Pierre David / CANopen_Node

Simplified CANopen library for a CANopen slave device

Dependents:   SDC21XX_Motor SDC21XX_Motor

CANopen_Node.h@5:e3ca883a96e7, 2016-06-01 (annotated)

Committer:
kkoichy
Date:
Wed Jun 01 14:50:09 2016 +0000
Revision:
5:e3ca883a96e7
Parent:
4:edb55099ea3b
Child:
6:f98581f4455d
V1.4; Added some Accessors/Modificators

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 4:edb55099ea3b 1 #ifndef CANOPEN_NODE_H
kkoichy 4:edb55099ea3b 2 #define CANOPEN_NODE_H
kkoichy 0:0f99b1d63054 3
kkoichy 0:0f99b1d63054 4 #include "mbed.h"
kkoichy 5:e3ca883a96e7 5
kkoichy 5:e3ca883a96e7 6
kkoichy 5:e3ca883a96e7 7 namespace mbed {
kkoichy 5:e3ca883a96e7 8 class CANopen_Node {
kkoichy 5:e3ca883a96e7 9
kkoichy 5:e3ca883a96e7 10 public :
kkoichy 5:e3ca883a96e7 11
kkoichy 5:e3ca883a96e7 12 CANopen_Node(uint8_t _id, CAN * _can);
kkoichy 5:e3ca883a96e7 13 CANopen_Node(uint8_t _id, CAN * _can, int _baud);
kkoichy 5:e3ca883a96e7 14 int Send_Initiate_SDO_Download(short index, short subindex, long data);
kkoichy 5:e3ca883a96e7 15 int Send_Initiate_SDO_Upload(short index, short subindex);
kkoichy 5:e3ca883a96e7 16 short GetNodeID(void);
kkoichy 5:e3ca883a96e7 17 void SetNodeID(uint8_t _id);
kkoichy 5:e3ca883a96e7 18 void SetCan(CAN * _can);
kkoichy 5:e3ca883a96e7 19 CAN* GetCan(void);
kkoichy 5:e3ca883a96e7 20
kkoichy 5:e3ca883a96e7 21 private :
kkoichy 5:e3ca883a96e7 22
kkoichy 5:e3ca883a96e7 23
kkoichy 5:e3ca883a96e7 24 protected :
kkoichy 5:e3ca883a96e7 25
kkoichy 5:e3ca883a96e7 26 short node_id;
kkoichy 5:e3ca883a96e7 27 CAN * can;
kkoichy 5:e3ca883a96e7 28
kkoichy 5:e3ca883a96e7 29
kkoichy 5:e3ca883a96e7 30
kkoichy 5:e3ca883a96e7 31 };//end class
kkoichy 5:e3ca883a96e7 32
kkoichy 5:e3ca883a96e7 33
kkoichy 5:e3ca883a96e7 34
kkoichy 5:e3ca883a96e7 35 }//end namespace
kkoichy 5:e3ca883a96e7 36
kkoichy 5:e3ca883a96e7 37 #endif#ifndef CANOPEN_NODE_H
kkoichy 5:e3ca883a96e7 38 #define CANOPEN_NODE_H
kkoichy 5:e3ca883a96e7 39
kkoichy 5:e3ca883a96e7 40 #include "mbed.h"
kkoichy 3:a70bff10b56c 41 #include "CAN.h"
kkoichy 0:0f99b1d63054 42
kkoichy 0:0f99b1d63054 43
kkoichy 0:0f99b1d63054 44 namespace mbed {
kkoichy 0:0f99b1d63054 45 class CANopen {
kkoichy 0:0f99b1d63054 46
kkoichy 0:0f99b1d63054 47 public :
kkoichy 0:0f99b1d63054 48
kkoichy 0:0f99b1d63054 49 CANopen(short _id, CAN * _can);
kkoichy 0:0f99b1d63054 50 CANopen(short _id, CAN * _can, int _baud);
kkoichy 0:0f99b1d63054 51 int Send_Initiate_SDO_Download(short index, short subindex, long data);
kkoichy 0:0f99b1d63054 52 int Send_Initiate_SDO_Upload(short index, short subindex);
kkoichy 0:0f99b1d63054 53 short GetNodeID(void);
kkoichy 0:0f99b1d63054 54 void SetNodeID(short _id);
kkoichy 0:0f99b1d63054 55
kkoichy 0:0f99b1d63054 56 private :
kkoichy 0:0f99b1d63054 57
kkoichy 0:0f99b1d63054 58
kkoichy 0:0f99b1d63054 59 protected :
kkoichy 0:0f99b1d63054 60
kkoichy 0:0f99b1d63054 61 short node_id;
kkoichy 0:0f99b1d63054 62 CAN * can;
kkoichy 0:0f99b1d63054 63
kkoichy 0:0f99b1d63054 64
kkoichy 0:0f99b1d63054 65
kkoichy 0:0f99b1d63054 66 };//end class
kkoichy 0:0f99b1d63054 67
kkoichy 0:0f99b1d63054 68
kkoichy 0:0f99b1d63054 69
kkoichy 0:0f99b1d63054 70 }//end namespace
kkoichy 0:0f99b1d63054 71
kkoichy 0:0f99b1d63054 72 #endif