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/Node.h@3:12b3c25bdeba, 2016-01-04 (annotated)
- Committer:
- ptpaterson
- Date:
- Mon Jan 04 06:10:49 2016 +0000
- Revision:
- 3:12b3c25bdeba
- Parent:
- 2:c724ff3a4e4d
- Child:
- 4:2034b04c86d2
Echo communication verified
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ptpaterson | 2:c724ff3a4e4d | 1 | /** |
ptpaterson | 2:c724ff3a4e4d | 2 | ****************************************************************************** |
ptpaterson | 2:c724ff3a4e4d | 3 | * @file |
ptpaterson | 2:c724ff3a4e4d | 4 | * @author Paul Paterson |
ptpaterson | 2:c724ff3a4e4d | 5 | * @version |
ptpaterson | 2:c724ff3a4e4d | 6 | * @date 2015-12-14 |
ptpaterson | 2:c724ff3a4e4d | 7 | * @brief CANOpen implementation library |
ptpaterson | 2:c724ff3a4e4d | 8 | ****************************************************************************** |
ptpaterson | 2:c724ff3a4e4d | 9 | * @attention |
ptpaterson | 2:c724ff3a4e4d | 10 | * |
ptpaterson | 2:c724ff3a4e4d | 11 | * <h2><center>© COPYRIGHT(c) 2015 Paul Paterson |
ptpaterson | 2:c724ff3a4e4d | 12 | * |
ptpaterson | 2:c724ff3a4e4d | 13 | * All rights reserved. |
ptpaterson | 2:c724ff3a4e4d | 14 | |
ptpaterson | 2:c724ff3a4e4d | 15 | This program is free software: you can redistribute it and/or modify |
ptpaterson | 2:c724ff3a4e4d | 16 | it under the terms of the GNU General Public License as published by |
ptpaterson | 2:c724ff3a4e4d | 17 | the Free Software Foundation, either version 3 of the License, or |
ptpaterson | 2:c724ff3a4e4d | 18 | (at your option) any later version. |
ptpaterson | 2:c724ff3a4e4d | 19 | |
ptpaterson | 2:c724ff3a4e4d | 20 | This program is distributed in the hope that it will be useful, |
ptpaterson | 2:c724ff3a4e4d | 21 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
ptpaterson | 2:c724ff3a4e4d | 22 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
ptpaterson | 2:c724ff3a4e4d | 23 | GNU General Public License for more details. |
ptpaterson | 2:c724ff3a4e4d | 24 | |
ptpaterson | 2:c724ff3a4e4d | 25 | You should have received a copy of the GNU General Public License |
ptpaterson | 2:c724ff3a4e4d | 26 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
ptpaterson | 2:c724ff3a4e4d | 27 | */ |
ptpaterson | 2:c724ff3a4e4d | 28 | |
ptpaterson | 2:c724ff3a4e4d | 29 | #ifndef PPCAN_NODE_H |
ptpaterson | 2:c724ff3a4e4d | 30 | #define PPCAN_NODE_H |
ptpaterson | 2:c724ff3a4e4d | 31 | |
ptpaterson | 2:c724ff3a4e4d | 32 | #include "canopen_protocol.h" |
ptpaterson | 2:c724ff3a4e4d | 33 | |
ptpaterson | 2:c724ff3a4e4d | 34 | namespace ppCANOpen |
ptpaterson | 2:c724ff3a4e4d | 35 | { |
ptpaterson | 2:c724ff3a4e4d | 36 | |
ptpaterson | 2:c724ff3a4e4d | 37 | /* Avoid circular reference */ |
ptpaterson | 2:c724ff3a4e4d | 38 | class ServiceProvider; |
ptpaterson | 2:c724ff3a4e4d | 39 | class ObjectDictionary; |
ptpaterson | 2:c724ff3a4e4d | 40 | |
ptpaterson | 2:c724ff3a4e4d | 41 | /** Node Class to implement feature of a CANOpen NMT node |
