Paul Paterson / ppCANOpen

library for C++ CANOpen implementation. mbed independant, but is easy to attach into with mbed.

Dependents:   ppCANOpen_Example DISCO-F746NG_rtos_test

Example:

Import programppCANOpen_Example

I am no longer actively working on the ppCANOpen library, however, I want to publish this project so that anyone who wants to pick up any of the pieces can have a good example. This is a a project I was working on using the ppCANOpen library. It has a pretty in deep use of the object dictionary structure. And a number of functions to control high voltage pinball drivers, if you're into that sort of thing.

Last commit 19 Mar 2016 by Paul Paterson

include/ServiceProvider.h@3:12b3c25bdeba, 2016-01-04 (annotated)

Committer:
ptpaterson
Date:
Mon Jan 04 06:10:49 2016 +0000
Revision:
3:12b3c25bdeba
Parent:
2:c724ff3a4e4d
Child:
4:2034b04c86d2
Echo communication verified

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ptpaterson 2:c724ff3a4e4d 1 /**
ptpaterson 2:c724ff3a4e4d 2 ******************************************************************************
ptpaterson 2:c724ff3a4e4d 3 * @file
ptpaterson 2:c724ff3a4e4d 4 * @author Paul Paterson
ptpaterson 2:c724ff3a4e4d 5 * @version
ptpaterson 2:c724ff3a4e4d 6 * @date 2015-12-22
ptpaterson 2:c724ff3a4e4d 7 * @brief CANOpen implementation library
ptpaterson 2:c724ff3a4e4d 8 ******************************************************************************
ptpaterson 2:c724ff3a4e4d 9 * @attention
ptpaterson 2:c724ff3a4e4d 10 *
ptpaterson 2:c724ff3a4e4d 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
ptpaterson 2:c724ff3a4e4d 12 *
ptpaterson 2:c724ff3a4e4d 13 * All rights reserved.
ptpaterson 2:c724ff3a4e4d 14
ptpaterson 2:c724ff3a4e4d 15 This program is free software: you can redistribute it and/or modify
ptpaterson 2:c724ff3a4e4d 16 it under the terms of the GNU General Public License as published by
ptpaterson 2:c724ff3a4e4d 17 the Free Software Foundation, either version 3 of the License, or
ptpaterson 2:c724ff3a4e4d 18 (at your option) any later version.
ptpaterson 2:c724ff3a4e4d 19
ptpaterson 2:c724ff3a4e4d 20 This program is distributed in the hope that it will be useful,
ptpaterson 2:c724ff3a4e4d 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
ptpaterson 2:c724ff3a4e4d 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ptpaterson 2:c724ff3a4e4d 23 GNU General Public License for more details.
ptpaterson 2:c724ff3a4e4d 24
ptpaterson 2:c724ff3a4e4d 25 You should have received a copy of the GNU General Public License
ptpaterson 2:c724ff3a4e4d 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
ptpaterson 2:c724ff3a4e4d 27 */
ptpaterson 2:c724ff3a4e4d 28
ptpaterson 2:c724ff3a4e4d 29 #ifndef PPCAN_SERVICE_PROVIDER_H
ptpaterson 2:c724ff3a4e4d 30 #define PPCAN_SERVICE_PROVIDER_H
ptpaterson 2:c724ff3a4e4d 31
ptpaterson 2:c724ff3a4e4d 32 #include "canopen_protocol.h"
ptpaterson 2:c724ff3a4e4d 33
ptpaterson 2:c724ff3a4e4d 34 namespace ppCANOpen
ptpaterson 2:c724ff3a4e4d 35 {
ptpaterson 2:c724ff3a4e4d 36
ptpaterson 2:c724ff3a4e4d 37 /* Avoid circular reference */
ptpaterson 2:c724ff3a4e4d 38 class Node;
ptpaterson 2:c724ff3a4e4d 39
ptpaterson 2:c724ff3a4e4d 40 /** Node Class to implement feature of a CANOpen NMT node
ptpaterson 2:c724ff3a4e4d 41 */
