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.
include/ServiceProvider.h@5:22a337cdc0e3, 2016-02-13 (annotated)
- Committer:
- ptpaterson
- Date:
- Sat Feb 13 20:22:59 2016 +0000
- Revision:
- 5:22a337cdc0e3
- Parent:
- 4:2034b04c86d2
PDO receive complete
Who changed what in which revision?
User | Revision | Line number | New 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>© 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 | 2:c724ff3a4e4d | 54 | ServiceProvider (void); |
ptpaterson | 3:12b3c25bdeba | 55 | ~ServiceProvider (void); |
ptpaterson | 2:c724ff3a4e4d | 56 | |
ptpaterson | 5:22a337cdc0e3 | 57 | /* ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 58 | * Public Methods |
ptpaterson | 5:22a337cdc0e3 | 59 | * ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 60 | */ |
ptpaterson | 5:22a337cdc0e3 | 61 | |
ptpaterson | 5:22a337cdc0e3 | 62 | /* Main application -----------------------------------------------------*/ |
ptpaterson | 4:2034b04c86d2 | 63 | /** Main loop */ |
ptpaterson | 2:c724ff3a4e4d | 64 | void Run (void); |
ptpaterson | 2:c724ff3a4e4d | 65 | |
ptpaterson | 5:22a337cdc0e3 | 66 | /** Iterate through Nodes and update */ |
ptpaterson | 5:22a337cdc0e3 | 67 | void UpdateNodes(void); |
ptpaterson | 5:22a337cdc0e3 | 68 | |
ptpaterson | 5:22a337cdc0e3 | 69 | /** C helper function to pass to API */ |
ptpaterson | 5:22a337cdc0e3 | 70 | static void UpdateNodes_CWrapper(void *pServiceObject); |
ptpaterson | 5:22a337cdc0e3 | 71 | |
ptpaterson | 5:22a337cdc0e3 | 72 | /* Node Management ------------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 73 | /** Register a node to get messages and get update calls */ |
ptpaterson | 2:c724ff3a4e4d | 74 | int AddNode (Node * node); |
ptpaterson | 2:c724ff3a4e4d | 75 | |
ptpaterson | 5:22a337cdc0e3 | 76 | // TODO: remove node (swap pointers to fill in nicely |
ptpaterson | 5:22a337cdc0e3 | 77 | |
ptpaterson | 4:2034b04c86d2 | 78 | |
ptpaterson | 5:22a337cdc0e3 | 79 | /* CanMessage Transmission ----------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 80 | /** Add a message to the message queue outbox */ |
ptpaterson | 5:22a337cdc0e3 | 81 | void PostMessage (int nodeId, CanOpenMessage * msg); |
ptpaterson | 5:22a337cdc0e3 | 82 | |
ptpaterson | 5:22a337cdc0e3 | 83 | /** quick way to create and send an NMT Control message |
ptpaterson | 5:22a337cdc0e3 | 84 | * @note Make posting a message easier! |
ptpaterson | 4:2034b04c86d2 | 85 | */ |
ptpaterson | 5:22a337cdc0e3 | 86 | void PostNmtControl (char targetNodeId, NmtCommandSpecifier cs); |
ptpaterson | 5:22a337cdc0e3 | 87 | |
ptpaterson | 5:22a337cdc0e3 | 88 | /* Elapsed Time ---------------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 89 | /** A way for the the Nodes to get elapsed time when they want it */ |
ptpaterson | 5:22a337cdc0e3 | 90 | uint32_t GetTime(void); |
ptpaterson | 4:2034b04c86d2 | 91 | |
ptpaterson | 2:c724ff3a4e4d | 92 | private: |
ptpaterson | 5:22a337cdc0e3 | 93 | /* ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 94 | * Private Constants |
ptpaterson | 5:22a337cdc0e3 | 95 | * ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 96 | */ |
ptpaterson | 2:c724ff3a4e4d | 97 | |
ptpaterson | 5:22a337cdc0e3 | 98 | /** Define size of arrays in one place */ |
ptpaterson | 4:2034b04c86d2 | 99 | static const int SERVICE_MAX_NODES = 8; |
ptpaterson | 2:c724ff3a4e4d | 100 | |
ptpaterson | 2:c724ff3a4e4d | 101 | /* ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 102 | * Private Methods |
ptpaterson | 2:c724ff3a4e4d | 103 | * ======================================================================== |
ptpaterson | 2:c724ff3a4e4d | 104 | */ |
ptpaterson | 2:c724ff3a4e4d | 105 | |
ptpaterson | 5:22a337cdc0e3 | 106 | /* CanMessage Reading ---------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 107 | /** Function to be called on every CAN read interrupt */ |
ptpaterson | 5:22a337cdc0e3 | 108 | void ReadIT(void); |