ptpaterson | 2:c724ff3a4e4d | 42 | */ |
ptpaterson | 2:c724ff3a4e4d | 43 | class Node |
ptpaterson | 2:c724ff3a4e4d | 44 | { |
ptpaterson | 2:c724ff3a4e4d | 45 | public: |
ptpaterson | 3:12b3c25bdeba | 46 | |
ptpaterson | 3:12b3c25bdeba | 47 | /** Maintain the multitude of states for a node */ |
ptpaterson | 3:12b3c25bdeba | 48 | typedef struct { |
ptpaterson | 3:12b3c25bdeba | 49 | NmtState nmtState; |
ptpaterson | 3:12b3c25bdeba | 50 | int bBoot; |
ptpaterson | 3:12b3c25bdeba | 51 | int bSDO; |
ptpaterson | 3:12b3c25bdeba | 52 | int bEmergency; |
ptpaterson | 3:12b3c25bdeba | 53 | int bSYNC; |
ptpaterson | 3:12b3c25bdeba | 54 | int bLifeGuard; |
ptpaterson | 3:12b3c25bdeba | 55 | int bPDO; |
ptpaterson | 3:12b3c25bdeba | 56 | int bLSS; |
ptpaterson | 3:12b3c25bdeba | 57 | } State; |
ptpaterson | 3:12b3c25bdeba | 58 | |
ptpaterson | 3:12b3c25bdeba | 59 | Node (ServiceProvider * provider); |
ptpaterson | 3:12b3c25bdeba | 60 | |
ptpaterson | 3:12b3c25bdeba | 61 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 62 | * Methods to handle operation of node device |
ptpaterson | 3:12b3c25bdeba | 63 | * ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 64 | */ |
ptpaterson | 3:12b3c25bdeba | 65 | |
ptpaterson | 3:12b3c25bdeba | 66 | // TODO: pass elapsed time to Update method |
ptpaterson | 3:12b3c25bdeba | 67 | virtual void Update (void); |
ptpaterson | 2:c724ff3a4e4d | 68 | |
ptpaterson | 2:c724ff3a4e4d | 69 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 70 | * Message indication |
ptpaterson | 3:12b3c25bdeba | 71 | * Called by a ServiceProvider when a message is received. |
ptpaterson | 3:12b3c25bdeba | 72 | * ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 73 | */ |
ptpaterson | 3:12b3c25bdeba | 74 | |
ptpaterson | 3:12b3c25bdeba | 75 | /** |
ptpaterson | 3:12b3c25bdeba | 76 | * @note |
ptpaterson | 3:12b3c25bdeba | 77 | */ |
ptpaterson | 3:12b3c25bdeba | 78 | int DispatchMessage(CanOpenMessage *canOpenMsg); |
ptpaterson | 3:12b3c25bdeba | 79 | |
ptpaterson | 3:12b3c25bdeba | 80 | |
ptpaterson | 3:12b3c25bdeba | 81 | protected: |
ptpaterson | 3:12b3c25bdeba | 82 | |
ptpaterson | 3:12b3c25bdeba | 83 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 84 | * Methods to handle various messages |
ptpaterson | 2:c724ff3a4e4d | 85 | * Called by a ServiceProvider when a message is received. |
ptpaterson | 2:c724ff3a4e4d | 86 | * ======================================================================== |
ptpaterson | 2:c724ff3a4e4d | 87 | */ |
ptpaterson | 2:c724ff3a4e4d | 88 | |
ptpaterson | 2:c724ff3a4e4d | 89 | /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 90 | |
ptpaterson | 2:c724ff3a4e4d | 91 | int ConsumePdo (int pdoNum, char * dataIn); |
ptpaterson | 2:c724ff3a4e4d | 92 | int HandlePdoReadRequest (int pdoNum); |
ptpaterson | 2:c724ff3a4e4d | 93 | |
ptpaterson | 2:c724ff3a4e4d | 94 | |
