Paul Paterson
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
Diff: include/CanOpenMessage.h
- Revision:
- 5:22a337cdc0e3
- Parent:
- 4:2034b04c86d2
--- a/include/CanOpenMessage.h Sat Jan 09 17:15:29 2016 +0000
+++ b/include/CanOpenMessage.h Sat Feb 13 20:22:59 2016 +0000
@@ -29,6 +29,8 @@
#ifndef PPCAN_CANOPEN_MESSAGE_H
#define PPCAN_CANOPEN_MESSAGE_H
+#include "stdint.h"
+
#ifdef __cplusplus
extern "C" {
#endif
@@ -54,13 +56,91 @@
/** CANOpen Message */
typedef struct CanOpenMessage {
- unsigned int id;
- char data[8];
+ uint32_t id;
+ uint8_t data[8];
CanOpenFormat format;
CanOpenType type;
- unsigned char dataCount;
+ uint8_t dataCount;
} CanOpenMessage;
+
+/*=========================================================================
+ * CANOpen Function Codes
+ *=========================================================================
+ */
+
+/** CANOpen Function Codes */
+typedef enum {
+ CANOPEN_FUNCTION_CODE_NMT = 0x00,
+ CANOPEN_FUNCTION_CODE_SYNC = 0x01,
+ CANOPEN_FUNCTION_CODE_TIME = 0x02,
+ CANOPEN_FUNCTION_CODE_PDO1T = 0x03,
+ CANOPEN_FUNCTION_CODE_PDO1R = 0x04,
+ CANOPEN_FUNCTION_CODE_PDO2T = 0x05,
+ CANOPEN_FUNCTION_CODE_PDO2R = 0x06,
+ CANOPEN_FUNCTION_CODE_PDO3T = 0x07,
+ CANOPEN_FUNCTION_CODE_PDO3R = 0x08,
+ CANOPEN_FUNCTION_CODE_PDO4T = 0x09,
+ CANOPEN_FUNCTION_CODE_PDO4R = 0x0A,
+ CANOPEN_FUNCTION_CODE_SDOT = 0x0B,
+ CANOPEN_FUNCTION_CODE_SDOR = 0x0C,
+ CANOPEN_FUNCTION_CODE_NODE_GUARD = 0x0E,
+ CANOPEN_FUNCTION_CODE_LSS = 0x0F
+} CanOpenFunctionCodes;
+
+/* Message Constants */
+#define MESSAGE_NODEID_BITS 0b00001111111
+#define MESSAGE_COMMAND_BITS 0b11110000000
+
+/* Message Macros -----------------------------------------------------------*/
+#define MESSAGE_GET_NODEID(cobId) (cobId & MESSAGE_NODEID_BITS)
+#define MESSAGE_GET_COMMAND(cobId) ((cobId & MESSAGE_COMMAND_BITS) >> 7)
+
+/*=========================================================================
+ * SDO MESSAGE PARAMETERS
+ *=========================================================================
+ */
+
+/** SDO initiate protocol command specifiers */
+typedef enum {
+ SDO_CCS_DOWNLOAD_SEGMENT_REQUEST = 0x00,
+ SDO_CCS_INITIATE_DOWNLOAD_REQUEST = 0x01,
+ SDO_CCS_INITIATE_UPLOAD_REQUEST = 0x02,
+} SdoClientCommandSpecifier;
+
+/** SDO segment protocol command specifiers */
+typedef enum {
+ SDO_SCS_DOWNLOAD_SEGMENT_RESPONSE = 0x01,
+ SDO_SCS_INITIATE_UPLOAD_RESPONSE = 0x02,
+ SDO_SCS_INITIATE_DOWNLOAD_RESPONSE = 0x03,
+} SdoServerCommandSpecifier;
+
+/* SDO constants --------------------------------------------------------*/
+#define SDO_SIZE_INDICATOR_BIT 0b00000001
+#define SDO_TRANSFER_TYPE_BIT 0b00000010
+#define SDO_DATA_COUNT_BITS 0b00001100
+#define SDO_TOGGLE_BIT 0b00010000
+#define SDO_CS_BITS 0b11100000
+
+/* SDO macros -----------------------------------------------------------*/
+#define SDO_GET_CS(data0) ((data0 & SDO_CS_BITS) >> 5)
+#define SDO_GET_DATA_COUNT(data0) ((data0 & SDO_DATA_COUNT_BITS) >> 2)
+
+
+/*=========================================================================
+ * NMT MESSAGE PARAMETERS
+ *=========================================================================
+ */
+
+/** NMT node control protocol command specifiers */
+typedef enum {
+ NMT_CS_START = 0x01,
+ NMT_CS_STOP = 0x02,
+ NMT_CS_ENTER_PREOP = 0x80,
+ NMT_CS_RESET_NODE = 0x81,
+ NMT_CS_RESET_COM = 0x82
+} NmtCommandSpecifier;
+
#ifdef __cplusplus
};
#endif