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.
include/CanOpenMessage.h
- Committer:
- ptpaterson
- Date:
- 2016-02-13
- Revision:
- 5:22a337cdc0e3
- Parent:
- 4:2034b04c86d2
File content as of revision 5:22a337cdc0e3:
/** ****************************************************************************** * @file * @author Paul Paterson * @version * @date 2015-12-14 * @brief CANOpen implementation library ****************************************************************************** * @attention * * <h2><center>© 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_CANOPEN_MESSAGE_H #define PPCAN_CANOPEN_MESSAGE_H #include "stdint.h" #ifdef __cplusplus extern "C" { #endif /*========================================================================= * CANOpen Message Structure *========================================================================= */ /** CANOpen Message Format */ typedef enum { CANOPEN_FORMAT_STANDARD = 0, CANOPEN_FORMAT_EXTENDED, CANOPEN_FORMAT_ANY } CanOpenFormat; /** CANOpen Message Data Type */ typedef enum { CANOPEN_TYPE_DATA = 0, CANOPEN_TYPE_REMOTE } CanOpenType; /** CANOpen Message */ typedef struct CanOpenMessage { uint32_t id; uint8_t data[8]; CanOpenFormat format; CanOpenType type; uint8_t dataCount; } CanOpenMessage; /*========================================================================= * CANOpen Function Codes *========================================================================= */ /** 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_PDO1R = 0x04, CANOPEN_FUNCTION_CODE_PDO2T = 0x05, CANOPEN_FUNCTION_CODE_PDO2R = 0x06, CANOPEN_FUNCTION_CODE_PDO3T = 0x07, CANOPEN_FUNCTION_CODE_PDO3R = 0x08, CANOPEN_FUNCTION_CODE_PDO4T = 0x09, CANOPEN_FUNCTION_CODE_PDO4R = 0x0A, CANOPEN_FUNCTION_CODE_SDOT = 0x0B, CANOPEN_FUNCTION_CODE_SDOR = 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; #ifdef __cplusplus }; #endif #endif /* PPCAN_CANOPEN_MESSAGE_H */