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/ObjectDictionary.h

Committer:
ptpaterson
Date:
2015-12-30
Revision:
2:c724ff3a4e4d
Child:
4:2034b04c86d2

File content as of revision 2:c724ff3a4e4d:

/**
 ******************************************************************************
 * @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_OBJECT_DICTIONARY_H
#define PPCAN_OBJECT_DICTIONARY_H

#include "canopen_protocol.h"
#include <stdint.h>

namespace ppCANOpen
{

/** Abstract Object Dictionary class to provide constants and virtual scan
  * function.
  */
class ObjectDictionary
{
    
public:

    /*=========================================================================
     * Constants wrapped into the Object Dictionary to use with construction
     *=========================================================================
     */
     
    /* Data value type constants ----------------------------------------------
     * Taken from the CANOpen Standard.  they are part of the object dictionary
     * at indices 0x0001 to 0x0023.  Given to every Sub Index.
     */
     
    /** Data Type alias to provide context when defining the object library */
    typedef uint8_t DataType;
     
    static const DataType TYPE_BOOLEAN                     = 0x01;
    static const DataType TYPE_INT8                        = 0x02;
    static const DataType TYPE_INT16                       = 0x03;
    static const DataType TYPE_INT32                       = 0x04;
    static const DataType TYPE_UINT8                       = 0x05;
    static const DataType TYPE_UINT16                      = 0x06;
    static const DataType TYPE_UINT32                      = 0x07;
    static const DataType TYPE_REAL32                      = 0x08;
    static const DataType TYPE_VISIBLE_STRING              = 0x09;
    static const DataType TYPE_OCTET_STRING                = 0x0A;
    static const DataType TYPE_UNICODE_STRING              = 0x0B;
    static const DataType TYPE_TIME_OF_DAY                 = 0x0C;
    static const DataType TYPE_TIME_DIFFERENCE             = 0x0D;
    /* RESERVED */
    static const DataType TYPE_DOMAIN                      = 0x0F;
    static const DataType TYPE_INT24                       = 0x10;
    static const DataType TYPE_REAL64                      = 0x11;
    static const DataType TYPE_INT40                       = 0x12;
    static const DataType TYPE_INT48                       = 0x13;
    static const DataType TYPE_INT56                       = 0x14;
    static const DataType TYPE_INT64                       = 0x15;
    static const DataType TYPE_UINT24                      = 0x16;
    /* RESERVED */
    static const DataType TYPE_UINT40                      = 0x18;
    static const DataType TYPE_UINT48                      = 0x19;
    static const DataType TYPE_UINT56                      = 0x1A;
    static const DataType TYPE_UINT64                      = 0x1B;
    /* RESERVED */
    static const DataType TYPE_PDO_COMMUNICATION_PARAMETER = 0x20;
    static const DataType TYPE_PDO_MAPPING                 = 0x21;
    static const DataType TYPE_SDO_COMMUNICATION_PARAMETER = 0x22;
    static const DataType TYPE_IDENTITY                    = 0x23;


    /* Data properties constants ----------------------------------------------  
     * Read/Write priveledges, save on powerdown, etc.
     * Can be strung together into a mask.
     */
     
    /** Data Property alias to provide context when defining the object library */
    typedef uint8_t DataProperty;
    
    static const DataProperty PROPERTY_READABLE         = 0x01;
    static const DataProperty PROPERTY_WRITEABLE        = 0x02;
    static const DataProperty PROPERTY_READ_WRITEABLE   = 0x03;
    /* static const uint8_t PROPERTY_STATIC                = 0x04 *//* possible to save setting after powerdown */
    
    
    /* Index Constants --------------------------------------------------------
     */
     
    /** Index alias to provide context when defining the object library */
    typedef uint8_t Index;


    /*=========================================================================
     * Internal structures
     *=========================================================================
     */
     
    /** defines the data in a single entry of data (subindex)
     */
    struct EntryData
    {           
        void           *pData;
        uint16_t        size;
        DataType        type;
        DataProperty    properties;
        
        EntryData(){}
        
        EntryData(void *d, uint16_t s, DataType t, DataProperty p)
        : pData(d), size(s), type(t), properties(p)
        {}
    };
    
    /** defines the data for a single index, including an array of subindices
     */
    struct ObjectData
    {        
        EntryData  *entries;
        uint16_t    index;
        uint16_t    entryCount;
        
        ObjectData(){}
        
        ObjectData(EntryData *e, uint16_t i, uint16_t c)
        : entries(e), index(i), entryCount(c)
        {}
    };


    /*=========================================================================
     * Public Methods
     *=========================================================================
     */
     
    /** Abstract method to give access to the object entries of derived
      * classes
      */
    virtual ObjectData * ScanIndex(int index) = 0;
    
};

} /* namespace ppCANOpen */

#endif // PPCAN_OBJECT_DICTIONARY_H