ptpaterson | 2:c724ff3a4e4d | 95 | /* SDO (7.2.4) ----------------------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 96 | |
ptpaterson | 2:c724ff3a4e4d | 97 | int HandleExpeditedDownload (int sdoNum, int index, int subIndex, int dataCount, char * data); |
ptpaterson | 2:c724ff3a4e4d | 98 | int HandleInitiateDownloadRequest (int sdoNum, int index, int subIndex, int dataCount, char * data); |
ptpaterson | 2:c724ff3a4e4d | 99 | |
ptpaterson | 2:c724ff3a4e4d | 100 | int HandleExpeditedUpload (int sdoNum, int index, int subIndex); |
ptpaterson | 2:c724ff3a4e4d | 101 | |
ptpaterson | 2:c724ff3a4e4d | 102 | |
ptpaterson | 2:c724ff3a4e4d | 103 | // TODO: express and not express |
ptpaterson | 2:c724ff3a4e4d | 104 | |
ptpaterson | 2:c724ff3a4e4d | 105 | /* SYNC object (7.2.5) --------------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 106 | |
ptpaterson | 2:c724ff3a4e4d | 107 | // TODO: SYNC consumer |
ptpaterson | 2:c724ff3a4e4d | 108 | |
ptpaterson | 2:c724ff3a4e4d | 109 | /* Time Stamp object (7.2.6) --------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 110 | |
ptpaterson | 2:c724ff3a4e4d | 111 | // TODO: time consumer |
ptpaterson | 2:c724ff3a4e4d | 112 | |
ptpaterson | 2:c724ff3a4e4d | 113 | /* Emergency object (7.2.7) ---------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 114 | |
ptpaterson | 2:c724ff3a4e4d | 115 | int ConsumeEmergency (void);// TODO: fix params |
ptpaterson | 2:c724ff3a4e4d | 116 | |
ptpaterson | 2:c724ff3a4e4d | 117 | |
ptpaterson | 2:c724ff3a4e4d | 118 | /* Network Management (7.2.8) -------------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 119 | /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/ |
ptpaterson | 3:12b3c25bdeba | 120 | int HandleNodeControl (int commandSpecifier); |
ptpaterson | 2:c724ff3a4e4d | 121 | |
ptpaterson | 2:c724ff3a4e4d | 122 | |
ptpaterson | 2:c724ff3a4e4d | 123 | /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/ |
ptpaterson | 2:c724ff3a4e4d | 124 | |
ptpaterson | 2:c724ff3a4e4d | 125 | int HandleNodeGuardRequest (int masterId); |
ptpaterson | 2:c724ff3a4e4d | 126 | int ConsumeHeartbeat (int producerId); |
ptpaterson | 2:c724ff3a4e4d | 127 | |
ptpaterson | 2:c724ff3a4e4d | 128 | |
ptpaterson | 2:c724ff3a4e4d | 129 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 130 | * Methods to implement node control in derived classes |
ptpaterson | 2:c724ff3a4e4d | 131 | * ======================================================================== |
ptpaterson | 2:c724ff3a4e4d | 132 | */ |
ptpaterson | 3:12b3c25bdeba | 133 | |
ptpaterson | 3:12b3c25bdeba | 134 | /** Perform actions every cycle |
ptpaterson | 3:12b3c25bdeba | 135 | * @note Override to implement user application |
ptpaterson | 3:12b3c25bdeba | 136 | */ |
ptpaterson | 3:12b3c25bdeba | 137 | virtual void OnUpdate(void) = 0; |
ptpaterson | 2:c724ff3a4e4d | 138 | |
ptpaterson | 3:12b3c25bdeba | 139 | /** Perform actions when node reset |
ptpaterson | 3:12b3c25bdeba | 140 | * @note Override to implement user application |