ptpaterson 2:c724ff3a4e4d 42 class ServiceProvider
ptpaterson 2:c724ff3a4e4d 43 {
ptpaterson 2:c724ff3a4e4d 44 public:
ptpaterson 2:c724ff3a4e4d 45
ptpaterson 2:c724ff3a4e4d 46 ServiceProvider (void);
ptpaterson 3:12b3c25bdeba 47 ~ServiceProvider (void);
ptpaterson 2:c724ff3a4e4d 48
ptpaterson 2:c724ff3a4e4d 49 /** Main loop
ptpaterson 2:c724ff3a4e4d 50 * @note
ptpaterson 2:c724ff3a4e4d 51 * @param
ptpaterson 2:c724ff3a4e4d 52 * @retval
ptpaterson 2:c724ff3a4e4d 53 */
ptpaterson 2:c724ff3a4e4d 54 void Run (void);
ptpaterson 2:c724ff3a4e4d 55
ptpaterson 2:c724ff3a4e4d 56 /**
ptpaterson 2:c724ff3a4e4d 57 * @note
ptpaterson 2:c724ff3a4e4d 58 * @param
ptpaterson 2:c724ff3a4e4d 59 * @retval
ptpaterson 2:c724ff3a4e4d 60 */
ptpaterson 2:c724ff3a4e4d 61 int AddNode (Node * node);
ptpaterson 2:c724ff3a4e4d 62
ptpaterson 2:c724ff3a4e4d 63 // TODO: remove node (swap pointers to fill in nicely
ptpaterson 2:c724ff3a4e4d 64 private:
ptpaterson 2:c724ff3a4e4d 65
ptpaterson 2:c724ff3a4e4d 66 static const int SERVICE_MAX_NODES = 8;
ptpaterson 2:c724ff3a4e4d 67
ptpaterson 2:c724ff3a4e4d 68 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 69 * Methods to handle message requests and responses
ptpaterson 2:c724ff3a4e4d 70 * Called by the node, usually during Update() or during handling of
ptpaterson 2:c724ff3a4e4d 71 * incoming messages.
ptpaterson 2:c724ff3a4e4d 72 * ========================================================================
ptpaterson 2:c724ff3a4e4d 73 */
ptpaterson 2:c724ff3a4e4d 74
ptpaterson 2:c724ff3a4e4d 75 /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 76
ptpaterson 2:c724ff3a4e4d 77 /** Build and send a PDO request
ptpaterson 2:c724ff3a4e4d 78 * @note
ptpaterson 2:c724ff3a4e4d 79 * @param
ptpaterson 2:c724ff3a4e4d 80 */
ptpaterson 2:c724ff3a4e4d 81 void RequestPdo (int pdoNum);
ptpaterson 2:c724ff3a4e4d 82
ptpaterson 2:c724ff3a4e4d 83 /** Build and send a PDO
ptpaterson 2:c724ff3a4e4d 84 * @note
ptpaterson 2:c724ff3a4e4d 85 * @param
ptpaterson 2:c724ff3a4e4d 86 */
ptpaterson 2:c724ff3a4e4d 87 void ProducePdo (int pdoNum, char * data);
ptpaterson 2:c724ff3a4e4d 88
ptpaterson 2:c724ff3a4e4d 89
ptpaterson 2:c724ff3a4e4d 90 /* SDO (7.2.4) ----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 91
ptpaterson 2:c724ff3a4e4d 92 /** initiate SDO download
ptpaterson 2:c724ff3a4e4d 93 * @note Handles automatically whether it will be a expedited transfer or
ptpaterson 2:c724ff3a4e4d 94 * or if message will be split into
ptpaterson 2:c724ff3a4e4d 95 * @param
ptpaterson 2:c724ff3a4e4d 96 *
ptpaterson 2:c724ff3a4e4d 97 * Node will create a big data array and Service provide will have to
ptpaterson 2:c724ff3a4e4d 98 * iterate through and send all of the data. ServiceProvider will pass
ptpaterson 2:c724ff3a4e4d 99 * the confirmation to the node, and the node will free up it's buffer.
ptpaterson 2:c724ff3a4e4d 100 */
ptpaterson 2:c724ff3a4e4d 101 void DownloadSdo (int sdoNum, int index, int subindex, int size, char * data);
ptpaterson 2:c724ff3a4e4d 102
ptpaterson 2:c724ff3a4e4d 103 /** initiate SDO upload
ptpaterson 2:c724ff3a4e4d 104 * @note
ptpaterson 2:c724ff3a4e4d 105 * @param
ptpaterson 2:c724ff3a4e4d 106 */
ptpaterson 2:c724ff3a4e4d 107 void UploadSdo (int sdoNum, int index, int subindex);
ptpaterson 2:c724ff3a4e4d 108
