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

Committer:
ptpaterson
Date:
2016-01-09
Revision:
4:2034b04c86d2
Parent:
3:12b3c25bdeba
Child:
5:22a337cdc0e3

File content as of revision 4:2034b04c86d2:

/**
 ******************************************************************************
 * @file
 * @author  Paul Paterson
 * @version
 * @date    2015-12-14
 * @brief   CANOpen implementation library
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
 *
 * All rights reserved.

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PPCAN_NODE_H
#define PPCAN_NODE_H


/*=========================================================================
 * Forward declarations
 *=========================================================================
 */
struct CanOpenMessage;

/* NMT Constants --------------------------------------------------------*/
#define NMT_STATE_TOGGLE_BIT      0x80

/* NMT Macros -----------------------------------------------------------*/
#define NMT_SET_STATE(curState, newState) (curState) = (((curState) & NMT_STATE_TOGGLE_BIT) | ((newState) & (~NMT_STATE_TOGGLE_BIT))))

namespace ppCANOpen
{

/* Avoid circular reference */
class ServiceProvider;
class ObjectDictionary;



/** Node Class to implement feature of a CANOpen NMT node
 */
class Node
{
public:

    /** Node network management state */
    struct State {
        static const int INITIALIZED     = 0x00;
        static const int DISCONNECTED    = 0x01;
        static const int CONNECTING      = 0x02;
        static const int PREPARING       = 0x02;
        static const int STOPPED         = 0x04;
        static const int OPERATIONAL     = 0x05;
        static const int PREOPERATIONAL  = 0x7F;
        static const int UNKNOWN         = 0x0F;
        
        int nmtState;
        int bBoot;
        int bSDO;
        int bEmergency;
        int bSYNC;
        int bLifeGuard;
        int bPDO;
        int bLSS;
        
        int bLifeGuardToggle;
    };

    /** Maintain the multitude of states for a node */

    Node (ServiceProvider * provider);    

    /* ========================================================================
     * Methods to handle operation of node device
     * ========================================================================
     */
    
    // TODO: pass elapsed time to Update method
    virtual void Update (void);
    
    /* ========================================================================
     * 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.
     * ========================================================================
     */
    
    /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
    
    int ConsumePdo (int pdoNum, char * dataIn);
    int HandlePdoReadRequest (int pdoNum);
    
    
    /* SDO (7.2.4) ----------------------------------------------------------*/
    
    int HandleExpeditedDownload (int sdoNum, int index, int subIndex, int dataCount, char * data);
    int HandleInitiateDownloadRequest (int sdoNum, int index, int subIndex, int dataCount, char * data);
    
    int HandleExpeditedUpload (int sdoNum, int index, int subIndex);
    
    
    // TODO: express and not express
    
    /* SYNC object (7.2.5) --------------------------------------------------*/
    
    // TODO: SYNC consumer 
    
    /* Time Stamp object (7.2.6) --------------------------------------------*/
    
    // TODO: time consumer
    
    /* Emergency object (7.2.7) ---------------------------------------------*/
    
    int ConsumeEmergency (void);// TODO: fix params
    
    
    /* Network Management (7.2.8) -------------------------------------------*/
    /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
    int HandleNodeControl (int commandSpecifier);


    /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
    
    int HandleNodeGuardRequest (int masterId);
    int ConsumeHeartbeat (int producerId);
    
    
    /* ========================================================================
     * Methods to implement node control in derived classes
     * ========================================================================
     */
     
     /** Perform actions every cycle
      * @note Override to implement user application
      */
     virtual void OnUpdate(void) = 0;
    
    /** 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;
    
    /* ========================================================================
     * Protected Members
     * ========================================================================
     */

    /** object dictionary */
    ObjectDictionary * pMyDictionary;

private:

    /* ========================================================================
     * Private members
     * ========================================================================
     */
     
     
    /** Reference to Service Provider that this node is attached to.
      * @note May need to be a pointer, because node id is held in object dictionary
      */
    ServiceProvider * pMyProvider;
     
    /** Network id for the node
      * @note May need to be a pointer, because node id is held in object dictionary
      */
    int nodeId;
    
    /** Network and communication state of the node
      * @note
      */
    State state;     
};

} /* namespace ppCANOpen */

#endif // PPCAN_NODE_H