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/ObjectDictionary.h@4:2034b04c86d2, 2016-01-09 (annotated)

Committer:
ptpaterson
Date:
Sat Jan 09 17:15:29 2016 +0000
Revision:
4:2034b04c86d2
Parent:
2:c724ff3a4e4d
Child:
5:22a337cdc0e3
echo ability

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 #ifndef PPCAN_OBJECT_DICTIONARY_H
ptpaterson 2:c724ff3a4e4d 30 #define PPCAN_OBJECT_DICTIONARY_H
ptpaterson 2:c724ff3a4e4d 31
ptpaterson 2:c724ff3a4e4d 32 #include <stdint.h>
ptpaterson 2:c724ff3a4e4d 33
ptpaterson 2:c724ff3a4e4d 34 namespace ppCANOpen
ptpaterson 2:c724ff3a4e4d 35 {
ptpaterson 2:c724ff3a4e4d 36
ptpaterson 2:c724ff3a4e4d 37 /** Abstract Object Dictionary class to provide constants and virtual scan
ptpaterson 2:c724ff3a4e4d 38 * function.
ptpaterson 2:c724ff3a4e4d 39 */
ptpaterson 2:c724ff3a4e4d 40 class ObjectDictionary
ptpaterson 2:c724ff3a4e4d 41 {
ptpaterson 2:c724ff3a4e4d 42
ptpaterson 2:c724ff3a4e4d 43 public:
ptpaterson 2:c724ff3a4e4d 44
ptpaterson 2:c724ff3a4e4d 45 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 46 * Constants wrapped into the Object Dictionary to use with construction
ptpaterson 2:c724ff3a4e4d 47 *=========================================================================
ptpaterson 2:c724ff3a4e4d 48 */
ptpaterson 2:c724ff3a4e4d 49
ptpaterson 2:c724ff3a4e4d 50 /* Data value type constants ----------------------------------------------
ptpaterson 2:c724ff3a4e4d 51 * Taken from the CANOpen Standard. they are part of the object dictionary
ptpaterson 2:c724ff3a4e4d 52 * at indices 0x0001 to 0x0023. Given to every Sub Index.
ptpaterson 2:c724ff3a4e4d 53 */
ptpaterson 2:c724ff3a4e4d 54
ptpaterson 2:c724ff3a4e4d 55 /** Data Type alias to provide context when defining the object library */
ptpaterson 2:c724ff3a4e4d 56 typedef uint8_t DataType;
ptpaterson 2:c724ff3a4e4d 57
ptpaterson 2:c724ff3a4e4d 58 static const DataType TYPE_BOOLEAN = 0x01;
ptpaterson 2:c724ff3a4e4d 59 static const DataType TYPE_INT8 = 0x02;
ptpaterson 2:c724ff3a4e4d 60 static const DataType TYPE_INT16 = 0x03;
ptpaterson 2:c724ff3a4e4d 61 static const DataType TYPE_INT32 = 0x04;
ptpaterson 2:c724ff3a4e4d 62 static const DataType TYPE_UINT8 = 0x05;
ptpaterson 2:c724ff3a4e4d 63 static const DataType TYPE_UINT16 = 0x06;
ptpaterson 2:c724ff3a4e4d 64 static const DataType TYPE_UINT32 = 0x07;
ptpaterson 2:c724ff3a4e4d 65 static const DataType TYPE_REAL32 = 0x08;
ptpaterson 2:c724ff3a4e4d 66 static const DataType TYPE_VISIBLE_STRING = 0x09;
ptpaterson 2:c724ff3a4e4d 67 static const DataType TYPE_OCTET_STRING = 0x0A;
ptpaterson 2:c724ff3a4e4d 68 static const DataType TYPE_UNICODE_STRING = 0x0B;
ptpaterson 2:c724ff3a4e4d 69 static const DataType TYPE_TIME_OF_DAY = 0x0C;
