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:
- 4:2034b04c86d2
- Parent:
- 3:12b3c25bdeba
- Child:
- 5:22a337cdc0e3
--- a/source/Node.cpp Mon Jan 04 06:10:49 2016 +0000
+++ b/source/Node.cpp Sat Jan 09 17:15:29 2016 +0000
@@ -30,12 +30,90 @@
#include "ServiceProvider.h"
#include "ObjectDictionary.h"
+#include "CanOpenMessage.h"
+
+#include <stdio.h>
+
namespace ppCANOpen
{
+
-Node::Node (ServiceProvider * provider)
+ /** CANOpen Function Codes */
+ typedef enum {
+ CANOPEN_FUNCTION_CODE_NMT = 0x00,
+ CANOPEN_FUNCTION_CODE_SYNC = 0x01,
+ CANOPEN_FUNCTION_CODE_TIME = 0x02,
+ CANOPEN_FUNCTION_CODE_PDO1T = 0x03,
+ CANOPEN_FUNCTION_CODE_PD01R = 0x04,
+ CANOPEN_FUNCTION_CODE_PD02T = 0x05,
+ CANOPEN_FUNCTION_CODE_PD02R = 0x06,
+ CANOPEN_FUNCTION_CODE_PD03T = 0x07,
+ CANOPEN_FUNCTION_CODE_PD03R = 0x08,
+ CANOPEN_FUNCTION_CODE_PD04T = 0x09,
+ CANOPEN_FUNCTION_CODE_PD04R = 0x0A,
+ CANOPEN_FUNCTION_CODE_SD0T = 0x0B,
+ CANOPEN_FUNCTION_CODE_SD0R = 0x0C,
+ CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
+ CANOPEN_FUNCTION_CODE_LSS = 0x0F
+ } CanOpenFunctionCodes;
+
+ /* Message Constants */
+ #define MESSAGE_NODEID_BITS 0b00001111111
+ #define MESSAGE_COMMAND_BITS 0b11110000000
+
+ /* Message Macros -----------------------------------------------------------*/
+ #define MESSAGE_GET_NODEID(cobId) (cobId & MESSAGE_NODEID_BITS)
+ #define MESSAGE_GET_COMMAND(cobId) ((cobId & MESSAGE_COMMAND_BITS) >> 7)
+
+ /*=========================================================================
+ * SDO MESSAGE PARAMETERS
+ *=========================================================================
+ */
+
+ /** SDO initiate protocol command specifiers */
+ typedef enum {
+ SDO_CCS_DOWNLOAD_SEGMENT_REQUEST = 0x00,
+ SDO_CCS_INITIATE_DOWNLOAD_REQUEST = 0x01,
+ SDO_CCS_INITIATE_UPLOAD_REQUEST = 0x02,
+ } SdoClientCommandSpecifier;
+
+ /** SDO segment protocol command specifiers */
+ typedef enum {
+ SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE = 0x01,
+ SDO_SCS_INITIATE_UPLOAD_RESPONSE = 0x02,
+ SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
+ } SdoServerCommandSpecifier;
+
+ /* SDO constants --------------------------------------------------------*/
+ #define SDO_SIZE_INDICATOR_BIT 0b00000001
+ #define SDO_TRANSFER_TYPE_BIT 0b00000010
+ #define SDO_DATA_COUNT_BITS 0b00001100
+ #define SDO_TOGGLE_BIT 0b00010000
+ #define SDO_CS_BITS 0b11100000
+
+ /* SDO macros -----------------------------------------------------------*/
+ #define SDO_GET_CS(data0) ((data0 & SDO_CS_BITS) >> 5)
+ #define SDO_GET_DATA_COUNT(data0) ((data0 & SDO_DATA_COUNT_BITS) >> 2)
+
+
+ /*=========================================================================
+ * NMT MESSAGE PARAMETERS
+ *=========================================================================
+ */
+
+ /** NMT node control protocol command specifiers */
+ typedef enum {
+ NMT_CS_START = 0x01,
+ NMT_CS_STOP = 0x02,
+ NMT_CS_ENTER_PREOP = 0x80,
+ NMT_CS_RESET_NODE = 0x81,
+ NMT_CS_RESET_COM = 0x82
+ } NmtCommandSpecifier;
+
+Node::Node (ServiceProvider * pProvider)
{
- provider->AddNode(this);
+ pMyProvider = pProvider;
+ pProvider->AddNode(this);
}
/*=============================================================================
@@ -43,21 +121,29 @@
*=============================================================================
*/
-int Node::DispatchMessage(CanOpenMessage *canOpenMsg)
+int Node::DispatchMessage(CanOpenMessage *msg)
{
- int command = MESSAGE_GET_COMMAND(canOpenMsg->id);
- int nodeId = MESSAGE_GET_NODEID(canOpenMsg->id);
+ int command = MESSAGE_GET_COMMAND(msg->id);
+ int nodeId = MESSAGE_GET_NODEID(msg->id);
+
+ //printf("*** N.Dispatch: got com and id\r\n");
switch (command) {
case CANOPEN_FUNCTION_CODE_NMT:
- if (canOpenMsg->data[0] == nodeId) {
- HandleNodeControl ((int)canOpenMsg->data[1]);
+ printf("*** N.Dispatch: it's an NMT Control!!!\r\n");
+ if (msg->data[0] == nodeId) {
+ HandleNodeControl ((int)msg->data[1]);
}
break;
default:
+ printf("*** N.Dispatch: some random message\r\n");
break;
}
-
+
+ // ECHO ***********************
+ pMyProvider->PostMessage(msg);
+ // END ECHO *******************
+
return 1;
}
@@ -84,11 +170,11 @@
int Node::HandleNodeControl (int commandSpecifier)
{
int result = 0;
-
+
switch (commandSpecifier) {
case NMT_CS_START:
- if (state.nmtState != NMT_STATE_INITIALIZED) {
- state.nmtState = NMT_STATE_OPERATIONAL;
+ if (State::INITIALIZED != state.nmtState) {
+ state.nmtState = State::OPERATIONAL;
