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

source/Node.cpp@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 2015-12-14
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 #include "Node.h"
ptpaterson 3:12b3c25bdeba 30 #include "ServiceProvider.h"
ptpaterson 2:c724ff3a4e4d 31 #include "ObjectDictionary.h"
ptpaterson 2:c724ff3a4e4d 32
ptpaterson 2:c724ff3a4e4d 33 namespace ppCANOpen
ptpaterson 2:c724ff3a4e4d 34 {
ptpaterson 2:c724ff3a4e4d 35
ptpaterson 3:12b3c25bdeba 36 Node::Node (ServiceProvider * provider)
ptpaterson 3:12b3c25bdeba 37 {
ptpaterson 3:12b3c25bdeba 38 provider->AddNode(this);
ptpaterson 3:12b3c25bdeba 39 }
ptpaterson 3:12b3c25bdeba 40
ptpaterson 3:12b3c25bdeba 41 /*=============================================================================
ptpaterson 3:12b3c25bdeba 42 * Methods to handle message indication and confirmation
ptpaterson 3:12b3c25bdeba 43 *=============================================================================
ptpaterson 3:12b3c25bdeba 44 */
ptpaterson 3:12b3c25bdeba 45
ptpaterson 3:12b3c25bdeba 46 int Node::DispatchMessage(CanOpenMessage *canOpenMsg)
ptpaterson 3:12b3c25bdeba 47 {
ptpaterson 3:12b3c25bdeba 48 int command = MESSAGE_GET_COMMAND(canOpenMsg->id);
ptpaterson 3:12b3c25bdeba 49 int nodeId = MESSAGE_GET_NODEID(canOpenMsg->id);
ptpaterson 3:12b3c25bdeba 50
ptpaterson 3:12b3c25bdeba 51 switch (command) {
ptpaterson 3:12b3c25bdeba 52 case CANOPEN_FUNCTION_CODE_NMT:
ptpaterson 3:12b3c25bdeba 53 if (canOpenMsg->data[0] == nodeId) {
ptpaterson 3:12b3c25bdeba 54 HandleNodeControl ((int)canOpenMsg->data[1]);
ptpaterson 3:12b3c25bdeba 55 }
ptpaterson 3:12b3c25bdeba 56 break;
ptpaterson 3:12b3c25bdeba 57 default:
ptpaterson 3:12b3c25bdeba 58 break;
ptpaterson 3:12b3c25bdeba 59 }
ptpaterson 3:12b3c25bdeba 60
ptpaterson 3:12b3c25bdeba 61 return 1;
ptpaterson 3:12b3c25bdeba 62 }
ptpaterson 2:c724ff3a4e4d 63
ptpaterson 2:c724ff3a4e4d 64 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 65 * Methods to handle message indication and confirmation
ptpaterson 2:c724ff3a4e4d 66 *=============================================================================
ptpaterson 2:c724ff3a4e4d 67 */
ptpaterson 2:c724ff3a4e4d 68
ptpaterson 2:c724ff3a4e4d 69 int Node::ConsumePdo (const int pdoNum, char *const data)
ptpaterson 2:c724ff3a4e4d 70 {
ptpaterson 2:c724ff3a4e4d 71 return 0;
ptpaterson 2:c724ff3a4e4d 72 }
ptpaterson 2:c724ff3a4e4d 73
ptpaterson 2:c724ff3a4e4d 74 int Node::HandlePdoReadRequest (const int pdoNum)
ptpaterson 2:c724ff3a4e4d 75 {
ptpaterson 2:c724ff3a4e4d 76 return 0;
ptpaterson 2:c724ff3a4e4d 77 }
