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@4:2034b04c86d2, 2016-01-09 (annotated)

Committer:
ptpaterson
Date:
Sat Jan 09 17:15:29 2016 +0000
Revision:
4:2034b04c86d2
Parent:
3:12b3c25bdeba
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 2015-12-22
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 4:2034b04c86d2 32 #include "CanOpenMessage.h"
ptpaterson 4:2034b04c86d2 33 #include <queue>
ptpaterson 4:2034b04c86d2 34
ptpaterson 4:2034b04c86d2 35 /*=========================================================================
ptpaterson 4:2034b04c86d2 36 * Forward declarations
ptpaterson 4:2034b04c86d2 37 *=========================================================================
ptpaterson 4:2034b04c86d2 38 */
ptpaterson 4:2034b04c86d2 39
ptpaterson 4:2034b04c86d2 40 struct CanOpenHandle;
ptpaterson 2:c724ff3a4e4d 41
ptpaterson 2:c724ff3a4e4d 42 namespace ppCANOpen
ptpaterson 2:c724ff3a4e4d 43 {
ptpaterson 2:c724ff3a4e4d 44
ptpaterson 2:c724ff3a4e4d 45 /* Avoid circular reference */
ptpaterson 2:c724ff3a4e4d 46 class Node;
ptpaterson 2:c724ff3a4e4d 47
ptpaterson 2:c724ff3a4e4d 48 /** Node Class to implement feature of a CANOpen NMT node
ptpaterson 2:c724ff3a4e4d 49 */
ptpaterson 2:c724ff3a4e4d 50 class ServiceProvider
ptpaterson 2:c724ff3a4e4d 51 {
ptpaterson 2:c724ff3a4e4d 52 public:
ptpaterson 2:c724ff3a4e4d 53
ptpaterson 4:2034b04c86d2 54
ptpaterson 4:2034b04c86d2 55
ptpaterson 2:c724ff3a4e4d 56 ServiceProvider (void);
ptpaterson 3:12b3c25bdeba 57 ~ServiceProvider (void);
ptpaterson 2:c724ff3a4e4d 58
ptpaterson 4:2034b04c86d2 59 /** Main loop */
ptpaterson 2:c724ff3a4e4d 60 void Run (void);
ptpaterson 2:c724ff3a4e4d 61
ptpaterson 4:2034b04c86d2 62 /** Register a node to get messages and get update calls
ptpaterson 4:2034b04c86d2 63 * @note
ptpaterson 4:2034b04c86d2 64 * @param
ptpaterson 4:2034b04c86d2 65 * @retval
ptpaterson 4:2034b04c86d2 66 */
ptpaterson 2:c724ff3a4e4d 67 int AddNode (Node * node);
ptpaterson 2:c724ff3a4e4d 68
ptpaterson 4:2034b04c86d2 69 /** Register a node to get messages and get update calls
ptpaterson 4:2034b04c86d2 70 * @note
ptpaterson 4:2034b04c86d2 71 * @param
ptpaterson 4:2034b04c86d2 72 * @retval
ptpaterson 4:2034b04c86d2 73 */
ptpaterson 4:2034b04c86d2 74
ptpaterson 4:2034b04c86d2 75 /** Add a message to the message queue outbox
ptpaterson 4:2034b04c86d2 76 * @note
ptpaterson 4:2034b04c86d2 77 * @param
ptpaterson 4:2034b04c86d2 78 */
ptpaterson 4:2034b04c86d2 79 void PostMessage (CanOpenMessage * msg);
ptpaterson 4:2034b04c86d2 80
ptpaterson 2:c724ff3a4e4d 81 // TODO: remove node (swap pointers to fill in nicely
ptpaterson 2:c724ff3a4e4d 82 private:
ptpaterson 2:c724ff3a4e4d 83
ptpaterson 4:2034b04c86d2 84 /** define size of arrays in one place */
ptpaterson 4:2034b04c86d2 85 static const int SERVICE_MAX_NODES = 8;
ptpaterson 2:c724ff3a4e4d 86
ptpaterson 2:c724ff3a4e4d 87 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 88 * Private Members
ptpaterson 2:c724ff3a4e4d 89 * ========================================================================
ptpaterson 2:c724ff3a4e4d 90 */
ptpaterson 2:c724ff3a4e4d 91
ptpaterson 4:2034b04c86d2 92 /** array of messages in a queue
ptpaterson 4:2034b04c86d2 93 * @note twice number of max nodes is a bit arbitrary. Will need at
ptpaterson 4:2034b04c86d2 94 * least max nodes, but not sure how much more to be safe.
ptpaterson 4:2034b04c86d2 95 */
ptpaterson 4:2034b04c86d2 96 std::queue<CanOpenMessage> outbox;
ptpaterson 4:2034b04c86d2 97 //CanOpenMessage outbox[SERVICE_MAX_NODES * 2];
ptpaterson 4:2034b04c86d2 98 //int messageCount;
ptpaterson 4:2034b04c86d2 99
ptpaterson 2:c724ff3a4e4d 100 /** array of nodes to cycle through.
ptpaterson 2:c724ff3a4e4d 101 * @note
ptpaterson 2:c724ff3a4e4d 102 */
ptpaterson 2:c724ff3a4e4d 103 Node * nodes[SERVICE_MAX_NODES];
ptpaterson 2:c724ff3a4e4d 104
ptpaterson 2:c724ff3a4e4d 105 /** Keeps count of current number of nodes.
ptpaterson 2:c724ff3a4e4d 106 * @note
ptpaterson 2:c724ff3a4e4d 107 */
ptpaterson 2:c724ff3a4e4d 108 int nodeCount;
ptpaterson 3:12b3c25bdeba 109
ptpaterson 3:12b3c25bdeba 110 /** stores handle for can open api */
ptpaterson 3:12b3c25bdeba 111 CanOpenHandle * hCanOpen;
ptpaterson 2:c724ff3a4e4d 112
ptpaterson 2:c724ff3a4e4d 113 };
ptpaterson 2:c724ff3a4e4d 114
ptpaterson 2:c724ff3a4e4d 115 } /* namspace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 116
ptpaterson 2:c724ff3a4e4d 117 #endif /* PPCAN_SERVICE_PROVIDER_H */
ptpaterson 2:c724ff3a4e4d 118