state.bBoot = 0;
state.bSDO = 1;
state.bEmergency = 1;
@@ -100,10 +186,10 @@
result = 1;
}
break;
-
+
case NMT_CS_STOP:
- if (state.nmtState != NMT_STATE_INITIALIZED) {
- state.nmtState = NMT_STATE_STOPPED;
+ if (State::INITIALIZED != state.nmtState) {
+ state.nmtState = State::STOPPED;
state.bBoot = 0;
state.bSDO = 0;
state.bEmergency = 0;
@@ -115,9 +201,9 @@
OnStopped();
result = 1;
break;
-
+
case NMT_CS_ENTER_PREOP:
- state.nmtState = NMT_STATE_PREOPERATIONAL;
+ state.nmtState = State::PREOPERATIONAL;
state.bBoot = 0;
state.bSDO = 1;
state.bEmergency = 1;
@@ -128,10 +214,11 @@
OnPreoperational();
result = 1;
break;
-
+
case NMT_CS_RESET_NODE:
case NMT_CS_RESET_COM:
- state.nmtState = NMT_STATE_INITIALIZED;
+
+ state.nmtState = State::INITIALIZED;
state.bBoot = 1;
state.bSDO = 0;
state.bEmergency = 0;
@@ -139,14 +226,27 @@
state.bLifeGuard = 0;
state.bPDO = 0;
state.bLSS = 0;
- OnInitialize();
+
+ state.bLifeGuardToggle = 0;
+
+ /* boot message is actually just the first node guard/ heart beat message */
+ // TODO: wrap up into heartbeat/lifeguard message
+ CanOpenMessage msgBoot;
+ msgBoot.id = CANOPEN_FUNCTION_CODE_NODE_GUARD | 5;
+ msgBoot.format = CANOPEN_FORMAT_STANDARD;
+ msgBoot.type = CANOPEN_TYPE_DATA;
+ msgBoot.dataCount = 1;
+ msgBoot.data[0] = 0;
+
+ pMyProvider->PostMessage(&msgBoot);
+
result = 1;
break;
-
+
default:
break;
}
-
+
return result;
}
@@ -164,12 +264,14 @@
* Methods to handle operation of node device
*=============================================================================
*/
-
+
void Node::Update (void)
{
- if (NMT_STATE_OPERATIONAL == state.nmtState) {
+ if (State::OPERATIONAL == state.nmtState) {
OnUpdate();
- }
+ }
+
+ // TODO: check elapsed time to see if it is time for fixed update
}
/*=============================================================================
@@ -181,8 +283,96 @@
* Local functions
*=============================================================================
*/
-
-
+
+
+
+/*=============================================================================
+ *=============================================================================
+ * Methods to handle message requests and responses
+ * Called by the node, usually during Update() or during handling of
+ * incoming messages.
+ *
+ * Removed from Service ProviderClass. Not sure if we will need these in the future
+ *=============================================================================
+ *=============================================================================
+ */
+
+/* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
+
+/** Build and send a PDO request
+ * @note
+ * @param
+ */
+void RequestPdo (int pdoNum){}
+
+/** Build and send a PDO
+ * @note
+ * @param
+ */
+void ProducePdo (int pdoNum, char * data){}
+
+
+/* SDO (7.2.4) ----------------------------------------------------------*/
+
+/** initiate SDO download
+ * @note Handles automatically whether it will be a expedited transfer or
+ * or if message will be split into
+ * @param
+ *
+ * Node will create a big data array and Service provide will have to
+ * iterate through and send all of the data. ServiceProvider will pass
+ * the confirmation to the node, and the node will free up it's buffer.
+ */
+void DownloadSdo (int sdoNum, int index, int subindex, int size, char * data){}
+
+/** initiate SDO upload
+ * @note
+ * @param
+ */
+void UploadSdo (int sdoNum, int index, int subindex){}
+
+/** Acknowledge that SDO was recieved properly
+ * @note
+ * @param
+ */
+void ConfirmSdo (int sdoNum, int bSuccess){}
+
+/** Abort current SDO transfer
+ * @note
+ * @param
+ */
+void AbortSdo (int sdoNum){}
+
+
+/* Emergency object (7.2.7) ---------------------------------------------*/
+
+// TODO: emergency producer
+
+
+/* Network Management (7.2.8) -------------------------------------------*/
+/* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
+
+/** Build a CANOpen nmt control message to a node
+ * @note
+ * @param
+ */
+int SendNodeControl (NmtCommandSpecifier cs, unsigned int nodeId){return 0;}
+
+
+/* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
+
+/** Build a CANOpen error control request to a node
+ * @note
+ * @param
+ */
+int RequestErrorControl (NmtCommandSpecifier cs, unsigned int nodeId){return 0;}
+
+/** Build a CANOpen error control response
+ * @note
+ * @param
+ */
+int RespondErrorControl (NmtCommandSpecifier cs, unsigned int nodeId){return 0;}
+
} /* namspace ppCANOpen */