Paul Paterson / ppCANOpen

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Dependents:   ppCANOpen_Example DISCO-F746NG_rtos_test

source/ServiceProvider.cpp@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?

UserRevisionLine numberNew 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 2015-12-22
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>&copy; 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 #include "ServiceProvider.h"
ptpaterson 2:c724ff3a4e4d 30 #include "Node.h"
ptpaterson 2:c724ff3a4e4d 31
ptpaterson 2:c724ff3a4e4d 32 #include "canopen_api.h"
ptpaterson 2:c724ff3a4e4d 33
ptpaterson 2:c724ff3a4e4d 34 #include <string.h>
ptpaterson 3:12b3c25bdeba 35 #include <stdio.h>
ptpaterson 2:c724ff3a4e4d 36
ptpaterson 2:c724ff3a4e4d 37 namespace ppCANOpen
ptpaterson 2:c724ff3a4e4d 38 {
ptpaterson 2:c724ff3a4e4d 39
ptpaterson 2:c724ff3a4e4d 40 ServiceProvider::ServiceProvider (void) : nodeCount(0)
ptpaterson 2:c724ff3a4e4d 41 {
ptpaterson 3:12b3c25bdeba 42 printf ("-------- SERVICE PROVIDER: CONSTRUCTOR\r\n");
ptpaterson 3:12b3c25bdeba 43
ptpaterson 3:12b3c25bdeba 44 //memset (nodes, 0, sizeof(Node) * SERVICE_MAX_NODES ); // TODO: fix incorrect <--
ptpaterson 3:12b3c25bdeba 45 for (int i = 0; i < SERVICE_MAX_NODES; i++) {
ptpaterson 3:12b3c25bdeba 46 nodes[i] = 0;
ptpaterson 3:12b3c25bdeba 47 }
ptpaterson 3:12b3c25bdeba 48 printf ("-------- SERVICE PROVIDER: MEMSET GOOD\r\n");
ptpaterson 3:12b3c25bdeba 49
ptpaterson 3:12b3c25bdeba 50 hCanOpen = new CanOpenHandle;
ptpaterson 3:12b3c25bdeba 51 CanOpenApiInit(hCanOpen);
ptpaterson 3:12b3c25bdeba 52 }
ptpaterson 3:12b3c25bdeba 53
ptpaterson 3:12b3c25bdeba 54 ServiceProvider::~ServiceProvider (void)
ptpaterson 3:12b3c25bdeba 55 {
ptpaterson 3:12b3c25bdeba 56 delete hCanOpen;
ptpaterson 2:c724ff3a4e4d 57 }
ptpaterson 2:c724ff3a4e4d 58
ptpaterson 2:c724ff3a4e4d 59 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 60 * main loop
ptpaterson 2:c724ff3a4e4d 61 *=============================================================================
ptpaterson 2:c724ff3a4e4d 62 */
ptpaterson 2:c724ff3a4e4d 63
ptpaterson 2:c724ff3a4e4d 64 void ServiceProvider::Run (void)
ptpaterson 2:c724ff3a4e4d 65 {
ptpaterson 3:12b3c25bdeba 66 printf ("-------- SERVICE PROVIDER: RUN\r\n");
ptpaterson 3:12b3c25bdeba 67
ptpaterson 2:c724ff3a4e4d 68 while (1) {
ptpaterson 3:12b3c25bdeba 69
ptpaterson 2:c724ff3a4e4d 70 /* Check for new messages */
ptpaterson 2:c724ff3a4e4d 71 CanOpenMessage msg;
ptpaterson 3:12b3c25bdeba 72 if (hCanOpen->can) {
ptpaterson 3:12b3c25bdeba 73 if (CanOpenApiRead (hCanOpen, &msg)) {
ptpaterson 3:12b3c25bdeba 74
ptpaterson 3:12b3c25bdeba 75 /* if new message exists, give it to the nodes*/
ptpaterson 3:12b3c25bdeba 76 /* update all of the nodes */
ptpaterson 3:12b3c25bdeba 77 for (int i=0; i < nodeCount; i++) {
ptpaterson 3:12b3c25bdeba 78 nodes[i]->DispatchMessage(&msg);
ptpaterson 3:12b3c25bdeba 79 }
ptpaterson 3:12b3c25bdeba 80
ptpaterson 3:12b3c25bdeba 81 //Node::DispatchMessage(&msg);
ptpaterson 3:12b3c25bdeba 82
ptpaterson 3:12b3c25bdeba 83 //**ECHO**
ptpaterson 3:12b3c25bdeba 84 if (CanOpenApiWrite(hCanOpen, &msg)) {
ptpaterson 3:12b3c25bdeba 85 }
ptpaterson 3:12b3c25bdeba 86 //**END ECHO
ptpaterson 3:12b3c25bdeba 87 }
ptpaterson 3:12b3c25bdeba 88 }
ptpaterson 3:12b3c25bdeba 89
ptpaterson 3:12b3c25bdeba 90 /* update all of the nodes */
ptpaterson 2:c724ff3a4e4d 91 for (int i=0; i < nodeCount; i++) {
ptpaterson 3:12b3c25bdeba 92 nodes[i]->Update();
