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

drivers/mbed-Nucleo-F091RC/canopen_api.cpp@5:22a337cdc0e3, 2016-02-13 (annotated)

Committer:
ptpaterson
Date:
Sat Feb 13 20:22:59 2016 +0000
Revision:
5:22a337cdc0e3
Parent:
4:2034b04c86d2 
PDO receive complete

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ptpaterson 0:1865da4a634c 1 /**
ptpaterson 0:1865da4a634c 2 ******************************************************************************
ptpaterson 1:666f30541db5 3 * @file
ptpaterson 0:1865da4a634c 4 * @author Paul Paterson
ptpaterson 1:666f30541db5 5 * @version
ptpaterson 0:1865da4a634c 6 * @date 2015-12-14
ptpaterson 0:1865da4a634c 7 * @brief CANOpen api for STM32 Nucleo-F091RC in mbed
ptpaterson 0:1865da4a634c 8 ******************************************************************************
ptpaterson 0:1865da4a634c 9 * @attention
ptpaterson 0:1865da4a634c 10 *
ptpaterson 0:1865da4a634c 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
ptpaterson 0:1865da4a634c 12 *
ptpaterson 0:1865da4a634c 13 * All rights reserved.
ptpaterson 1:666f30541db5 14
ptpaterson 0:1865da4a634c 15 This program is free software: you can redistribute it and/or modify
ptpaterson 0:1865da4a634c 16 it under the terms of the GNU General Public License as published by
ptpaterson 0:1865da4a634c 17 the Free Software Foundation, either version 3 of the License, or
ptpaterson 0:1865da4a634c 18 (at your option) any later version.
ptpaterson 1:666f30541db5 19
ptpaterson 0:1865da4a634c 20 This program is distributed in the hope that it will be useful,
ptpaterson 0:1865da4a634c 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
ptpaterson 0:1865da4a634c 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ptpaterson 0:1865da4a634c 23 GNU General Public License for more details.
ptpaterson 1:666f30541db5 24
ptpaterson 0:1865da4a634c 25 You should have received a copy of the GNU General Public License
ptpaterson 0:1865da4a634c 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
ptpaterson 0:1865da4a634c 27 */
ptpaterson 1:666f30541db5 28
ptpaterson 0:1865da4a634c 29 #include "canopen_api.h"
ptpaterson 2:c724ff3a4e4d 30 #include "canopen_config.h"
ptpaterson 1:666f30541db5 31
ptpaterson 4:2034b04c86d2 32 #include "CanOpenMessage.h"
ptpaterson 4:2034b04c86d2 33
ptpaterson 5:22a337cdc0e3 34 #include "mbed.h"
ptpaterson 5:22a337cdc0e3 35 #include "CAN.h" /* use with CANNucleo library */
ptpaterson 5:22a337cdc0e3 36
ptpaterson 5:22a337cdc0e3 37 #include "stdio.h"
ptpaterson 5:22a337cdc0e3 38
ptpaterson 5:22a337cdc0e3 39
ptpaterson 5:22a337cdc0e3 40 void *pServiceObject = 0;
ptpaterson 5:22a337cdc0e3 41
ptpaterson 5:22a337cdc0e3 42 /* Can declarations ---------------------------------------------------------*/
ptpaterson 5:22a337cdc0e3 43 CAN * can; //(CANOPEN_PIN_RX, CANOPEN_PIN_TX);
ptpaterson 5:22a337cdc0e3 44 ServiceProviderRxInterruptCallback serviceRxCallback = 0;
ptpaterson 5:22a337cdc0e3 45 void CanReadInterruptCallback (void) {
ptpaterson 5:22a337cdc0e3 46 if (serviceRxCallback && pServiceObject) {
ptpaterson 5:22a337cdc0e3 47 serviceRxCallback(pServiceObject);
ptpaterson 5:22a337cdc0e3 48 }
ptpaterson 5:22a337cdc0e3 49 }
ptpaterson 5:22a337cdc0e3 50
ptpaterson 5:22a337cdc0e3 51 /* Ticker declarations ---------------------------------------------------------*/
ptpaterson 5:22a337cdc0e3 52 Ticker updateTicker;
ptpaterson 5:22a337cdc0e3 53 ServiceProviderTickCallback serviceTickCallback = 0;
ptpaterson 5:22a337cdc0e3 54 void UpdateTickerCallback(void) {
ptpaterson 5:22a337cdc0e3 55 if (serviceTickCallback && pServiceObject) {
ptpaterson 5:22a337cdc0e3 56 serviceTickCallback(pServiceObject);
ptpaterson 5:22a337cdc0e3 57 }
ptpaterson 5:22a337cdc0e3 58 }
ptpaterson 5:22a337cdc0e3 59
ptpaterson 5:22a337cdc0e3 60 int CanOpenApiInit (void *object, ServiceProviderRxInterruptCallback rxCallback, ServiceProviderTickCallback tickCallback)
ptpaterson 0:1865da4a634c 61 {
ptpaterson 3:12b3c25bdeba 62 printf ("----------- CANOPEN API: API INIT\r\n");
ptpaterson 3:12b3c25bdeba 63
ptpaterson 5:22a337cdc0e3 64 /* CAN instance to do all of the communication
ptpaterson 5:22a337cdc0e3 65 *
ptpaterson 5:22a337cdc0e3 66 * For some reason, I cannot use "static CAN can". It will compile,
ptpaterson 5:22a337cdc0e3 67 * but code get's stuck during initialization, and will not even enter
ptpaterson 5:22a337cdc0e3 68 * main(). Works great like this though! Only one ServiceProvider, though,
ptpaterson 5:22a337cdc0e3 69 * so mem leaks should not be an issue if we don't delete it???
