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====== The QuimDC Object Dictionary ======

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===== How to add a parameter =====

All the parameters are added to the Object Dictionary (O.D.) in board/quimdc/od_factory.c file. **Beware to check the max size of OD** defined by MAX_NUM_OD_ENTRIES in common/lib/can/od.h.

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===== O.D. layout =====

Note: When setting/reading GPIOs, use this table to link their name to their ID:
^ GPIO Name  ^ ID ^
| CA_R | 0         |
| CA_L | 1         |
| CB_R | 2         |
| CB_L | 3         |
| CQR | 4         |
| CQL | 5         |

Index profile is inspired by this [[http://www.elmomc.com/support/manuals/MAN-CAN402IG.pdf|specification]] and this {{canopenod.pdf|official specification}}.


^ Index  ^ Sub-index ^ Attribute ^ Type   ^ Name                                     ^
| 0x1000 | 0         | RO        | UINT32 | Device type                              |
| 0x1010 | 0         | WO        | VOID   | Save parameters to flash                 |
| 0x1011 | 0         | WO        | VOID   | Load parameters from flash                 |
| 0x411A | 0         | WO        | VOID   | Erase flash                 |
| 0x2000 | 0         | RW        | INT32  | Motor Watchdog (ms)               |
| 0x2040 | 1         | RO        | INT32  | Current Motor 1 (mA)         |
| :::    | 2         | RO        | INT32  | Current Motor 2 (mA)         |
| 0x200C | 0         | RW        | INT32  | Emergency stop (uint8_t flag_id)               |
| 0x3333 | 0         | RW        | INT32  | Operational Mode Manager (0 => leave, 1 => enter)    |
| 0x4000 | 1         | RW        | INT32  | Speed PID, P Motor 1                     |
| :::    | 2         | RW        | INT32  | Speed PID, P Motor 2                     |
| 0x4001 | 1         | RW        | INT32  | Speed PID, I Motor 1                     |
| :::    | 2         | RW        | INT32  | Speed PID, I Motor 2                     |
| 0x4002 | 1         | RW        | INT32  | Speed PID, D Motor 1                     |
| :::    | 2         | RW        | INT32  | Speed PID, D Motor 2                     |
| 0x4003 | 1         | RW        | INT32  | Speed PID, Do Motor 1                    |
| :::    | 2         | RW        | INT32  | Speed PID, Do Motor 2                    |
| 0x4004 | 1         | RW        | INT32  | Speed PID, Fixed Point Divider Motor 1                 |
| :::    | 2         | RW        | INT32  | Speed PID, Fixed Point Divider Motor 2                 |
| 0x4005 | 1         | RW        | INT32  | Speed PID, Anti Wu Limit Motor 1                 |
| :::    | 2         | RW        | INT32  | Speed PID, Anti Wu Limit Motor 2                 |
| 0x4010 | 1         | RW        | INT32  | Current PID, P Motor 1                   |
| :::    | 2         | RW        | INT32  | Current PID, P Motor 2                   |
| 0x4011 | 1         | RW        | INT32  | Current PID, I Motor 1                   |
| :::    | 2         | RW        | INT32  | Current PID, I Motor 2                   |
| 0x4012 | 1         | RW        | INT32  | Current PID, D Motor 1                   |
| :::    | 2         | RW        | INT32  | Current PID, D Motor 2                   |
| 0x4013 | 1         | RW        | INT32  | Current PID, Do Motor 1                  |
| :::    | 2         | RW        | INT32  | Current PID, Do Motor 2                  |
| 0x4014 | 1         | RW        | INT32  | Current PID, Fixed Point Divider Motor 1               |
| :::    | 2         | RW        | INT32  | Current PID, Fixed Point Divider Motor 2               |
| 0x4015 | 1         | RW        | INT32  | Current PID, Anti Wu Limit Motor 1                 |
| :::    | 2         | RW        | INT32  | Current PID, Anti Wu Limit Motor 2                 |
| 0x4020 | 1         | RW        | INT32  | Position PID, P Motor 1                  |
| :::    | 2         | RW        | INT32  | Position PID, P Motor 2                  |
| 0x4021 | 1         | RW        | INT32  | Position PID, I Motor 1                  |
| :::    | 2         | RW        | INT32  | Position PID, I Motor 2                  |
| 0x4022 | 1         | RW        | INT32  | Position PID, D Motor 1                  |
| :::    | 2         | RW        | INT32  | Position PID, D Motor 2                  |
| 0x4023 | 1         | RW        | INT32  | Position PID, Do Motor 1                 |