ptpaterson 2:c724ff3a4e4d 93 }
ptpaterson 2:c724ff3a4e4d 94 }
ptpaterson 2:c724ff3a4e4d 95 }
ptpaterson 2:c724ff3a4e4d 96
ptpaterson 2:c724ff3a4e4d 97 /*=============================================================================
ptpaterson 2:c724ff3a4e4d 98 * Add Node to list
ptpaterson 2:c724ff3a4e4d 99 *=============================================================================
ptpaterson 2:c724ff3a4e4d 100 */
ptpaterson 2:c724ff3a4e4d 101
ptpaterson 2:c724ff3a4e4d 102 int ServiceProvider::AddNode (Node * node)
ptpaterson 2:c724ff3a4e4d 103 {
ptpaterson 2:c724ff3a4e4d 104 int result = 1;
ptpaterson 2:c724ff3a4e4d 105
ptpaterson 2:c724ff3a4e4d 106 if (nodeCount < SERVICE_MAX_NODES) {
ptpaterson 2:c724ff3a4e4d 107 nodes[nodeCount++] = node;
ptpaterson 2:c724ff3a4e4d 108 } else {
ptpaterson 2:c724ff3a4e4d 109 result = 0;
ptpaterson 2:c724ff3a4e4d 110 }
ptpaterson 2:c724ff3a4e4d 111
ptpaterson 2:c724ff3a4e4d 112 return result;
ptpaterson 2:c724ff3a4e4d 113 }
ptpaterson 2:c724ff3a4e4d 114
ptpaterson 2:c724ff3a4e4d 115 /* ========================================================================
ptpaterson 2:c724ff3a4e4d 116 * Methods to handle message requests and responses
ptpaterson 2:c724ff3a4e4d 117 * ========================================================================
ptpaterson 2:c724ff3a4e4d 118 */
ptpaterson 2:c724ff3a4e4d 119
ptpaterson 2:c724ff3a4e4d 120 void ServiceProvider::RequestPdo (const int pdoNum)
ptpaterson 2:c724ff3a4e4d 121 {}
ptpaterson 2:c724ff3a4e4d 122
ptpaterson 2:c724ff3a4e4d 123 void ServiceProvider::ProducePdo (const int pdoNum, char * data)
ptpaterson 2:c724ff3a4e4d 124 {}
ptpaterson 2:c724ff3a4e4d 125
ptpaterson 2:c724ff3a4e4d 126 int ServiceProvider::SendNodeControl (NmtCommandSpecifier cs, unsigned int targetId)
ptpaterson 2:c724ff3a4e4d 127 {
ptpaterson 2:c724ff3a4e4d 128 // CanOpenMessage canOpenMsg;
ptpaterson 2:c724ff3a4e4d 129 //
ptpaterson 2:c724ff3a4e4d 130 // canOpenMsg.data[0] = (char)cs;
ptpaterson 2:c724ff3a4e4d 131 // canOpenMsg.data[1] = (char)nodeId;
ptpaterson 2:c724ff3a4e4d 132 // canOpenMsg.dataCount = 2;
ptpaterson 2:c724ff3a4e4d 133 // canOpenMsg.type = CANOPEN_TYPE_DATA;
ptpaterson 2:c724ff3a4e4d 134 // canOpenMsg.format = CANOPEN_FORMAT_STANDARD;
ptpaterson 2:c724ff3a4e4d 135 //
ptpaterson 2:c724ff3a4e4d 136 // return CanOpenApiWrite (&canOpenMsg);
ptpaterson 2:c724ff3a4e4d 137
ptpaterson 2:c724ff3a4e4d 138 return 0;
ptpaterson 2:c724ff3a4e4d 139 }
ptpaterson 2:c724ff3a4e4d 140
ptpaterson 2:c724ff3a4e4d 141 int ServiceProvider::RequestErrorControl (NmtCommandSpecifier cs, unsigned int targetId)
ptpaterson 2:c724ff3a4e4d 142 {
ptpaterson 2:c724ff3a4e4d 143 //NMT_STATE_SET(Node::state.nmtState, NMT_STATE_UNKNOWN);
ptpaterson 2:c724ff3a4e4d 144 return 0;
ptpaterson 2:c724ff3a4e4d 145 }
ptpaterson 2:c724ff3a4e4d 146
ptpaterson 2:c724ff3a4e4d 147 int ServiceProvider::RespondErrorControl (NmtCommandSpecifier cs, unsigned int targetId)
ptpaterson 2:c724ff3a4e4d 148 {
ptpaterson 2:c724ff3a4e4d 149 //NMT_STATE_SET(Node::state.nmtState, NMT_STATE_UNKNOWN);
ptpaterson 2:c724ff3a4e4d 150 return 0;
ptpaterson 2:c724ff3a4e4d 151 }
ptpaterson 2:c724ff3a4e4d 152
ptpaterson 2:c724ff3a4e4d 153
ptpaterson 2:c724ff3a4e4d 154 } /* namspace ppCANOpen */
ptpaterson 2:c724ff3a4e4d 155
ptpaterson 2:c724ff3a4e4d 156
ptpaterson 2:c724ff3a4e4d 157
ptpaterson 2:c724ff3a4e4d 158
ptpaterson 2:c724ff3a4e4d 159
ptpaterson 2:c724ff3a4e4d 160
ptpaterson 2:c724ff3a4e4d 161