Pierre David / CANopen_Node

Simplified CANopen library for a CANopen slave device

Dependents:   SDC21XX_Motor SDC21XX_Motor

CANopen_Node.cpp@6:f98581f4455d, 2016-06-01 (annotated)

Committer:
kkoichy
Date:
Wed Jun 01 14:53:02 2016 +0000
Revision:
6:f98581f4455d
Parent:
5:e3ca883a96e7 
V1.4.1; Corrected a copy/paste error

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 4:edb55099ea3b 1 #include "CANopen_Node.h"
kkoichy 0:0f99b1d63054 2
kkoichy 0:0f99b1d63054 3
kkoichy 0:0f99b1d63054 4 namespace mbed {
kkoichy 0:0f99b1d63054 5
kkoichy 5:e3ca883a96e7 6 CANopen_Node::CANopen_Node(uint8_t _id, CAN * _can)
kkoichy 0:0f99b1d63054 7 {
kkoichy 0:0f99b1d63054 8 can = _can;
kkoichy 0:0f99b1d63054 9 node_id = _id;
kkoichy 0:0f99b1d63054 10
kkoichy 0:0f99b1d63054 11 }
kkoichy 5:e3ca883a96e7 12 CANopen_Node::CANopen_Node(uint8_t _id, CAN * _can, int _baud)
kkoichy 0:0f99b1d63054 13 {
kkoichy 0:0f99b1d63054 14 can = _can;
kkoichy 0:0f99b1d63054 15 node_id = _id;
kkoichy 0:0f99b1d63054 16 can->frequency(_baud);
kkoichy 0:0f99b1d63054 17
kkoichy 0:0f99b1d63054 18 }
kkoichy 5:e3ca883a96e7 19 int CANopen_Node::Send_Initiate_SDO_Download(short index, short subindex, long data)
kkoichy 0:0f99b1d63054 20 {
kkoichy 0:0f99b1d63054 21 char _data[8];
kkoichy 0:0f99b1d63054 22 _data[0] = 0x22;
kkoichy 0:0f99b1d63054 23 _data[1] = index;
kkoichy 0:0f99b1d63054 24 _data[2] = index >> 8;
kkoichy 0:0f99b1d63054 25 _data[3] = subindex;
kkoichy 0:0f99b1d63054 26 _data[4] = data >> 0;
kkoichy 0:0f99b1d63054 27 _data[5] = data >> 8;
kkoichy 0:0f99b1d63054 28 _data[6] = data >> 16;
kkoichy 0:0f99b1d63054 29 _data[7] = data >> 24;
kkoichy 0:0f99b1d63054 30 return can->write(CANMessage(0x600 + node_id, _data, 8));
kkoichy 0:0f99b1d63054 31
kkoichy 0:0f99b1d63054 32 }
kkoichy 5:e3ca883a96e7 33 int32_t CANopen_Node::Send_Initiate_SDO_Upload(short index, short subindex)
kkoichy 0:0f99b1d63054 34 {
kkoichy 0:0f99b1d63054 35 char _data[8];
kkoichy 0:0f99b1d63054 36 _data[0] = 0x60;
kkoichy 0:0f99b1d63054 37 _data[1] = index;
kkoichy 0:0f99b1d63054 38 _data[2] = index >> 8;
kkoichy 0:0f99b1d63054 39 _data[3] = subindex;
kkoichy 0:0f99b1d63054 40 _data[4] = 0;
kkoichy 0:0f99b1d63054 41 _data[5] = 0;
kkoichy 0:0f99b1d63054 42 _data[6] = 0;
kkoichy 0:0f99b1d63054 43 _data[7] = 0;
kkoichy 1:a5e0bd1f1c93 44 CANMessage _message(0x600 + node_id, _data, 8);
kkoichy 0:0f99b1d63054 45 can->write(_message);
kkoichy 1:a5e0bd1f1c93 46 can->read(_message);
kkoichy 0:0f99b1d63054 47 return (_message.data[4] | _message.data[5] << 8 | _message.data[6] << 16 | _message.data[7] << 24);
kkoichy 0:0f99b1d63054 48
kkoichy 0:0f99b1d63054 49 }
kkoichy 5:e3ca883a96e7 50 short CANopen_Node::GetNodeID(void)
kkoichy 0:0f99b1d63054 51 {
kkoichy 0:0f99b1d63054 52 return node_id;
kkoichy 0:0f99b1d63054 53
kkoichy 0:0f99b1d63054 54 }
kkoichy 5:e3ca883a96e7 55 void CANopen_Node::SetNodeID(uint8_t _id)
kkoichy 0:0f99b1d63054 56 {
kkoichy 0:0f99b1d63054 57 node_id = _id;
kkoichy 0:0f99b1d63054 58
kkoichy 0:0f99b1d63054 59 }
kkoichy 5:e3ca883a96e7 60
kkoichy 5:e3ca883a96e7 61 void CANopen_Node::SetCan(CAN * _can)
kkoichy 5:e3ca883a96e7 62 {
kkoichy 5:e3ca883a96e7 63 can = _can;
kkoichy 5:e3ca883a96e7 64 }
kkoichy 5:e3ca883a96e7 65
kkoichy 5:e3ca883a96e7 66 CAN* CANopen_Node::GetCan(void)
kkoichy 5:e3ca883a96e7 67 {
kkoichy 5:e3ca883a96e7 68 return can;
kkoichy 5:e3ca883a96e7 69 }
kkoichy 0:0f99b1d63054 70
kkoichy 0:0f99b1d63054 71
kkoichy 0:0f99b1d63054 72
kkoichy 0:0f99b1d63054 73
kkoichy 0:0f99b1d63054 74 }//end namespace