ptpaterson | 5:22a337cdc0e3 | 109 | |
ptpaterson | 5:22a337cdc0e3 | 110 | /** C helper function used to pass ReadIT() to API */ |
ptpaterson | 5:22a337cdc0e3 | 111 | static void ReadIT_CWrapper(void *pServiceObject); |
ptpaterson | 5:22a337cdc0e3 | 112 | |
ptpaterson | 5:22a337cdc0e3 | 113 | /** Helper function that utilizes backup message inbox when the main one |
ptpaterson | 5:22a337cdc0e3 | 114 | * is locked by the application. |
ptpaterson | 4:2034b04c86d2 | 115 | */ |
ptpaterson | 5:22a337cdc0e3 | 116 | void ReadIT_clearBuffer(void); |
ptpaterson | 4:2034b04c86d2 | 117 | |
ptpaterson | 5:22a337cdc0e3 | 118 | /* Elapsed Time ---------------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 119 | /** Synchronize elapsed time*/ |
ptpaterson | 5:22a337cdc0e3 | 120 | void HandleTimeMessage(CanOpenMessage *canOpenMsg); |
ptpaterson | 5:22a337cdc0e3 | 121 | |
ptpaterson | 5:22a337cdc0e3 | 122 | |
ptpaterson | 5:22a337cdc0e3 | 123 | /* ======================================================================== |
ptpaterson | 5:22a337cdc0e3 | 124 | * Private Member Variables |
ptpaterson | 5:22a337cdc0e3 | 125 | * ======================================================================== |
ptpaterson | 2:c724ff3a4e4d | 126 | */ |
ptpaterson | 5:22a337cdc0e3 | 127 | |
ptpaterson | 5:22a337cdc0e3 | 128 | /* Node Management -------------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 129 | /** array of nodes to cycle through. */ |
ptpaterson | 2:c724ff3a4e4d | 130 | Node * nodes[SERVICE_MAX_NODES]; |
ptpaterson | 2:c724ff3a4e4d | 131 | |
ptpaterson | 5:22a337cdc0e3 | 132 | /** Keeps count of current number of nodes. */ |
ptpaterson | 5:22a337cdc0e3 | 133 | int nodeCount; |
ptpaterson | 5:22a337cdc0e3 | 134 | |
ptpaterson | 5:22a337cdc0e3 | 135 | /* CanMessage Reading ---------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 136 | /** array of messages in a queue */ |
ptpaterson | 5:22a337cdc0e3 | 137 | std::queue<CanOpenMessage> inbox; |
ptpaterson | 5:22a337cdc0e3 | 138 | |
ptpaterson | 5:22a337cdc0e3 | 139 | /** Extra buffer only handled by ISR. Used if inbox is locked */ |
ptpaterson | 5:22a337cdc0e3 | 140 | std::queue<CanOpenMessage> inboxBuffer; |
ptpaterson | 5:22a337cdc0e3 | 141 | |
ptpaterson | 5:22a337cdc0e3 | 142 | /** boolean to lock and unlock inbox */ |
ptpaterson | 5:22a337cdc0e3 | 143 | int bInboxUnlocked; |
ptpaterson | 5:22a337cdc0e3 | 144 | |
ptpaterson | 5:22a337cdc0e3 | 145 | /** Data to keep track of internal messages. Node ID allows SP to avoid |
ptpaterson | 5:22a337cdc0e3 | 146 | * dispatching message to the one who sent it |
ptpaterson | 2:c724ff3a4e4d | 147 | */ |
ptpaterson | 5:22a337cdc0e3 | 148 | struct InternalMessage { |
ptpaterson | 5:22a337cdc0e3 | 149 | int nodeId; |
ptpaterson | 5:22a337cdc0e3 | 150 | CanOpenMessage message; |
ptpaterson | 5:22a337cdc0e3 | 151 | |
ptpaterson | 5:22a337cdc0e3 | 152 | InternalMessage(uint8_t n, CanOpenMessage m): |
ptpaterson | 5:22a337cdc0e3 | 153 | nodeId(n), |
ptpaterson | 5:22a337cdc0e3 | 154 | message(m) |
ptpaterson | 5:22a337cdc0e3 | 155 | {} |
ptpaterson | 5:22a337cdc0e3 | 156 | }; |
ptpaterson | 5:22a337cdc0e3 | 157 | |
ptpaterson | 5:22a337cdc0e3 | 158 | /** array of messages in a queue */ |
ptpaterson | 5:22a337cdc0e3 | 159 | std::queue<InternalMessage> outbox; |
ptpaterson | 3:12b3c25bdeba | 160 | |
ptpaterson | 5:22a337cdc0e3 | 161 | /* Elapsed Time ---------------------------------------------------------*/ |
ptpaterson | 5:22a337cdc0e3 | 162 | /** Elapsed time offset used for synchronization*/ |
ptpaterson | 5:22a337cdc0e3 | 163 | int32_t elapsedTimeOffset; |
ptpaterson | 5:22a337cdc0e3 | 164 | |
ptpaterson | 2:c724ff3a4e4d | 165 | }; |
ptpaterson | 2:c724ff3a4e4d | 166 | |
ptpaterson | 2:c724ff3a4e4d | 167 | } /* namspace ppCANOpen */ |
ptpaterson | 2:c724ff3a4e4d | 168 | |
ptpaterson | 2:c724ff3a4e4d | 169 | #endif /* PPCAN_SERVICE_PROVIDER_H */ |
ptpaterson | 2:c724ff3a4e4d | 170 |