Paul Paterson
library for C++ CANOpen implementation. mbed independant, but is easy to attach into with mbed.
Dependents: ppCANOpen_Example DISCO-F746NG_rtos_test
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Node.h
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00001 /** 00002 ****************************************************************************** 00003 * @file 00004 * @author Paul Paterson 00005 * @version 00006 * @date 2015-12-14 00007 * @brief CANOpen implementation library 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2015 Paul Paterson 00012 * 00013 * All rights reserved. 00014 00015 This program is free software: you can redistribute it and/or modify 00016 it under the terms of the GNU General Public License as published by 00017 the Free Software Foundation, either version 3 of the License, or 00018 (at your option) any later version. 00019 00020 This program is distributed in the hope that it will be useful, 00021 but WITHOUT ANY WARRANTY; without even the implied warranty of 00022 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00023 GNU General Public License for more details. 00024 00025 You should have received a copy of the GNU General Public License 00026 along with this program. If not, see <http://www.gnu.org/licenses/>. 00027 */ 00028 00029 #ifndef PPCAN_NODE_H 00030 #define PPCAN_NODE_H 00031 00032 #include "ObjectDictionary.h" 00033 00034 /*========================================================================= 00035 * Forward declarations 00036 *========================================================================= 00037 */ 00038 struct CanOpenMessage; 00039 //struct ObjectData; 00040 00041 /* NMT Constants --------------------------------------------------------*/ 00042 #define NMT_STATE_TOGGLE_BIT 0x80 00043 00044 /* NMT Macros -----------------------------------------------------------*/ 00045 #define NMT_SET_STATE(curState, newState) (curState) = (((curState) & NMT_STATE_TOGGLE_BIT) | ((newState) & (~NMT_STATE_TOGGLE_BIT)))) 00046 00047 namespace ppCANOpen 00048 { 00049 00050 /* Avoid circular reference */ 00051 class ServiceProvider; 00052 00053 00054 /** Node Class to implement feature of a CANOpen NMT node 00055 */ 00056 class Node 00057 { 00058 public: 00059 00060 /* ======================================================================== 00061 * Internal structures and constants 00062 * ======================================================================== 00063 */ 00064 00065 /** Node network management state */ 00066 struct State { 00067 static const int INITIALIZED = 0x00; 00068 static const int DISCONNECTED = 0x01; 00069 static const int CONNECTING = 0x02; 00070 static const int PREPARING = 0x02; 00071 static const int STOPPED = 0x04; 00072 static const int OPERATIONAL = 0x05; 00073 static const int PREOPERATIONAL = 0x7F; 00074 static const int UNKNOWN = 0x0F; 00075 00076 int nmtState; 00077 int bBoot; 00078 int bSDO; 00079 int bEmergency; 00080 int bSYNC; 00081 int bLifeGuard; 00082 int bPDO; 00083 int bLSS; 00084 00085 int bLifeGuardToggle; 00086 }; 00087 00088 /* ======================================================================== 00089 * Construction 00090 * ======================================================================== 00091 */ 00092 00093 /** Maintain the multitude of states for a node */ 00094 Node (int id, ServiceProvider * provider, int bLoop = 0); 00095 00096 /* ======================================================================== 00097 * Public Methods 00098 * ======================================================================== 00099 */ 00100 00101 /** Call from ServiceProvider on an interrupt */ 00102 void FixedUpdate (uint32_t time); 00103 00104 /** Call from ServiceProvider every loop of Run() */ 00105 void Update (void); 00106 00107 /** Handle message given by the ServiceProvider*/ 00108 int DispatchMessage(CanOpenMessage *canOpenMsg); 00109 00110 /* ======================================================================== 00111 * Public Member Variables 00112 * ======================================================================== 00113 */ 00114 00115 /* Common Node properties -----------------------------------------------*/ 00116 /** Network id for the node 00117 * @note Ref is held in object dictionary and upon setting, may need to 00118 * update some other objects. 00119 */ 00120 int nodeId; 00121 00122 /** Loopback Mode. Default off (0), if on (1) then will hear it's own 00123 * messages 00124 */ 00125 int bLoopbackOn; 00126 00127 protected: 00128 00129 /* ======================================================================== 00130 * Protected? Methods to handle various messages 00131 * Used to deal with everything from inside of Dispatch Message 00132 * ======================================================================== 00133 */ 00134 00135 /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/ 00136 00137 int HandlePdo (CanOpenMessage *canOpenMsg); 00138 00139 00140 /* SDO (7.2.4) ----------------------------------------------------------*/ 00141 int HandleSdo (CanOpenMessage *canOpenMsg); 00142 00143 int HandleExpeditedDownload (int sdoNum, int index, int subIndex, int dataCount, char * data); 00144 int HandleInitiateDownloadRequest (int sdoNum, int index, int subIndex, int dataCount, char * data); 00145 00146 int HandleExpeditedUpload (int sdoNum, int index, int subIndex); 00147 00148 00149 // TODO: express and not express 00150 00151 /* SYNC object (7.2.5) --------------------------------------------------*/ 00152 int HandleSync (CanOpenMessage *canOpenMsg); 00153 00154 /* Time Stamp object (7.2.6) --------------------------------------------*/ 00155 /* Handled all inside of the ServiceProvider */ 00156 00157 /* Emergency object (7.2.7) ---------------------------------------------*/ 00158 00159 int ConsumeEmergency (void);// TODO: fix params 00160 00161 00162 /* Network Management (7.2.8) -------------------------------------------*/ 00163 /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/ 00164 int HandleNodeControl (CanOpenMessage *canOpenMsg); 00165 00166 00167 /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/ 00168 00169 int HandleNodeGuardRequest (int masterId); 00170 int ConsumeHeartbeat (int producerId); 00171 00172 protected: 00173 00174 /* ======================================================================== 00175 * Protected Methods to implement node application in derived classes 00176 * ======================================================================== 00177 */ 00178 00179 /** Perform actions every cycle (when in operational mode) 00180 * @note Override to implement user application 00181 * @note The OnTick function should avoid modifying data in the object 00182 * dictionary unless necessary, because there will almost certainly be 00183 * a race condition. 00184 */ 00185 virtual void OnFixedUpdate(void) = 0; 00186 00187 00188 00189 virtual void OnUpdate(void) = 0; 00190 00191 00192 /* SYNC -----------------------------------------------------------------*/ 00193 /** Perform actions when state changed to stop 00194 * @note Override to implement user application 00195 */ 00196 virtual void OnSync (uint8_t counter) = 0; 00197 00198 00199 /* NMT Node Control -----------------------------------------------------*/ 00200 /** Perform actions when node reset 00201 * @note Override to implement user application 00202 */ 00203 virtual void OnInitialize (void) = 0; 00204 00205 /** Perform actions when state changed to pre-operational 00206 * @note Override to implement user application 00207 */ 00208 virtual void OnPreoperational (void) = 0; 00209 00210 /** Perform actions when state changed to operational 00211 * @note Override to implement user application 00212 */ 00213 virtual void OnOperational (void) = 0; 00214 00215 /** Perform actions when state changed to stop 00216 * @note Override to implement user application 00217 */ 00218 virtual void OnStopped (void) = 0; 00219 00220 /* Object Dictionary Handling -------------------------------------------*/ 00221 /** Abstract method to give access to the object entries of derived 00222 * classes 00223 */ 00224 virtual ObjectData * ScanIndex(IndexSize index) = 0; 00225 00226 00227 /* ======================================================================== 00228 * Protected Methods to Post Messages 00229 * ======================================================================== 00230 */ 00231 00232 int PostTPDO (int cobId); 00233 00234 00235 /* ======================================================================== 00236 * Protected Member Variables 00237 * ======================================================================== 00238 */ 00239 00240 /* Object Dictionary Handling -------------------------------------------*/ 00241 /** Array of ObjectData to contain all of the object dictionary data */ 00242 ObjectData *dictionary; 00243 00244 /* Elapsed Time ---------------------------------------------------------*/ 00245 /** Millisecond time stamp at this OnTick() */ 00246 uint32_t timeCurrentTick; 00247 00248 /** Millisecond difference between current OnTick() and the previous */ 00249 uint32_t timeSinceLastTick; 00250 00251 // should be private 00252 // TODO: implement functions in Node class to post all types of messages so 00253 // derived classes do not have to consider message structure. 00254 protected: 00255 00256 /* ======================================================================== 00257 * Private members 00258 * ======================================================================== 00259 */ 00260 00261 /* ServiceProvider ------------------------------------------------------*/ 00262 /** Reference to Service Provider that this node is attached to */ 00263 ServiceProvider * pMyProvider; 00264 00265 private: 00266 /* Common Node Methods --------------------------------------------------*/ 00267 /** Change state of the node */ 00268 void ChangeState(int newState); 00269 00270 /* Common Node properties -----------------------------------------------*/ 00271 /** Network and communication state of the node */ 00272 State state; 00273 00274 00275 }; 00276 00277 } /* namespace ppCANOpen */ 00278 00279 #endif // PPCAN_NODE_H 00280
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