ptpaterson 2:c724ff3a4e4d 70 static const DataType TYPE_TIME_DIFFERENCE = 0x0D;
ptpaterson 2:c724ff3a4e4d 71 /* RESERVED */
ptpaterson 2:c724ff3a4e4d 72 static const DataType TYPE_DOMAIN = 0x0F;
ptpaterson 2:c724ff3a4e4d 73 static const DataType TYPE_INT24 = 0x10;
ptpaterson 2:c724ff3a4e4d 74 static const DataType TYPE_REAL64 = 0x11;
ptpaterson 2:c724ff3a4e4d 75 static const DataType TYPE_INT40 = 0x12;
ptpaterson 2:c724ff3a4e4d 76 static const DataType TYPE_INT48 = 0x13;
ptpaterson 2:c724ff3a4e4d 77 static const DataType TYPE_INT56 = 0x14;
ptpaterson 2:c724ff3a4e4d 78 static const DataType TYPE_INT64 = 0x15;
ptpaterson 2:c724ff3a4e4d 79 static const DataType TYPE_UINT24 = 0x16;
ptpaterson 2:c724ff3a4e4d 80 /* RESERVED */
ptpaterson 2:c724ff3a4e4d 81 static const DataType TYPE_UINT40 = 0x18;
ptpaterson 2:c724ff3a4e4d 82 static const DataType TYPE_UINT48 = 0x19;
ptpaterson 2:c724ff3a4e4d 83 static const DataType TYPE_UINT56 = 0x1A;
ptpaterson 2:c724ff3a4e4d 84 static const DataType TYPE_UINT64 = 0x1B;
ptpaterson 2:c724ff3a4e4d 85 /* RESERVED */
ptpaterson 2:c724ff3a4e4d 86 static const DataType TYPE_PDO_COMMUNICATION_PARAMETER = 0x20;
ptpaterson 2:c724ff3a4e4d 87 static const DataType TYPE_PDO_MAPPING = 0x21;
ptpaterson 2:c724ff3a4e4d 88 static const DataType TYPE_SDO_COMMUNICATION_PARAMETER = 0x22;
ptpaterson 2:c724ff3a4e4d 89 static const DataType TYPE_IDENTITY = 0x23;
ptpaterson 2:c724ff3a4e4d 90
ptpaterson 2:c724ff3a4e4d 91
ptpaterson 2:c724ff3a4e4d 92 /* Data properties constants ----------------------------------------------
ptpaterson 2:c724ff3a4e4d 93 * Read/Write priveledges, save on powerdown, etc.
ptpaterson 2:c724ff3a4e4d 94 * Can be strung together into a mask.
ptpaterson 2:c724ff3a4e4d 95 */
ptpaterson 2:c724ff3a4e4d 96
ptpaterson 2:c724ff3a4e4d 97 /** Data Property alias to provide context when defining the object library */
ptpaterson 2:c724ff3a4e4d 98 typedef uint8_t DataProperty;
ptpaterson 2:c724ff3a4e4d 99
ptpaterson 2:c724ff3a4e4d 100 static const DataProperty PROPERTY_READABLE = 0x01;
ptpaterson 2:c724ff3a4e4d 101 static const DataProperty PROPERTY_WRITEABLE = 0x02;
ptpaterson 2:c724ff3a4e4d 102 static const DataProperty PROPERTY_READ_WRITEABLE = 0x03;
ptpaterson 2:c724ff3a4e4d 103 /* static const uint8_t PROPERTY_STATIC = 0x04 *//* possible to save setting after powerdown */
ptpaterson 2:c724ff3a4e4d 104
ptpaterson 2:c724ff3a4e4d 105
ptpaterson 2:c724ff3a4e4d 106 /* Index Constants --------------------------------------------------------
ptpaterson 2:c724ff3a4e4d 107 */
ptpaterson 2:c724ff3a4e4d 108
ptpaterson 2:c724ff3a4e4d 109 /** Index alias to provide context when defining the object library */
