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/CanOpenMessage.h@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 4:2034b04c86d2 1 /**
ptpaterson 4:2034b04c86d2 2 ******************************************************************************
ptpaterson 4:2034b04c86d2 3 * @file
ptpaterson 4:2034b04c86d2 4 * @author Paul Paterson
ptpaterson 4:2034b04c86d2 5 * @version
ptpaterson 4:2034b04c86d2 6 * @date 2015-12-14
ptpaterson 4:2034b04c86d2 7 * @brief CANOpen implementation library
ptpaterson 4:2034b04c86d2 8 ******************************************************************************
ptpaterson 4:2034b04c86d2 9 * @attention
ptpaterson 4:2034b04c86d2 10 *
ptpaterson 4:2034b04c86d2 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
ptpaterson 4:2034b04c86d2 12 *
ptpaterson 4:2034b04c86d2 13 * All rights reserved.
ptpaterson 4:2034b04c86d2 14
ptpaterson 4:2034b04c86d2 15 This program is free software: you can redistribute it and/or modify
ptpaterson 4:2034b04c86d2 16 it under the terms of the GNU General Public License as published by
ptpaterson 4:2034b04c86d2 17 the Free Software Foundation, either version 3 of the License, or
ptpaterson 4:2034b04c86d2 18 (at your option) any later version.
ptpaterson 4:2034b04c86d2 19
ptpaterson 4:2034b04c86d2 20 This program is distributed in the hope that it will be useful,
ptpaterson 4:2034b04c86d2 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
ptpaterson 4:2034b04c86d2 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ptpaterson 4:2034b04c86d2 23 GNU General Public License for more details.
ptpaterson 4:2034b04c86d2 24
ptpaterson 4:2034b04c86d2 25 You should have received a copy of the GNU General Public License
ptpaterson 4:2034b04c86d2 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
ptpaterson 4:2034b04c86d2 27 */
ptpaterson 4:2034b04c86d2 28
ptpaterson 4:2034b04c86d2 29 #ifndef PPCAN_CANOPEN_MESSAGE_H
ptpaterson 4:2034b04c86d2 30 #define PPCAN_CANOPEN_MESSAGE_H
ptpaterson 4:2034b04c86d2 31
ptpaterson 5:22a337cdc0e3 32 #include "stdint.h"
ptpaterson 5:22a337cdc0e3 33
ptpaterson 4:2034b04c86d2 34 #ifdef __cplusplus
ptpaterson 4:2034b04c86d2 35 extern "C" {
ptpaterson 4:2034b04c86d2 36 #endif
ptpaterson 4:2034b04c86d2 37
ptpaterson 4:2034b04c86d2 38 /*=========================================================================
ptpaterson 4:2034b04c86d2 39 * CANOpen Message Structure
ptpaterson 4:2034b04c86d2 40 *=========================================================================
ptpaterson 4:2034b04c86d2 41 */
ptpaterson 4:2034b04c86d2 42
ptpaterson 4:2034b04c86d2 43 /** CANOpen Message Format */
ptpaterson 4:2034b04c86d2 44 typedef enum {
ptpaterson 4:2034b04c86d2 45 CANOPEN_FORMAT_STANDARD = 0,
ptpaterson 4:2034b04c86d2 46 CANOPEN_FORMAT_EXTENDED,
ptpaterson 4:2034b04c86d2 47 CANOPEN_FORMAT_ANY
ptpaterson 4:2034b04c86d2 48 } CanOpenFormat;
ptpaterson 4:2034b04c86d2 49
