartbeat_time
  object_type: array
  description: expected heartbeat cycle times in milliseconds for all other nodes
  generate_subindexes:
    subindexes: node_ids
    name: node_ids
    data_type: uint32
    access_type: rw
    default: 1000
    unit: s
    scale_factor: 0.001

- index: 0x1017
  name: producer_heartbeat_time
  object_type: variable
  description: heartbeat producer time in ms or 0 to disable
  data_type: uint16
  access_type: rw
  default: 1000
  unit: s
  scale_factor: 0.001

- index: 0x1018
  name: identity
  object_type: record
  subindexes:
    - subindex: 0x1
      name: vendor_id
      description: manufacturer vendor id set by CiA
      data_type: uint32
      access_type: ro

    - subindex: 0x2
      name: product_code
      description: ids a specific type of CANopen devices
      data_type: uint32
      access_type: ro

    - subindex: 0x3
      name: revision_number
      bit_definitions:
        major: "31-16"
        minor: "15-0"
      data_type: uint32
      access_type: ro

    - subindex: 0x4
      name: serial_number
      description: unqiue device id for a product group or revision
      data_type: uint32
      access_type: ro

- index: 0x1019
  name: synchronous_counter_overflow_value
  object_type: variable
  description: highest supported value of the synchronous counter
  data_type: uint8
  access_type: rw
  high_limit: 240

- index: 0x1200
  name: sdo_server_parameter
  object_type: record
  subindexes:
    - subindex: 0x1
      name: cob_id_client_to_server
      data_type: uint32
      access_type: ro
      default: 0x80000000
      bit_definitions:
        not_valid: 31
        dyn: 30
        frame: 29
        can_id: "10-0"

    - subindex: 0x2
      name: cob_id_server_to_client
      data_type: uint32
      access_type: ro
      default: 0x80000000
      bit_definitions:
        not_valid: 31
        dyn: 30
        frame: 29
        can_id: "10-0"

    - subindex: 0x3
      name: node_id_od_sdo_client
      data_type: uint8
      access_type: ro
      low_limit: 0x1
      high_limit: 0x7F
      default: 0x1

- index: 0x1280
  name: sdo_client_parameter
  object_type: record
  subindexes:
    - subindex: 0x1
      name: cob_id_client_to_server
      data_type: uint32
      access_type: rw
      default: 0x80000000
      bit_definitions:
        not_valid: 31
        dyn: 30
        frame: 29
        can_id: "10-0"

    - subindex: 0x2
      name: cob_id_server_to_client
      data_type: uint32
      access_type: rw
      default: 0x80000000
      bit_definitions:
        not_valid: 31
        dyn: 30
        frame: 29
        can_id: "10-0"

    - subindex: 0x3
      name: node_id_of_sdo_server
      data_type: uint8
      access_type: rw
      low_limit: 0x1
      high_limit: 0x7F
      default: 0x1

- index: 0x1023
  name: os_command
  object_type: record
  subindexes:
    - subindex: 0x1
      name: command
      description: OS command
      data_type: octet_str
      access_type: rw

    - subindex: 0x2
      name: status
      value_descriptions:
        no_error_no_reply: 0x00
        no_error_reply: 0x01
        error_no_reply: 0x02
        error_reply: 0x03
        executing: 0xFF
      data_type: uint8
      access_type: ro

    - subindex: 0x3
      name: reply
      description: OS command reply
      data_type: octet_str
      access_type: ro

- index: 0x2010
  name: scet
  object_type: variable
  description: CCSDS Unsegmented Time Code (CUC) object for Spacecraft Elapsed Time (SCET)
  data_type: uint64
  access_type: rw

- index: 0x2011
  name: utc
  object_type: variable
  description: CCSDS Day Segmented Time Code (CDS) object for UTC time
  data_type: uint64
  access_type: rw