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: source/Node.cpp
- Revision:
- 3:12b3c25bdeba
- Parent:
- 2:c724ff3a4e4d
- Child:
- 4:2034b04c86d2
--- a/source/Node.cpp Wed Dec 30 13:33:41 2015 +0000
+++ b/source/Node.cpp Mon Jan 04 06:10:49 2016 +0000
@@ -27,12 +27,39 @@
*/
#include "Node.h"
+#include "ServiceProvider.h"
#include "ObjectDictionary.h"
namespace ppCANOpen
{
-Node::Node (void) {}
+Node::Node (ServiceProvider * provider)
+{
+ provider->AddNode(this);
+}
+
+/*=============================================================================
+ * Methods to handle message indication and confirmation
+ *=============================================================================
+ */
+
+int Node::DispatchMessage(CanOpenMessage *canOpenMsg)
+{
+ int command = MESSAGE_GET_COMMAND(canOpenMsg->id);
+ int nodeId = MESSAGE_GET_NODEID(canOpenMsg->id);
+
+ switch (command) {
+ case CANOPEN_FUNCTION_CODE_NMT:
+ if (canOpenMsg->data[0] == nodeId) {
+ HandleNodeControl ((int)canOpenMsg->data[1]);
+ }
+ break;
+ default:
+ break;
+ }
+
+ return 1;
+}
/*=============================================================================
* Methods to handle message indication and confirmation
@@ -54,9 +81,73 @@
return 0;
}
-int Node::HandleNodeControl (void)
+int Node::HandleNodeControl (int commandSpecifier)
{
- return 0;
+ int result = 0;
+
+ switch (commandSpecifier) {
+ case NMT_CS_START:
+ if (state.nmtState != NMT_STATE_INITIALIZED) {
+ state.nmtState = NMT_STATE_OPERATIONAL;
+ state.bBoot = 0;
+ state.bSDO = 1;
+ state.bEmergency = 1;
+ state.bSYNC = 1;
+ state.bLifeGuard = 1;
+ state.bPDO = 1;
+ state.bLSS = 0;
+ OnOperational();
+ result = 1;
+ }
+ break;
+
+ case NMT_CS_STOP:
+ if (state.nmtState != NMT_STATE_INITIALIZED) {
+ state.nmtState = NMT_STATE_STOPPED;
+ state.bBoot = 0;
+ state.bSDO = 0;
+ state.bEmergency = 0;
+ state.bSYNC = 0;
+ state.bLifeGuard = 1;
+ state.bPDO = 0;
+ state.bLSS = 1;
+ }
+ OnStopped();
+ result = 1;
+ break;
+
+ case NMT_CS_ENTER_PREOP:
+ state.nmtState = NMT_STATE_PREOPERATIONAL;
+ state.bBoot = 0;
+ state.bSDO = 1;
+ state.bEmergency = 1;
+ state.bSYNC = 1;
+ state.bLifeGuard = 1;
+ state.bPDO = 0;
+ state.bLSS = 1;
+ OnPreoperational();
+ result = 1;
+ break;
+
+ case NMT_CS_RESET_NODE:
+ case NMT_CS_RESET_COM:
+ state.nmtState = NMT_STATE_INITIALIZED;
+ state.bBoot = 1;
+ state.bSDO = 0;
+ state.bEmergency = 0;
+ state.bSYNC = 0;
+ state.bLifeGuard = 0;
+ state.bPDO = 0;
+ state.bLSS = 0;
+ OnInitialize();
+ result = 1;
+ break;
+
+ default:
+ break;
+ }
+
+ return result;
}
int Node::HandleNodeGuardRequest (const int masterId)
@@ -76,7 +167,9 @@
void Node::Update (void)
{
-
+ if (NMT_STATE_OPERATIONAL == state.nmtState) {
+ OnUpdate();
+ }
}
/*=============================================================================
@@ -84,11 +177,6 @@
*=============================================================================
*/
-void Node::OnInitialize (void){}
-void Node::OnPreoperational (void){}
-void Node::OnOperational (void){}
-void Node::OnStopped (void){}
-
/*=============================================================================
* Local functions
*=============================================================================