ptpaterson 2:c724ff3a4e4d 109 /** Acknowledge that SDO was recieved properly
ptpaterson 2:c724ff3a4e4d 110 * @note
ptpaterson 2:c724ff3a4e4d 111 * @param
ptpaterson 2:c724ff3a4e4d 112 */
ptpaterson 2:c724ff3a4e4d 113 void ConfirmSdo (int sdoNum, int bSuccess);
ptpaterson 2:c724ff3a4e4d 114
ptpaterson 2:c724ff3a4e4d 115 /** Abort current SDO transfer
ptpaterson 2:c724ff3a4e4d 116 * @note
ptpaterson 2:c724ff3a4e4d 117 * @param
ptpaterson 2:c724ff3a4e4d 118 */
ptpaterson 2:c724ff3a4e4d 119 void AbortSdo (int sdoNum);
ptpaterson 2:c724ff3a4e4d 120
ptpaterson 2:c724ff3a4e4d 121
ptpaterson 2:c724ff3a4e4d 122 /* Emergency object (7.2.7) ---------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 123
ptpaterson 2:c724ff3a4e4d 124 // TODO: emergency producer
ptpaterson 2:c724ff3a4e4d 125
ptpaterson 2:c724ff3a4e4d 126
ptpaterson 2:c724ff3a4e4d 127 /* Network Management (7.2.8) -------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 128 /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
ptpaterson 2:c724ff3a4e4d 129
ptpaterson 2:c724ff3a4e4d 130 /** Build a CANOpen nmt control message to a node
ptpaterson 2:c724ff3a4e4d 131 * @note
ptpaterson 2:c724ff3a4e4d 132 * @param
ptpaterson 2:c724ff3a4e4d 133 */
ptpaterson 2:c724ff3a4e4d 134 int SendNodeControl (NmtCommandSpecifier cs, unsigned int nodeId);
ptpaterson 2:c724ff3a4e4d 135
ptpaterson 2:c724ff3a4e4d 136
ptpaterson 2:c724ff3a4e4d 137 /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
ptpaterson 2:c724ff3a4e4d 138
ptpaterson 2:c724ff3a4e4d 139 /** Build a CANOpen error control request to a node
ptpaterson 2:c724ff3a4e4d 140 * @note
ptpaterson 2:c724ff3a4e4d 141 * @param
ptpaterson 2:c724ff3a4e4d 142 */
ptpaterson 2:c724ff3a4e4d 143 int RequestErrorControl (NmtCommandSpecifier cs, unsigned int nodeId);
ptpaterson 2:c724ff3a4e4d 144
ptpaterson 2:c724ff3a4e4d 145 /** Build a CANOpen error control response
ptpaterson 2:c724ff3a4e4d 146 * @note
ptpaterson 2:c724ff3a4e4d 147 * @param
ptpaterson 2:c724ff3a4e4d 148 */
ptpaterson 2:c724ff3a4e4d 149 int RespondErrorControl (NmtCommandSpecifier cs, unsigned int nodeId);
ptpaterson 2:c724ff3a4e4d 150
ptpaterson 2:c724ff3a4e4d 151
ptpaterson 2:c724ff3a4e4d 152 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 153 * Private Members
ptpaterson 2:c724ff3a4e4d 154 * ========================================================================
ptpaterson 2:c724ff3a4e4d 155 */
ptpaterson 2:c724ff3a4e4d 156
ptpaterson 2:c724ff3a4e4d 157 /** array of nodes to cycle through.
ptpaterson 2:c724ff3a4e4d 158 * @note
ptpaterson 2:c724ff3a4e4d 159 */
ptpaterson 2:c724ff3a4e4d 160 Node * nodes[SERVICE_MAX_NODES];
ptpaterson 2:c724ff3a4e4d 161
ptpaterson 2:c724ff3a4e4d 162 /** Keeps count of current number of nodes.
ptpaterson 2:c724ff3a4e4d 163 * @note
ptpaterson 2:c724ff3a4e4d 164 */
ptpaterson 2:c724ff3a4e4d 165 int nodeCount;
ptpaterson 3:12b3c25bdeba 166
ptpaterson 3:12b3c25bdeba 167 /** stores handle for can open api */
ptpaterson 3:12b3c25bdeba 168 CanOpenHandle * hCanOpen;
ptpaterson 2:c724ff3a4e4d 169
ptpaterson 2:c724ff3a4e4d 170 };
ptpaterson 2:c724ff3a4e4d 171
ptpaterson 2:c724ff3a4e4d 172 } /* namspace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 173
ptpaterson 2:c724ff3a4e4d 174 #endif /* PPCAN_SERVICE_PROVIDER_H */
ptpaterson 2:c724ff3a4e4d 175