Pierre David / CANopen_Node

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Dependents:   SDC21XX_Motor SDC21XX_Motor

CANopen.cpp

Committer:
kkoichy
Date:
2016-05-30
Revision:
1:a5e0bd1f1c93
Parent:
0:0f99b1d63054

File content as of revision 1:a5e0bd1f1c93:

#include "CANopen.h"


namespace mbed {
    
        CANopen::CANopen(short _id, CAN * _can)
        {
            can = _can;
            node_id = _id;
            
        }
        CANopen::CANopen(short _id, CAN * _can, int _baud)
        {
            can = _can;
            node_id = _id;
            can->frequency(_baud);
            
        }
        int CANopen::Send_Initiate_SDO_Download(short index, short subindex, long data)
        {
            char _data[8];
            _data[0] = 0x22;
            _data[1] = index;
            _data[2] = index >> 8;
            _data[3] = subindex;
            _data[4] = data >> 0;
            _data[5] = data >> 8;
            _data[6] = data >> 16;
            _data[7] = data >> 24;
            return can->write(CANMessage(0x600 + node_id, _data, 8));
            
        }
        int32_t CANopen::Send_Initiate_SDO_Upload(short index, short subindex)
        {
            char _data[8];
            _data[0] = 0x60;
            _data[1] = index;
            _data[2] = index >> 8;
            _data[3] = subindex;
            _data[4] = 0;
            _data[5] = 0;
            _data[6] = 0;
            _data[7] = 0;
            CANMessage _message(0x600 + node_id, _data, 8);
            can->write(_message);
            can->read(_message);
            return (_message.data[4] | _message.data[5] << 8 | _message.data[6] << 16 | _message.data[7] << 24);
            
        }
        short CANopen::GetNodeID(void)
        {
            return node_id;
            
        }
        void CANopen::SetNodeID(short _id)
        {
            node_id = _id;
            
        }



    
}//end namespace