Paul Paterson
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
Diff: include/Node.h
- Revision:
- 3:12b3c25bdeba
- Parent:
- 2:c724ff3a4e4d
- Child:
- 4:2034b04c86d2
--- a/include/Node.h Wed Dec 30 13:33:41 2015 +0000
+++ b/include/Node.h Mon Jan 04 06:10:49 2016 +0000
@@ -38,27 +38,50 @@
class ServiceProvider;
class ObjectDictionary;
-/** Maintain the multitude of states for a node */
-typedef struct {
- NmtState nmtState;
- int csBoot_Up;
- int csSDO;
- int csEmergency;
- int csSYNC;
- int csLifeGuard;
- int csPDO;
- int csLSS;
-} NodeState;
-
/** Node Class to implement feature of a CANOpen NMT node
*/
class Node
{
public:
- Node (void);
+
+ /** Maintain the multitude of states for a node */
+ typedef struct {
+ NmtState nmtState;
+ int bBoot;
+ int bSDO;
+ int bEmergency;
+ int bSYNC;
+ int bLifeGuard;
+ int bPDO;
+ int bLSS;
+ } State;
+
+ Node (ServiceProvider * provider);
+
+ /* ========================================================================
+ * Methods to handle operation of node device
+ * ========================================================================
+ */
+
+ // TODO: pass elapsed time to Update method
+ virtual void Update (void);
/* ========================================================================
- * Methods to message indication and confirmation
+ * Message indication
+ * Called by a ServiceProvider when a message is received.
+ * ========================================================================
+ */
+
+ /**
+ * @note
+ */
+ int DispatchMessage(CanOpenMessage *canOpenMsg);
+
+
+protected:
+
+ /* ========================================================================
+ * Methods to handle various messages
* Called by a ServiceProvider when a message is received.
* ========================================================================
*/
@@ -94,8 +117,7 @@
/* Network Management (7.2.8) -------------------------------------------*/
/* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
-
- int HandleNodeControl (void);
+ int HandleNodeControl (int commandSpecifier);
/* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
@@ -105,19 +127,49 @@
/* ========================================================================
- * Methods to handle operation of node device
+ * Methods to implement node control in derived classes
* ========================================================================
*/
+
+ /** Perform actions every cycle
+ * @note Override to implement user application
+ */
+ virtual void OnUpdate(void) = 0;
- /**
- * @note
- */
- // TODO: pass elapsed time to Update method
- virtual void Update (void);
+ /** Perform actions when node reset
+ * @note Override to implement user application
+ */
+ virtual void OnInitialize (void) = 0;
+
+ /** Perform actions when state changed to pre-operational
+ * @note Override to implement user application
+ */
+ virtual void OnPreoperational (void) = 0;
+ /** Perform actions when state changed to operational
+ * @note Override to implement user application
+ */
+ virtual void OnOperational (void) = 0;
+
+ /** Perform actions when state changed to stop
+ * @note Override to implement user application
+ */
+ virtual void OnStopped (void) = 0;
/* ========================================================================
- * Public members
+ * Protected Members
+ * ========================================================================
+ */
+
+ ServiceProvider * pMyProvider;
+
+ /** object dictionary */
+ ObjectDictionary * pMyDictionary;
+
+private:
+
+ /* ========================================================================
+ * Private members
* ========================================================================
*/
@@ -129,47 +181,7 @@
/** Network and communication state of the node
* @note
*/
- NodeState state;
-
-
-protected:
-
- /* ========================================================================
- * Methods to implement node control in derived classes
- * ========================================================================
- */
-
- /** Perform actions when node reset
- * @note Override to implement user application
- */
- virtual void OnInitialize (void);
-
- /** Perform actions when state changed to pre-operational
- * @note Override to implement user application
- */
- virtual void OnPreoperational (void);
-
- /** Perform actions when state changed to operational
- * @note Override to implement user application
- */
- virtual void OnOperational (void);
-
- /** Perform actions when state changed to stop
- * @note Override to implement user application
- */
- virtual void OnStopped (void);
-
-
- /* ========================================================================
- * Object Dictionary
- * ========================================================================
- */
-
- /** object dictionary */
- ObjectDictionary * pDictionary;
-
-private:
-
+ State state;
};
} /* namespace ppCANOpen */