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/Node.h@2:c724ff3a4e4d, 2015-12-30 (annotated)

Committer:
ptpaterson
Date:
Wed Dec 30 13:33:41 2015 +0000
Revision:
2:c724ff3a4e4d
Child:
3:12b3c25bdeba
Implement simple Object Dictionary and derived class.

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_NODE_H
ptpaterson 2:c724ff3a4e4d 30 #define PPCAN_NODE_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 ServiceProvider;
ptpaterson 2:c724ff3a4e4d 39 class ObjectDictionary;
ptpaterson 2:c724ff3a4e4d 40
ptpaterson 2:c724ff3a4e4d 41 /** Maintain the multitude of states for a node */
ptpaterson 2:c724ff3a4e4d 42 typedef struct {
ptpaterson 2:c724ff3a4e4d 43 NmtState nmtState;
ptpaterson 2:c724ff3a4e4d 44 int csBoot_Up;
ptpaterson 2:c724ff3a4e4d 45 int csSDO;
ptpaterson 2:c724ff3a4e4d 46 int csEmergency;
ptpaterson 2:c724ff3a4e4d 47 int csSYNC;
ptpaterson 2:c724ff3a4e4d 48 int csLifeGuard;
ptpaterson 2:c724ff3a4e4d 49 int csPDO;
ptpaterson 2:c724ff3a4e4d 50 int csLSS;
ptpaterson 2:c724ff3a4e4d 51 } NodeState;
ptpaterson 2:c724ff3a4e4d 52
ptpaterson 2:c724ff3a4e4d 53 /** Node Class to implement feature of a CANOpen NMT node
ptpaterson 2:c724ff3a4e4d 54 */
ptpaterson 2:c724ff3a4e4d 55 class Node
ptpaterson 2:c724ff3a4e4d 56 {
ptpaterson 2:c724ff3a4e4d 57 public:
ptpaterson 2:c724ff3a4e4d 58 Node (void);
ptpaterson 2:c724ff3a4e4d 59
ptpaterson 2:c724ff3a4e4d 60 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 61 * Methods to message indication and confirmation
ptpaterson 2:c724ff3a4e4d 62 * Called by a ServiceProvider when a message is received.
ptpaterson 2:c724ff3a4e4d 63 * ========================================================================
ptpaterson 2:c724ff3a4e4d 64 */
ptpaterson 2:c724ff3a4e4d 65
ptpaterson 2:c724ff3a4e4d 66 /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 67
ptpaterson 2:c724ff3a4e4d 68 int ConsumePdo (int pdoNum, char * dataIn);
ptpaterson 2:c724ff3a4e4d 69 int HandlePdoReadRequest (int pdoNum);
ptpaterson 2:c724ff3a4e4d 70
ptpaterson 2:c724ff3a4e4d 71
ptpaterson 2:c724ff3a4e4d 72 /* SDO (7.2.4) ----------------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 73
ptpaterson 2:c724ff3a4e4d 74 int HandleExpeditedDownload (int sdoNum, int index, int subIndex, int dataCount, char * data);
ptpaterson 2:c724ff3a4e4d 75 int HandleInitiateDownloadRequest (int sdoNum, int index, int subIndex, int dataCount, char * data);
ptpaterson 2:c724ff3a4e4d 76
ptpaterson 2:c724ff3a4e4d 77 int HandleExpeditedUpload (int sdoNum, int index, int subIndex);
ptpaterson 2:c724ff3a4e4d 78
ptpaterson 2:c724ff3a4e4d 79
ptpaterson 2:c724ff3a4e4d 80 // TODO: express and not express
ptpaterson 2:c724ff3a4e4d 81
ptpaterson 2:c724ff3a4e4d 82 /* SYNC object (7.2.5) --------------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 83
ptpaterson 2:c724ff3a4e4d 84 // TODO: SYNC consumer
ptpaterson 2:c724ff3a4e4d 85
ptpaterson 2:c724ff3a4e4d 86 /* Time Stamp object (7.2.6) --------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 87
ptpaterson 2:c724ff3a4e4d 88 // TODO: time consumer
ptpaterson 2:c724ff3a4e4d 89
ptpaterson 2:c724ff3a4e4d 90 /* Emergency object (7.2.7) ---------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 91
ptpaterson 2:c724ff3a4e4d 92 int ConsumeEmergency (void);// TODO: fix params
ptpaterson 2:c724ff3a4e4d 93
ptpaterson 2:c724ff3a4e4d 94
ptpaterson 2:c724ff3a4e4d 95 /* Network Management (7.2.8) -------------------------------------------*/
ptpaterson 2:c724ff3a4e4d 96 /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
ptpaterson 2:c724ff3a4e4d 97
ptpaterson 2:c724ff3a4e4d 98 int HandleNodeControl (void);
ptpaterson 2:c724ff3a4e4d 99
ptpaterson 2:c724ff3a4e4d 100
ptpaterson 2:c724ff3a4e4d 101 /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
ptpaterson 2:c724ff3a4e4d 102
ptpaterson 2:c724ff3a4e4d 103 int HandleNodeGuardRequest (int masterId);