| :::    | 2         | RW        | INT32  | Position PID, Do Motor 2                 |
| 0x4024 | 1         | RW        | INT32  | Position PID, Fixed Point Divider Motor 1              |
| :::    | 2         | RW        | INT32  | Position PID, Fixed Point Divider Motor 2              |
| 0x4025 | 1         | RW        | INT32  | Position PID, Anti Wu Limit Motor 1                 |
| :::    | 2         | RW        | INT32  | Position PID, Anti Wu Limit Motor 2                 |
| 0x4100 | 1         | RW        | FLOAT32| Resistance Motor 1 (mOhm)                 |
| :::    | 2         | RW        | FLOAT32| Resistance Motor 2 (mOhm)                 |
| 0x4101 | 1         | RW        | FLOAT32| Kv Motor 1 (Rpm/V)                       |
| :::    | 2         | RW        | FLOAT32| Kv Motor 2 (Rpm/V)                       |
| 0x4102 | 1         | RW        | INT32  | Ticks per Turn Motor 1 (Tick/Turn)       |
| :::    | 2         | RW        | INT32  | Ticks per Turn Motor 2 (Tick/Turn)       |
| 0x4103 | 1         | RW        | INT32  | Nominal Voltage Motor 1 (mV)                  |
| :::    | 2         | RW        | INT32  | Nominal Voltage Motor 2 (mV)                  |
| 0x4105 | 1         | RW        | INT32  | Position speed period Motor 1 (ms)                  |
| :::    | 2         | RW        | INT32  | Position speed period Motor 2 (ms)                  |
| 0x4106 | 1         | RW        | INT32  | BEMF Compensation Motor 1 [0/1]                 |
| :::    | 2         | RW        | INT32  | BEMF Compensation Motor 2 [0/1]                  |
| 0x4107 | 1         | RW        | INT32  | Minimal Speed Motor 1 (Ticks/second)                  |
| :::    | 2         | RW        | INT32  | Minimal Speed Motor 2 (Ticks/second)                  |
| 0x4108 | 1         | RW        | INT32  | Free Wheel GPIO ID Motor 1 [0,5] (see table above)                 |
| :::    | 2         | RW        | INT32  | Free Wheel GPIO ID Motor 2 [0,5] (see table above)                  |
| 0x4109 | 1         | RW        | INT32  | Homing GPIO ID Motor 1 [0,5] (see table above)             |
| :::    | 2         | RW        | INT32  | Homing GPIO ID Motor 2 [0,5](see table above)                 |
| 0x410A | 1         | RW        | INT32  | Positive limit switch GPIO ID Motor 1 [0,5] (see table above)|
| :::    | 2         | RW        | INT32  | Positive limit switch GPIO ID Motor 2 [0,5] (see table above)|
| 0x410B | 1         | RW        | INT32  | Negative limit switch GPIO ID Motor 1 [0,5] (see table above)|
| :::    | 2         | RW        | INT32  | Negative limit switch GPIO ID Motor 2 [0,5] (see table above)|
| 0x410C | 1         | RW        | INT32  | Positive limit switch GPIO inversion Motor 1 [0/1]|
| :::    | 2         | RW        | INT32  | Positive limit switch GPIO inversion Motor 2 [0/1]|
| 0x410D | 1         | RW        | INT32  | Negative limit switch GPIO inversion Motor 1 [0/1]|
| :::    | 2         | RW        | INT32  | Negative limit switch GPIO inversion Motor 2 [0/1]|
| 0x410E | 1         | RW        | INT32  | Homing GPIO inversion Motor 1 [0/1]                  |
| :::    | 2         | RW        | INT32  | Homing GPIO inversion Motor 2 [0/1]                  |
| 0x410F | 1         | RW        | INT32  | Max Position error Motor 1 (Ticks)                  |
| :::    | 2         | RW        | INT32  | Max Position error Motor 2 (Ticks)                  |
| 0x4110 | 1         | RW        | INT32  | PWM Offset Motor 1  [-128, 128]            |
| :::    | 2         | RW        | INT32  | PWM Offset Motor 2  [-128, 128]          |
| 0x4111 | 1         | RW        | INT32  | Acceleration Period Motor 1 (Seconds)                  |
| :::    | 2         | RW        | INT32  | Acceleration Period Motor 2 (Seconds)                  |
| 0x4112 | 1         | RW        | INT32  | Deceleration limit Motor 1 (Ticks/second²)                  |
| :::    | 2         | RW        | INT32  | Deceleration limit Motor 2 (Ticks/second²)                  |
| 0x4113 | 1         | RW        | INT32  | Acceleration limit Motor 1 (Ticks/second²)                  |
| :::    | 2         | RW        | INT32  | Acceleration limit Motor 2 (Ticks/second²)                  |
| 0x4114 | 1         | RW        | INT32  | Max Current Motor 1 (mA)                  |
| :::    | 2         | RW        | INT32  | Max Current Motor 2 (mA)                  |
| 0x4115 | 1         | RW        | INT32  | Max Speed Motor 1 (Ticks/second)                  |
| :::    | 2         | RW        | INT32  | Max Speed Motor 2 (Ticks/second)                  |