ptpaterson 4:2034b04c86d2 50 /** CANOpen Message Data Type */
ptpaterson 4:2034b04c86d2 51 typedef enum {
ptpaterson 4:2034b04c86d2 52 CANOPEN_TYPE_DATA = 0,
ptpaterson 4:2034b04c86d2 53 CANOPEN_TYPE_REMOTE
ptpaterson 4:2034b04c86d2 54 } CanOpenType;
ptpaterson 4:2034b04c86d2 55
ptpaterson 4:2034b04c86d2 56
ptpaterson 4:2034b04c86d2 57 /** CANOpen Message */
ptpaterson 4:2034b04c86d2 58 typedef struct CanOpenMessage {
ptpaterson 5:22a337cdc0e3 59 uint32_t id;
ptpaterson 5:22a337cdc0e3 60 uint8_t data[8];
ptpaterson 4:2034b04c86d2 61 CanOpenFormat format;
ptpaterson 4:2034b04c86d2 62 CanOpenType type;
ptpaterson 5:22a337cdc0e3 63 uint8_t dataCount;
ptpaterson 4:2034b04c86d2 64 } CanOpenMessage;
ptpaterson 4:2034b04c86d2 65
ptpaterson 5:22a337cdc0e3 66
ptpaterson 5:22a337cdc0e3 67 /*=========================================================================
ptpaterson 5:22a337cdc0e3 68 * CANOpen Function Codes
ptpaterson 5:22a337cdc0e3 69 *=========================================================================
ptpaterson 5:22a337cdc0e3 70 */
ptpaterson 5:22a337cdc0e3 71
ptpaterson 5:22a337cdc0e3 72 /** CANOpen Function Codes */
ptpaterson 5:22a337cdc0e3 73 typedef enum {
ptpaterson 5:22a337cdc0e3 74 CANOPEN_FUNCTION_CODE_NMT = 0x00,
ptpaterson 5:22a337cdc0e3 75 CANOPEN_FUNCTION_CODE_SYNC = 0x01,
ptpaterson 5:22a337cdc0e3 76 CANOPEN_FUNCTION_CODE_TIME = 0x02,
ptpaterson 5:22a337cdc0e3 77 CANOPEN_FUNCTION_CODE_PDO1T = 0x03,
ptpaterson 5:22a337cdc0e3 78 CANOPEN_FUNCTION_CODE_PDO1R = 0x04,
ptpaterson 5:22a337cdc0e3 79 CANOPEN_FUNCTION_CODE_PDO2T = 0x05,
ptpaterson 5:22a337cdc0e3 80 CANOPEN_FUNCTION_CODE_PDO2R = 0x06,
ptpaterson 5:22a337cdc0e3 81 CANOPEN_FUNCTION_CODE_PDO3T = 0x07,
ptpaterson 5:22a337cdc0e3 82 CANOPEN_FUNCTION_CODE_PDO3R = 0x08,
ptpaterson 5:22a337cdc0e3 83 CANOPEN_FUNCTION_CODE_PDO4T = 0x09,
ptpaterson 5:22a337cdc0e3 84 CANOPEN_FUNCTION_CODE_PDO4R = 0x0A,
ptpaterson 5:22a337cdc0e3 85 CANOPEN_FUNCTION_CODE_SDOT = 0x0B,
ptpaterson 5:22a337cdc0e3 86 CANOPEN_FUNCTION_CODE_SDOR = 0x0C,
ptpaterson 5:22a337cdc0e3 87 CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
ptpaterson 5:22a337cdc0e3 88 CANOPEN_FUNCTION_CODE_LSS = 0x0F
ptpaterson 5:22a337cdc0e3 89 } CanOpenFunctionCodes;
ptpaterson 5:22a337cdc0e3 90
ptpaterson 5:22a337cdc0e3 91 /* Message Constants */
ptpaterson 5:22a337cdc0e3 92 #define MESSAGE_NODEID_BITS 0b00001111111
ptpaterson 5:22a337cdc0e3 93 #define MESSAGE_COMMAND_BITS 0b11110000000
ptpaterson 5:22a337cdc0e3 94
ptpaterson 5:22a337cdc0e3 95 /* Message Macros -----------------------------------------------------------*/
ptpaterson 5:22a337cdc0e3 96 #define MESSAGE_GET_NODEID(cobId) (cobId & MESSAGE_NODEID_BITS)
ptpaterson 5:22a337cdc0e3 97 #define MESSAGE_GET_COMMAND(cobId) ((cobId & MESSAGE_COMMAND_BITS) >> 7)
ptpaterson 5:22a337cdc0e3 98
ptpaterson 5:22a337cdc0e3 99 /*=========================================================================
ptpaterson 5:22a337cdc0e3 100 * SDO MESSAGE PARAMETERS