ptpaterson 2:c724ff3a4e4d 104 int ConsumeHeartbeat (int producerId);
ptpaterson 2:c724ff3a4e4d 105
ptpaterson 2:c724ff3a4e4d 106
ptpaterson 2:c724ff3a4e4d 107 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 108 * Methods to handle operation of node device
ptpaterson 2:c724ff3a4e4d 109 * ========================================================================
ptpaterson 2:c724ff3a4e4d 110 */
ptpaterson 2:c724ff3a4e4d 111
ptpaterson 2:c724ff3a4e4d 112 /**
ptpaterson 2:c724ff3a4e4d 113 * @note
ptpaterson 2:c724ff3a4e4d 114 */
ptpaterson 2:c724ff3a4e4d 115 // TODO: pass elapsed time to Update method
ptpaterson 2:c724ff3a4e4d 116 virtual void Update (void);
ptpaterson 2:c724ff3a4e4d 117
ptpaterson 2:c724ff3a4e4d 118
ptpaterson 2:c724ff3a4e4d 119 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 120 * Public members
ptpaterson 2:c724ff3a4e4d 121 * ========================================================================
ptpaterson 2:c724ff3a4e4d 122 */
ptpaterson 2:c724ff3a4e4d 123
ptpaterson 2:c724ff3a4e4d 124 /** Network id for the node
ptpaterson 2:c724ff3a4e4d 125 * @note May need to be a pointer, because node id is held in object dictionary
ptpaterson 2:c724ff3a4e4d 126 */
ptpaterson 2:c724ff3a4e4d 127 int nodeId;
ptpaterson 2:c724ff3a4e4d 128
ptpaterson 2:c724ff3a4e4d 129 /** Network and communication state of the node
ptpaterson 2:c724ff3a4e4d 130 * @note
ptpaterson 2:c724ff3a4e4d 131 */
ptpaterson 2:c724ff3a4e4d 132 NodeState state;
ptpaterson 2:c724ff3a4e4d 133
ptpaterson 2:c724ff3a4e4d 134
ptpaterson 2:c724ff3a4e4d 135 protected:
ptpaterson 2:c724ff3a4e4d 136
ptpaterson 2:c724ff3a4e4d 137 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 138 * Methods to implement node control in derived classes
ptpaterson 2:c724ff3a4e4d 139 * ========================================================================
ptpaterson 2:c724ff3a4e4d 140 */
ptpaterson 2:c724ff3a4e4d 141
ptpaterson 2:c724ff3a4e4d 142 /** Perform actions when node reset
ptpaterson 2:c724ff3a4e4d 143 * @note Override to implement user application
ptpaterson 2:c724ff3a4e4d 144 */
ptpaterson 2:c724ff3a4e4d 145 virtual void OnInitialize (void);
ptpaterson 2:c724ff3a4e4d 146
ptpaterson 2:c724ff3a4e4d 147 /** Perform actions when state changed to pre-operational
ptpaterson 2:c724ff3a4e4d 148 * @note Override to implement user application
ptpaterson 2:c724ff3a4e4d 149 */
ptpaterson 2:c724ff3a4e4d 150 virtual void OnPreoperational (void);
ptpaterson 2:c724ff3a4e4d 151
ptpaterson 2:c724ff3a4e4d 152 /** Perform actions when state changed to operational
ptpaterson 2:c724ff3a4e4d 153 * @note Override to implement user application
ptpaterson 2:c724ff3a4e4d 154 */
ptpaterson 2:c724ff3a4e4d 155 virtual void OnOperational (void);
ptpaterson 2:c724ff3a4e4d 156
ptpaterson 2:c724ff3a4e4d 157 /** Perform actions when state changed to stop
ptpaterson 2:c724ff3a4e4d 158 * @note Override to implement user application
ptpaterson 2:c724ff3a4e4d 159 */
ptpaterson 2:c724ff3a4e4d 160 virtual void OnStopped (void);
ptpaterson 2:c724ff3a4e4d 161
ptpaterson 2:c724ff3a4e4d 162
ptpaterson 2:c724ff3a4e4d 163 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 164 * Object Dictionary
ptpaterson 2:c724ff3a4e4d 165 * ========================================================================
ptpaterson 2:c724ff3a4e4d 166 */
ptpaterson 2:c724ff3a4e4d 167
ptpaterson 2:c724ff3a4e4d 168 /** object dictionary */
ptpaterson 2:c724ff3a4e4d 169 ObjectDictionary * pDictionary;
ptpaterson 2:c724ff3a4e4d 170
ptpaterson 2:c724ff3a4e4d 171 private:
ptpaterson 2:c724ff3a4e4d 172
ptpaterson 2:c724ff3a4e4d 173 };
ptpaterson 2:c724ff3a4e4d 174
ptpaterson 2:c724ff3a4e4d 175 } /* namespace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 176
ptpaterson 2:c724ff3a4e4d 177 #endif // PPCAN_NODE_H
ptpaterson 2:c724ff3a4e4d 178