ptpaterson | 3:12b3c25bdeba | 141 | */ |
ptpaterson | 3:12b3c25bdeba | 142 | virtual void OnInitialize (void) = 0; |
ptpaterson | 3:12b3c25bdeba | 143 | |
ptpaterson | 3:12b3c25bdeba | 144 | /** Perform actions when state changed to pre-operational |
ptpaterson | 3:12b3c25bdeba | 145 | * @note Override to implement user application |
ptpaterson | 3:12b3c25bdeba | 146 | */ |
ptpaterson | 3:12b3c25bdeba | 147 | virtual void OnPreoperational (void) = 0; |
ptpaterson | 2:c724ff3a4e4d | 148 | |
ptpaterson | 3:12b3c25bdeba | 149 | /** Perform actions when state changed to operational |
ptpaterson | 3:12b3c25bdeba | 150 | * @note Override to implement user application |
ptpaterson | 3:12b3c25bdeba | 151 | */ |
ptpaterson | 3:12b3c25bdeba | 152 | virtual void OnOperational (void) = 0; |
ptpaterson | 3:12b3c25bdeba | 153 | |
ptpaterson | 3:12b3c25bdeba | 154 | /** Perform actions when state changed to stop |
ptpaterson | 3:12b3c25bdeba | 155 | * @note Override to implement user application |
ptpaterson | 3:12b3c25bdeba | 156 | */ |
ptpaterson | 3:12b3c25bdeba | 157 | virtual void OnStopped (void) = 0; |
ptpaterson | 2:c724ff3a4e4d | 158 | |
ptpaterson | 2:c724ff3a4e4d | 159 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 160 | * Protected Members |
ptpaterson | 3:12b3c25bdeba | 161 | * ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 162 | */ |
ptpaterson | 3:12b3c25bdeba | 163 | |
ptpaterson | 3:12b3c25bdeba | 164 | ServiceProvider * pMyProvider; |
ptpaterson | 3:12b3c25bdeba | 165 | |
ptpaterson | 3:12b3c25bdeba | 166 | /** object dictionary */ |
ptpaterson | 3:12b3c25bdeba | 167 | ObjectDictionary * pMyDictionary; |
ptpaterson | 3:12b3c25bdeba | 168 | |
ptpaterson | 3:12b3c25bdeba | 169 | private: |
ptpaterson | 3:12b3c25bdeba | 170 | |
ptpaterson | 3:12b3c25bdeba | 171 | /* ======================================================================== |
ptpaterson | 3:12b3c25bdeba | 172 | * Private members |
ptpaterson | 2:c724ff3a4e4d | 173 | * ======================================================================== |
ptpaterson | 2:c724ff3a4e4d | 174 | */ |
ptpaterson | 2:c724ff3a4e4d | 175 | |
ptpaterson | 2:c724ff3a4e4d | 176 | /** Network id for the node |
ptpaterson | 2:c724ff3a4e4d | 177 | * @note May need to be a pointer, because node id is held in object dictionary |
ptpaterson | 2:c724ff3a4e4d | 178 | */ |
ptpaterson | 2:c724ff3a4e4d | 179 | int nodeId; |
ptpaterson | 2:c724ff3a4e4d | 180 | |
ptpaterson | 2:c724ff3a4e4d | 181 | /** Network and communication state of the node |
ptpaterson | 2:c724ff3a4e4d | 182 | * @note |
ptpaterson | 2:c724ff3a4e4d | 183 | */ |
ptpaterson | 3:12b3c25bdeba | 184 | State state; |
ptpaterson | 2:c724ff3a4e4d | 185 | }; |
ptpaterson | 2:c724ff3a4e4d | 186 | |
ptpaterson | 2:c724ff3a4e4d | 187 | } /* namespace ppCANOpen */ |
ptpaterson | 2:c724ff3a4e4d | 188 | |
ptpaterson | 2:c724ff3a4e4d | 189 | #endif // PPCAN_NODE_H |
ptpaterson | 2:c724ff3a4e4d | 190 |