ptpaterson 2:c724ff3a4e4d 110 typedef uint8_t Index;
ptpaterson 2:c724ff3a4e4d 111
ptpaterson 2:c724ff3a4e4d 112
ptpaterson 2:c724ff3a4e4d 113 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 114 * Internal structures
ptpaterson 2:c724ff3a4e4d 115 *=========================================================================
ptpaterson 2:c724ff3a4e4d 116 */
ptpaterson 2:c724ff3a4e4d 117
ptpaterson 2:c724ff3a4e4d 118 /** defines the data in a single entry of data (subindex)
ptpaterson 2:c724ff3a4e4d 119 */
ptpaterson 2:c724ff3a4e4d 120 struct EntryData
ptpaterson 2:c724ff3a4e4d 121 {
ptpaterson 2:c724ff3a4e4d 122 void *pData;
ptpaterson 2:c724ff3a4e4d 123 uint16_t size;
ptpaterson 2:c724ff3a4e4d 124 DataType type;
ptpaterson 2:c724ff3a4e4d 125 DataProperty properties;
ptpaterson 2:c724ff3a4e4d 126
ptpaterson 2:c724ff3a4e4d 127 EntryData(){}
ptpaterson 2:c724ff3a4e4d 128
ptpaterson 2:c724ff3a4e4d 129 EntryData(void *d, uint16_t s, DataType t, DataProperty p)
ptpaterson 2:c724ff3a4e4d 130 : pData(d), size(s), type(t), properties(p)
ptpaterson 2:c724ff3a4e4d 131 {}
ptpaterson 2:c724ff3a4e4d 132 };
ptpaterson 2:c724ff3a4e4d 133
ptpaterson 2:c724ff3a4e4d 134 /** defines the data for a single index, including an array of subindices
ptpaterson 2:c724ff3a4e4d 135 */
ptpaterson 2:c724ff3a4e4d 136 struct ObjectData
ptpaterson 2:c724ff3a4e4d 137 {
ptpaterson 2:c724ff3a4e4d 138 EntryData *entries;
ptpaterson 2:c724ff3a4e4d 139 uint16_t index;
ptpaterson 2:c724ff3a4e4d 140 uint16_t entryCount;
ptpaterson 2:c724ff3a4e4d 141
ptpaterson 2:c724ff3a4e4d 142 ObjectData(){}
ptpaterson 2:c724ff3a4e4d 143
ptpaterson 2:c724ff3a4e4d 144 ObjectData(EntryData *e, uint16_t i, uint16_t c)
ptpaterson 2:c724ff3a4e4d 145 : entries(e), index(i), entryCount(c)
ptpaterson 2:c724ff3a4e4d 146 {}
ptpaterson 2:c724ff3a4e4d 147 };
ptpaterson 2:c724ff3a4e4d 148
ptpaterson 2:c724ff3a4e4d 149
ptpaterson 2:c724ff3a4e4d 150 /*=========================================================================
ptpaterson 2:c724ff3a4e4d 151 * Public Methods
ptpaterson 2:c724ff3a4e4d 152 *=========================================================================
ptpaterson 2:c724ff3a4e4d 153 */
ptpaterson 2:c724ff3a4e4d 154
ptpaterson 2:c724ff3a4e4d 155 /** Abstract method to give access to the object entries of derived
ptpaterson 2:c724ff3a4e4d 156 * classes
ptpaterson 2:c724ff3a4e4d 157 */
ptpaterson 2:c724ff3a4e4d 158 virtual ObjectData * ScanIndex(int index) = 0;
ptpaterson 2:c724ff3a4e4d 159
ptpaterson 2:c724ff3a4e4d 160 };
ptpaterson 2:c724ff3a4e4d 161
ptpaterson 2:c724ff3a4e4d 162 } /* namespace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 163
ptpaterson 2:c724ff3a4e4d 164 #endif // PPCAN_OBJECT_DICTIONARY_H