ptpaterson 5:22a337cdc0e3 70 */
ptpaterson 3:12b3c25bdeba 71 //static CAN can(CANOPEN_PIN_RX, CANOPEN_PIN_TX);
ptpaterson 5:22a337cdc0e3 72 //can = new CAN(CANOPEN_PIN_RX, CANOPEN_PIN_TX);
ptpaterson 5:22a337cdc0e3 73 can = new CAN(CANOPEN_PIN_RX, CANOPEN_PIN_TX);
ptpaterson 5:22a337cdc0e3 74 //can.reset();
ptpaterson 3:12b3c25bdeba 75
ptpaterson 5:22a337cdc0e3 76 /* init the callback system ---------------------------------------------*/
ptpaterson 5:22a337cdc0e3 77 pServiceObject = object;
ptpaterson 5:22a337cdc0e3 78
ptpaterson 5:22a337cdc0e3 79 serviceRxCallback = rxCallback;
ptpaterson 5:22a337cdc0e3 80 serviceTickCallback = tickCallback;
ptpaterson 5:22a337cdc0e3 81
ptpaterson 5:22a337cdc0e3 82 can->attach(CanReadInterruptCallback);
ptpaterson 5:22a337cdc0e3 83 updateTicker.attach(UpdateTickerCallback, .0005);
ptpaterson 3:12b3c25bdeba 84
ptpaterson 0:1865da4a634c 85 return 1;
ptpaterson 0:1865da4a634c 86 }
ptpaterson 0:1865da4a634c 87
ptpaterson 5:22a337cdc0e3 88 int CanOpenApiRead (CanOpenMessage *canOpenMsg)
ptpaterson 0:1865da4a634c 89 {
ptpaterson 2:c724ff3a4e4d 90 int result = 0;
ptpaterson 2:c724ff3a4e4d 91
ptpaterson 5:22a337cdc0e3 92 /* CAUTON ********************************
ptpaterson 5:22a337cdc0e3 93 * Could be used in interrupt!!!
ptpaterson 5:22a337cdc0e3 94 * ***************************************
ptpaterson 5:22a337cdc0e3 95 */
ptpaterson 5:22a337cdc0e3 96 //printf("canopen_api: CanOpenApiRead()\r\n");
ptpaterson 4:2034b04c86d2 97
ptpaterson 5:22a337cdc0e3 98 if (can) {
ptpaterson 3:12b3c25bdeba 99
ptpaterson 3:12b3c25bdeba 100 CANMessage canMsg;
ptpaterson 2:c724ff3a4e4d 101
ptpaterson 5:22a337cdc0e3 102 result = can->read (canMsg);
ptpaterson 3:12b3c25bdeba 103 if (result) {
ptpaterson 3:12b3c25bdeba 104 canOpenMsg->id = canMsg.id;
ptpaterson 3:12b3c25bdeba 105 canOpenMsg->dataCount = canMsg.len,
ptpaterson 3:12b3c25bdeba 106 canOpenMsg->type = canMsg.type == CANData ? CANOPEN_TYPE_DATA : CANOPEN_TYPE_REMOTE;
ptpaterson 3:12b3c25bdeba 107 canOpenMsg->format = canMsg.format == CANStandard ? CANOPEN_FORMAT_STANDARD : CANOPEN_FORMAT_EXTENDED;
ptpaterson 3:12b3c25bdeba 108
ptpaterson 3:12b3c25bdeba 109 // NOTE: memcpy is freezing execution
ptpaterson 3:12b3c25bdeba 110 //memcpy(canOpenMsg->data, canMsg.data, canMsg.len);
ptpaterson 3:12b3c25bdeba 111 canOpenMsg->data[0] = canMsg.data[0];
ptpaterson 3:12b3c25bdeba 112 canOpenMsg->data[1] = canMsg.data[1];
ptpaterson 3:12b3c25bdeba 113 canOpenMsg->data[2] = canMsg.data[2];
ptpaterson 3:12b3c25bdeba 114 canOpenMsg->data[3] = canMsg.data[3];
ptpaterson 3:12b3c25bdeba 115 canOpenMsg->data[4] = canMsg.data[4];
ptpaterson 3:12b3c25bdeba 116 canOpenMsg->data[5] = canMsg.data[5];
ptpaterson 3:12b3c25bdeba 117 canOpenMsg->data[6] = canMsg.data[6];