| 0x4116 | 1         | RO        | INT32  | Get actual PWM of Motor 1                  |
| :::    | 2         | RO        | INT32  | Get actual PWM of Motor 2                   |
| 0x4117 | 1         | RO        | INT32  | Is Homing Done on Motor 1  (0=homing not done/1=homing done)|
| :::    | 2         | RO        | INT32  | Is Homing Done on Motor 2  (0=homing not done/1=homing done)|
| 0x4118 | 1         | WO        | INT32  | Do Homing on Motor 1 with indicated speed (Ticks/second)|
| :::    | 2         | WO        | INT32  | Do Homing on Motor 2 with indicated speed (Ticks/second)|
| 0x4119 | 1         | RW        | INT32  | Set Ref PWM Motor 1[-128,128]|
| :::    | 2         | RW        | INT32  | Set Ref PWM Motor 2[-128,128]|
| 0x4200 | 1         | RO        | INT32  | Read position reached Motor 1 (See note below) |
| :::    | 2         | RO        | INT32  | Read position reached Motor 2 (See note below) |
| 0x4202 | 1         | RO        | INT32  | Read GPIO values (See note below) |
| 0x6010 | 1         | RO        | INT32  | Digital Input External Encoder 1            |
| :::    | 2         | RO        | INT32  | Digital Input External Encoder 2            |
| 0x6011 | 0         | RO        | INT32  | Read Level of GPIO CA_R                |
| :::    | 1         | RO        | INT32  | Read Level of GPIO CA_L       |
| :::    | 2         | RO        | INT32  | Read Level of GPIO CB_R     |
| :::    | 3         | RO        | INT32  | Read Level of GPIO CB_L     |
| :::    | 4         | RO        | INT32  | Read Level of GPIO CQR    |
| :::    | 5         | RO        | INT32  | Read Level of GPIO CQL     |
| 0x6012 | 0         | RO        | INT32  | Read motor driver fault status [0]       |
| 0x6013 | 0         | WO        | INT32  | Put board to sleep [1]          |
| 0x6014 | 0         | WO        | INT32  | Reset board [1]           |
| 0x6015 | 0         | WO        | INT32  | Reset motor driver [1]                 |
| 0x6060 | 1         | RW        | INT32  | Control Loop Function Motor 1            |
| :::    | 2         | RW        | INT32  | Control Loop Function Motor 2            |
| 0x6063 | 1         | RO        | INT32  | Motor Position 1 (Tick)         |
| :::    | 2         | RO        | INT32  | Motor Position 2 (Tick)         |
| 0x6078 | 1         | RW        | INT32  | Reference/Target Current Motor 1 (mA)         |
| :::    | 2         | RW        | INT32  | Reference/Target Current Motor 2 (mA)         |
| 0x607A | 1         | RW        | INT32  | Reference/Target Position Motor 1 (Tick)         |
| :::    | 2         | RW        | INT32  | Reference/Target Position Motor 2 (Tick)         |
| 0x607E | 1         | RW        | INT32  | Polarity Motor 1 (Tick)         |
| :::    | 2         | RW        | INT32  | Polarity Motor 2 (Tick)         |
| 0x607F | 1         | RW        | INT32  | Pwm Duty Max 1 ([0, 127])         |
| :::    | 2         | RW        | INT32  | Pwm Duty Max 2 ([0, 127])         |
| 0x6080 | 1         | WO        | INT32  | Reset Position Motor 1 [0]         |
| :::    | 2         | WO        | INT32  | Reset Position Motor 2 [0]         |
| 0x60F0 | 1         | RW        | INT32  | PWM Motor 1 ([-128, 128])         |
| :::    | 2         | RW        | INT32  | PWM Motor 2 ([-128, 128])         |
| 0x60FF | 1         | RW        | INT32  | Reference/Target Speed Motor 1 (Tick/s)         |
| :::    | 2         | RW        | INT32  | Reference/Target Speed Motor 2 (Tick/s)         |
| 0x6100 | 1         | RO        | INT32  | Motor Speed 1 (Tick/s)         |
| :::    | 2         | RO        | INT32  | Motor Speed 2 (Tick/s)         |
| 0x6200 | 1         | RW        | INT32  | GPIO PDO publish freq (Hz)         |

==== Notes ====

As the entry 0x4200 (Read position reached) is essentially designed to be used for PDOs, it has a specific structure
^ Byte 0  ^ Byte 1 ^ Byte 2 ^ Byte 3 ^ Byte 4 ^ Byte 5 ^ Byte 6 ^ Byte 7 ^
| position reached (0/1) | 0x00 | 0x00 |  Position in ticks  |||||

The entry 0x4202 PDO structure is the following:
^ Byte 0  ^ Byte 1 ^ Byte 2 ^ Byte 3 ^ Byte 4 ^ Byte 5 ^ Byte 6 ^ Byte 7 ^
| Motor 1 positive limit switch level (0/1) | Motor 1 negative limit switch level (0/1) | Motor 1 homing limit switch level (0/1) |  Motor 2 positive limit switch level (0/1)  | Motor 2 negative limit switch level (0/1) | Motor 2 homing limit switch level (0/1) | Motor 1 free wheel GPIO level (0/1) | Motor 2 free wheel GPIO level (0/1) |