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/ServiceProvider.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 2015-12-22 * @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_SERVICE_PROVIDER_H #define PPCAN_SERVICE_PROVIDER_H #include "CanOpenMessage.h" #include <queue> /*========================================================================= * Forward declarations *========================================================================= */ struct CanOpenHandle; namespace ppCANOpen { /* Avoid circular reference */ class Node; /** Node Class to implement feature of a CANOpen NMT node */ class ServiceProvider { public: ServiceProvider (void); ~ServiceProvider (void); /* ======================================================================== * Public Methods * ======================================================================== */ /* Main application -----------------------------------------------------*/ /** Main loop */ void Run (void); /** Iterate through Nodes and update */ void UpdateNodes(void); /** C helper function to pass to API */ static void UpdateNodes_CWrapper(void *pServiceObject); /* Node Management ------------------------------------------------------*/ /** Register a node to get messages and get update calls */ int AddNode (Node * node); // TODO: remove node (swap pointers to fill in nicely /* CanMessage Transmission ----------------------------------------------*/ /** Add a message to the message queue outbox */ void PostMessage (int nodeId, CanOpenMessage * msg); /** quick way to create and send an NMT Control message * @note Make posting a message easier! */ void PostNmtControl (char targetNodeId, NmtCommandSpecifier cs); /* Elapsed Time ---------------------------------------------------------*/ /** A way for the the Nodes to get elapsed time when they want it */ uint32_t GetTime(void); private: /* ======================================================================== * Private Constants * ======================================================================== */ /** Define size of arrays in one place */ static const int SERVICE_MAX_NODES = 8; /* ======================================================================== * Private Methods * ======================================================================== */ /* CanMessage Reading ---------------------------------------------------*/ /** Function to be called on every CAN read interrupt */ void ReadIT(void); /** C helper function used to pass ReadIT() to API */ static void ReadIT_CWrapper(void *pServiceObject); /** Helper function that utilizes backup message inbox when the main one * is locked by the application. */ void ReadIT_clearBuffer(void); /* Elapsed Time ---------------------------------------------------------*/ /** Synchronize elapsed time*/ void HandleTimeMessage(CanOpenMessage *canOpenMsg); /* ======================================================================== * Private Member Variables * ======================================================================== */ /* Node Management -------------------------------------------------------*/ /** array of nodes to cycle through. */ Node * nodes[SERVICE_MAX_NODES]; /** Keeps count of current number of nodes. */ int nodeCount; /* CanMessage Reading ---------------------------------------------------*/ /** array of messages in a queue */ std::queue<CanOpenMessage> inbox; /** Extra buffer only handled by ISR. Used if inbox is locked */ std::queue<CanOpenMessage> inboxBuffer; /** boolean to lock and unlock inbox */ int bInboxUnlocked; /** Data to keep track of internal messages. Node ID allows SP to avoid * dispatching message to the one who sent it */ struct InternalMessage { int nodeId; CanOpenMessage message; InternalMessage(uint8_t n, CanOpenMessage m): nodeId(n), message(m) {} }; /** array of messages in a queue */ std::queue<InternalMessage> outbox; /* Elapsed Time ---------------------------------------------------------*/ /** Elapsed time offset used for synchronization*/ int32_t elapsedTimeOffset; }; } /* namspace ppCANOpen */ #endif /* PPCAN_SERVICE_PROVIDER_H */