ptpaterson 3:12b3c25bdeba 118 canOpenMsg->data[7] = canMsg.data[7];
ptpaterson 5:22a337cdc0e3 119
ptpaterson 5:22a337cdc0e3 120 // DEBUG
ptpaterson 5:22a337cdc0e3 121 //printf(" ID: %d\r\n", (int)canOpenMsg->id);
ptpaterson 5:22a337cdc0e3 122 //printf(" Count: %d\r\n", (int)canOpenMsg->dataCount);
ptpaterson 5:22a337cdc0e3 123 //printf(" Type: %d\r\n", (int)canOpenMsg->type);
ptpaterson 5:22a337cdc0e3 124 //printf(" Format: %d\r\n", (int)canOpenMsg->format);
ptpaterson 5:22a337cdc0e3 125 //printf(" Data[0]: %d\r\n", (int)canOpenMsg->data[0]);
ptpaterson 3:12b3c25bdeba 126 }
ptpaterson 3:12b3c25bdeba 127
ptpaterson 3:12b3c25bdeba 128 }
ptpaterson 2:c724ff3a4e4d 129 return result;
ptpaterson 2:c724ff3a4e4d 130 }
ptpaterson 2:c724ff3a4e4d 131
ptpaterson 5:22a337cdc0e3 132 int CanOpenApiWrite (CanOpenMessage *canOpenMsg)
ptpaterson 2:c724ff3a4e4d 133 {
ptpaterson 3:12b3c25bdeba 134 int result = 0;
ptpaterson 3:12b3c25bdeba 135
ptpaterson 5:22a337cdc0e3 136 CANMessage canMsg;
ptpaterson 5:22a337cdc0e3 137 canMsg.id = canOpenMsg->id;
ptpaterson 5:22a337cdc0e3 138 canMsg.len = canOpenMsg->dataCount,
ptpaterson 5:22a337cdc0e3 139 canMsg.type = canOpenMsg->type == CANOPEN_TYPE_DATA ? CANData : CANRemote;
ptpaterson 5:22a337cdc0e3 140 canMsg.format = canOpenMsg->format == CANOPEN_FORMAT_STANDARD ? CANStandard : CANExtended;
ptpaterson 2:c724ff3a4e4d 141
ptpaterson 5:22a337cdc0e3 142 // NOTE: memcpy is freezing execution
ptpaterson 5:22a337cdc0e3 143 //memcpy(canMsg.data, canOpenMsg->data, canOpenMsg->dataCount);
ptpaterson 5:22a337cdc0e3 144 canMsg.data[0] = canOpenMsg->data[0];
ptpaterson 5:22a337cdc0e3 145 canMsg.data[1] = canOpenMsg->data[1];
ptpaterson 5:22a337cdc0e3 146 canMsg.data[2] = canOpenMsg->data[2];
ptpaterson 5:22a337cdc0e3 147 canMsg.data[3] = canOpenMsg->data[3];
ptpaterson 5:22a337cdc0e3 148 canMsg.data[4] = canOpenMsg->data[4];
ptpaterson 5:22a337cdc0e3 149 canMsg.data[5] = canOpenMsg->data[5];
ptpaterson 5:22a337cdc0e3 150 canMsg.data[6] = canOpenMsg->data[6];
ptpaterson 5:22a337cdc0e3 151 canMsg.data[7] = canOpenMsg->data[7];
ptpaterson 5:22a337cdc0e3 152
ptpaterson 5:22a337cdc0e3 153 result = can->write (canMsg);
ptpaterson 5:22a337cdc0e3 154
ptpaterson 3:12b3c25bdeba 155
ptpaterson 3:12b3c25bdeba 156 return result;
ptpaterson 0:1865da4a634c 157 }
ptpaterson 0:1865da4a634c 158
ptpaterson 5:22a337cdc0e3 159 static int timeSyncOffset = 0;
ptpaterson 5:22a337cdc0e3 160
ptpaterson 5:22a337cdc0e3 161 uint32_t CanOpenApiGetHardwareTime (void)
ptpaterson 5:22a337cdc0e3 162 {
ptpaterson 5:22a337cdc0e3 163 return HAL_GetTick();
ptpaterson 5:22a337cdc0e3 164 }
ptpaterson 5:22a337cdc0e3 165
ptpaterson 0:1865da4a634c 166
ptpaterson 0:1865da4a634c 167
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