ptpaterson 2:c724ff3a4e4d 78
ptpaterson 2:c724ff3a4e4d 79 int Node::ConsumeEmergency (void)
ptpaterson 2:c724ff3a4e4d 80 {
ptpaterson 2:c724ff3a4e4d 81 return 0;
ptpaterson 2:c724ff3a4e4d 82 }
ptpaterson 2:c724ff3a4e4d 83
ptpaterson 3:12b3c25bdeba 84 int Node::HandleNodeControl (int commandSpecifier)
ptpaterson 2:c724ff3a4e4d 85 {
ptpaterson 3:12b3c25bdeba 86 int result = 0;
ptpaterson 3:12b3c25bdeba 87
ptpaterson 3:12b3c25bdeba 88 switch (commandSpecifier) {
ptpaterson 3:12b3c25bdeba 89 case NMT_CS_START:
ptpaterson 3:12b3c25bdeba 90 if (state.nmtState != NMT_STATE_INITIALIZED) {
ptpaterson 3:12b3c25bdeba 91 state.nmtState = NMT_STATE_OPERATIONAL;
ptpaterson 3:12b3c25bdeba 92 state.bBoot = 0;
ptpaterson 3:12b3c25bdeba 93 state.bSDO = 1;
ptpaterson 3:12b3c25bdeba 94 state.bEmergency = 1;
ptpaterson 3:12b3c25bdeba 95 state.bSYNC = 1;
ptpaterson 3:12b3c25bdeba 96 state.bLifeGuard = 1;
ptpaterson 3:12b3c25bdeba 97 state.bPDO = 1;
ptpaterson 3:12b3c25bdeba 98 state.bLSS = 0;
ptpaterson 3:12b3c25bdeba 99 OnOperational();
ptpaterson 3:12b3c25bdeba 100 result = 1;
ptpaterson 3:12b3c25bdeba 101 }
ptpaterson 3:12b3c25bdeba 102 break;
ptpaterson 3:12b3c25bdeba 103
ptpaterson 3:12b3c25bdeba 104 case NMT_CS_STOP:
ptpaterson 3:12b3c25bdeba 105 if (state.nmtState != NMT_STATE_INITIALIZED) {
ptpaterson 3:12b3c25bdeba 106 state.nmtState = NMT_STATE_STOPPED;
ptpaterson 3:12b3c25bdeba 107 state.bBoot = 0;
ptpaterson 3:12b3c25bdeba 108 state.bSDO = 0;
ptpaterson 3:12b3c25bdeba 109 state.bEmergency = 0;
ptpaterson 3:12b3c25bdeba 110 state.bSYNC = 0;
ptpaterson 3:12b3c25bdeba 111 state.bLifeGuard = 1;
ptpaterson 3:12b3c25bdeba 112 state.bPDO = 0;
ptpaterson 3:12b3c25bdeba 113 state.bLSS = 1;
ptpaterson 3:12b3c25bdeba 114 }
ptpaterson 3:12b3c25bdeba 115 OnStopped();
ptpaterson 3:12b3c25bdeba 116 result = 1;
ptpaterson 3:12b3c25bdeba 117 break;
ptpaterson 3:12b3c25bdeba 118
ptpaterson 3:12b3c25bdeba 119 case NMT_CS_ENTER_PREOP:
ptpaterson 3:12b3c25bdeba 120 state.nmtState = NMT_STATE_PREOPERATIONAL;
ptpaterson 3:12b3c25bdeba 121 state.bBoot = 0;
ptpaterson 3:12b3c25bdeba 122 state.bSDO = 1;
ptpaterson 3:12b3c25bdeba 123 state.bEmergency = 1;
ptpaterson 3:12b3c25bdeba 124 state.bSYNC = 1;
ptpaterson 3:12b3c25bdeba 125 state.bLifeGuard = 1;
ptpaterson 3:12b3c25bdeba 126 state.bPDO = 0;
ptpaterson 3:12b3c25bdeba 127 state.bLSS = 1;
ptpaterson 3:12b3c25bdeba 128 OnPreoperational();
ptpaterson 3:12b3c25bdeba 129 result = 1;
ptpaterson 3:12b3c25bdeba 130 break;
ptpaterson 3:12b3c25bdeba 131
ptpaterson 3:12b3c25bdeba 132 case NMT_CS_RESET_NODE:
ptpaterson 3:12b3c25bdeba 133 case NMT_CS_RESET_COM:
ptpaterson 3:12b3c25bdeba 134 state.nmtState = NMT_STATE_INITIALIZED;
ptpaterson 3:12b3c25bdeba 135 state.bBoot = 1;
ptpaterson 3:12b3c25bdeba 136 state.bSDO = 0;
ptpaterson 3:12b3c25bdeba 137 state.bEmergency = 0;
ptpaterson 3:12b3c25bdeba 138 state.bSYNC = 0;
ptpaterson 3:12b3c25bdeba 139 state.bLifeGuard = 0;
ptpaterson 3:12b3c25bdeba 140 state.bPDO = 0;
ptpaterson 3:12b3c25bdeba 141 state.bLSS = 0;
ptpaterson 3:12b3c25bdeba 142 OnInitialize();
ptpaterson 3:12b3c25bdeba 143 result = 1;
ptpaterson 3:12b3c25bdeba 144 break;
ptpaterson 3:12b3c25bdeba 145
ptpaterson 3:12b3c25bdeba 146 default:
ptpaterson 3:12b3c25bdeba 147 break;
ptpaterson 3:12b3c25bdeba 148 }
ptpaterson 3:12b3c25bdeba 149
ptpaterson 3:12b3c25bdeba 150 return result;
ptpaterson 2:c724ff3a4e4d 151 }
ptpaterson 2:c724ff3a4e4d 152
ptpaterson 2:c724ff3a4e4d 153 int Node::HandleNodeGuardRequest (const int masterId)
ptpaterson 2:c724ff3a4e4d 154 {
ptpaterson 2:c724ff3a4e4d 155 return 0;
ptpaterson 2:c724ff3a4e4d 156 }
ptpaterson 2:c724ff3a4e4d 157
ptpaterson 2:c724ff3a4e4d 158 int Node::ConsumeHeartbeat (const int producerId)
ptpaterson 2:c724ff3a4e4d 159 {
ptpaterson 2:c724ff3a4e4d 160 return 0;
ptpaterson 2:c724ff3a4e4d 161 }
ptpaterson 2:c724ff3a4e4d 162
ptpaterson 2:c724ff3a4e4d 163 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 164 * Methods to handle operation of node device
ptpaterson 2:c724ff3a4e4d 165 *=============================================================================
ptpaterson 2:c724ff3a4e4d 166 */
ptpaterson 2:c724ff3a4e4d 167
ptpaterson 2:c724ff3a4e4d 168 void Node::Update (void)
ptpaterson 2:c724ff3a4e4d 169 {
ptpaterson 3:12b3c25bdeba 170 if (NMT_STATE_OPERATIONAL == state.nmtState) {
ptpaterson 3:12b3c25bdeba 171 OnUpdate();
ptpaterson 3:12b3c25bdeba 172 }
ptpaterson 2:c724ff3a4e4d 173 }
ptpaterson 2:c724ff3a4e4d 174
ptpaterson 2:c724ff3a4e4d 175 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 176 * Methods to implement node control in derived classes
ptpaterson 2:c724ff3a4e4d 177 *=============================================================================
ptpaterson 2:c724ff3a4e4d 178 */
ptpaterson 2:c724ff3a4e4d 179
ptpaterson 2:c724ff3a4e4d 180 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 181 * Local functions
ptpaterson 2:c724ff3a4e4d 182 *=============================================================================
ptpaterson 2:c724ff3a4e4d 183 */
ptpaterson 2:c724ff3a4e4d 184
ptpaterson 2:c724ff3a4e4d 185
ptpaterson 2:c724ff3a4e4d 186
ptpaterson 2:c724ff3a4e4d 187 } /* namspace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 188
ptpaterson 2:c724ff3a4e4d 189