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/ObjectDictionary.h
- Revision:
- 5:22a337cdc0e3
- Parent:
- 4:2034b04c86d2
--- a/include/ObjectDictionary.h Sat Jan 09 17:15:29 2016 +0000
+++ b/include/ObjectDictionary.h Sat Feb 13 20:22:59 2016 +0000
@@ -34,27 +34,21 @@
namespace ppCANOpen
{
-/** Abstract Object Dictionary class to provide constants and virtual scan
- * function.
- */
-class ObjectDictionary
+/** Data Type alias to provide context when defining the object library */
+typedef uint8_t DataType;
+
+/** Data Property alias to provide context when defining the object library */
+typedef uint8_t DataProperty;
+
+/** defines the data in a single entry of data (subindex)
+ */
+struct EntryData
{
-
-public:
-
- /*=========================================================================
- * Constants wrapped into the Object Dictionary to use with construction
- *=========================================================================
- */
-
/* Data value type constants ----------------------------------------------
* Taken from the CANOpen Standard. they are part of the object dictionary
* at indices 0x0001 to 0x0023. Given to every Sub Index.
*/
- /** Data Type alias to provide context when defining the object library */
- typedef uint8_t DataType;
-
static const DataType TYPE_BOOLEAN = 0x01;
static const DataType TYPE_INT8 = 0x02;
static const DataType TYPE_INT16 = 0x03;
@@ -94,69 +88,46 @@
* Can be strung together into a mask.
*/
- /** Data Property alias to provide context when defining the object library */
- typedef uint8_t DataProperty;
-
static const DataProperty PROPERTY_READABLE = 0x01;
static const DataProperty PROPERTY_WRITEABLE = 0x02;
static const DataProperty PROPERTY_READ_WRITEABLE = 0x03;
/* static const uint8_t PROPERTY_STATIC = 0x04 *//* possible to save setting after powerdown */
-
- /* Index Constants --------------------------------------------------------
+ /* EntryData data --------------------------------------------------------
*/
-
- /** Index alias to provide context when defining the object library */
- typedef uint8_t Index;
+
+ void *pData;
+ uint16_t size;
+ DataType type;
+ DataProperty properties;
+
+ EntryData(){}
+
+ EntryData(void *d, uint16_t s, DataType t, DataProperty p)
+ : pData(d), size(s), type(t), properties(p)
+ {}
+};
- /*=========================================================================
- * Internal structures
- *=========================================================================
- */
-
- /** defines the data in a single entry of data (subindex)
- */
- struct EntryData
- {
- void *pData;
- uint16_t size;
- DataType type;
- DataProperty properties;
-
- EntryData(){}
-
- EntryData(void *d, uint16_t s, DataType t, DataProperty p)
- : pData(d), size(s), type(t), properties(p)
- {}
- };
+/** Index alias to provide context when defining the object library */
+typedef uint16_t IndexSize;
+
+/** Sub-Index alias to provide context when defining the object library */
+typedef uint8_t SubIndexSize;
+
+/** defines the data for a single index, including an array of subindices
+ */
+struct ObjectData
+{
+ EntryData *entries;
+ IndexSize index;
+ SubIndexSize entryCount;
- /** defines the data for a single index, including an array of subindices
- */
- struct ObjectData
- {
- EntryData *entries;
- uint16_t index;
- uint16_t entryCount;
-
- ObjectData(){}
-
- ObjectData(EntryData *e, uint16_t i, uint16_t c)
- : entries(e), index(i), entryCount(c)
- {}
- };
-
-
- /*=========================================================================
- * Public Methods
- *=========================================================================
- */
-
- /** Abstract method to give access to the object entries of derived
- * classes
- */
- virtual ObjectData * ScanIndex(int index) = 0;
+ ObjectData(){}
+ ObjectData(EntryData *e, IndexSize i, SubIndexSize c)
+ : entries(e), index(i), entryCount(c)
+ {}
};
} /* namespace ppCANOpen */