ptpaterson 5:22a337cdc0e3 101 *=========================================================================
ptpaterson 5:22a337cdc0e3 102 */
ptpaterson 5:22a337cdc0e3 103
ptpaterson 5:22a337cdc0e3 104 /** SDO initiate protocol command specifiers */
ptpaterson 5:22a337cdc0e3 105 typedef enum {
ptpaterson 5:22a337cdc0e3 106 SDO_CCS_DOWNLOAD_SEGMENT_REQUEST = 0x00,
ptpaterson 5:22a337cdc0e3 107 SDO_CCS_INITIATE_DOWNLOAD_REQUEST = 0x01,
ptpaterson 5:22a337cdc0e3 108 SDO_CCS_INITIATE_UPLOAD_REQUEST = 0x02,
ptpaterson 5:22a337cdc0e3 109 } SdoClientCommandSpecifier;
ptpaterson 5:22a337cdc0e3 110
ptpaterson 5:22a337cdc0e3 111 /** SDO segment protocol command specifiers */
ptpaterson 5:22a337cdc0e3 112 typedef enum {
ptpaterson 5:22a337cdc0e3 113 SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE = 0x01,
ptpaterson 5:22a337cdc0e3 114 SDO_SCS_INITIATE_UPLOAD_RESPONSE = 0x02,
ptpaterson 5:22a337cdc0e3 115 SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
ptpaterson 5:22a337cdc0e3 116 } SdoServerCommandSpecifier;
ptpaterson 5:22a337cdc0e3 117
ptpaterson 5:22a337cdc0e3 118 /* SDO constants --------------------------------------------------------*/
ptpaterson 5:22a337cdc0e3 119 #define SDO_SIZE_INDICATOR_BIT 0b00000001
ptpaterson 5:22a337cdc0e3 120 #define SDO_TRANSFER_TYPE_BIT 0b00000010
ptpaterson 5:22a337cdc0e3 121 #define SDO_DATA_COUNT_BITS 0b00001100
ptpaterson 5:22a337cdc0e3 122 #define SDO_TOGGLE_BIT 0b00010000
ptpaterson 5:22a337cdc0e3 123 #define SDO_CS_BITS 0b11100000
ptpaterson 5:22a337cdc0e3 124
ptpaterson 5:22a337cdc0e3 125 /* SDO macros -----------------------------------------------------------*/
ptpaterson 5:22a337cdc0e3 126 #define SDO_GET_CS(data0) ((data0 & SDO_CS_BITS) >> 5)
ptpaterson 5:22a337cdc0e3 127 #define SDO_GET_DATA_COUNT(data0) ((data0 & SDO_DATA_COUNT_BITS) >> 2)
ptpaterson 5:22a337cdc0e3 128
ptpaterson 5:22a337cdc0e3 129
ptpaterson 5:22a337cdc0e3 130 /*=========================================================================
ptpaterson 5:22a337cdc0e3 131 * NMT MESSAGE PARAMETERS
ptpaterson 5:22a337cdc0e3 132 *=========================================================================
ptpaterson 5:22a337cdc0e3 133 */
ptpaterson 5:22a337cdc0e3 134
ptpaterson 5:22a337cdc0e3 135 /** NMT node control protocol command specifiers */
ptpaterson 5:22a337cdc0e3 136 typedef enum {
ptpaterson 5:22a337cdc0e3 137 NMT_CS_START = 0x01,
ptpaterson 5:22a337cdc0e3 138 NMT_CS_STOP = 0x02,
ptpaterson 5:22a337cdc0e3 139 NMT_CS_ENTER_PREOP = 0x80,
ptpaterson 5:22a337cdc0e3 140 NMT_CS_RESET_NODE = 0x81,
ptpaterson 5:22a337cdc0e3 141 NMT_CS_RESET_COM = 0x82
ptpaterson 5:22a337cdc0e3 142 } NmtCommandSpecifier;
ptpaterson 5:22a337cdc0e3 143
ptpaterson 4:2034b04c86d2 144 #ifdef __cplusplus
ptpaterson 4:2034b04c86d2 145 };
ptpaterson 4:2034b04c86d2 146 #endif
ptpaterson 4:2034b04c86d2 147
ptpaterson 4:2034b04c86d2 148 #endif /* PPCAN_CANOPEN_MESSAGE_H */