Paul Paterson
library for C++ CANOpen implementation. mbed independant, but is easy to attach into with mbed.
Dependents: ppCANOpen_Example DISCO-F746NG_rtos_test
Node Class Reference
Node Class to implement feature of a CANOpen NMT node. More...
#include <Node.h>
Data Structures | |
| struct | State |
| Node network management state. More... | |
Public Member Functions | |
| Node (int id, ServiceProvider *provider, int bLoop=0) | |
| Maintain the multitude of states for a node. | |
| void | FixedUpdate (uint32_t time) |
| Call from ServiceProvider on an interrupt. | |
| void | Update (void) |
| Call from ServiceProvider every loop of Run() | |
| int | DispatchMessage (CanOpenMessage *canOpenMsg) |
| Handle message given by the ServiceProvider. | |
Data Fields | |
| int | nodeId |
| Network id for the node. | |
| int | bLoopbackOn |
| Loopback Mode. | |
Protected Member Functions | |
| virtual void | OnFixedUpdate (void)=0 |
| Perform actions every cycle (when in operational mode) | |
| virtual void | OnSync (uint8_t counter)=0 |
| Perform actions when state changed to stop. | |
| virtual void | OnInitialize (void)=0 |
| Perform actions when node reset. | |
| virtual void | OnPreoperational (void)=0 |
| Perform actions when state changed to pre-operational. | |
| virtual void | OnOperational (void)=0 |
| Perform actions when state changed to operational. | |
| virtual void | OnStopped (void)=0 |
| Perform actions when state changed to stop. | |
| virtual ObjectData * | ScanIndex (IndexSize index)=0 |
| Abstract method to give access to the object entries of derived classes. | |
Protected Attributes | |
| ObjectData * | dictionary |
| Array of ObjectData to contain all of the object dictionary data. | |
| uint32_t | timeCurrentTick |
| Millisecond time stamp at this OnTick() | |
| uint32_t | timeSinceLastTick |
| Millisecond difference between current OnTick() and the previous. | |
| ServiceProvider * | pMyProvider |
| Reference to Service Provider that this node is attached to. | |
Detailed Description
Node Class to implement feature of a CANOpen NMT node.
Definition at line 56 of file Node.h.
Constructor & Destructor Documentation
| Node | ( | int | id, |
| ServiceProvider * | provider, | ||
| int | bLoop = 0 |
||
| ) |
Member Function Documentation
| int DispatchMessage | ( | CanOpenMessage * | canOpenMsg ) |
Handle message given by the ServiceProvider.
| void FixedUpdate | ( | uint32_t | time ) |
Call from ServiceProvider on an interrupt.
| virtual void OnFixedUpdate | ( | void | ) | [protected, pure virtual] |
Perform actions every cycle (when in operational mode)
- Note:
- Override to implement user application
- The OnTick function should avoid modifying data in the object dictionary unless necessary, because there will almost certainly be a race condition.
| virtual void OnInitialize | ( | void | ) | [protected, pure virtual] |
Perform actions when node reset.
- Note:
- Override to implement user application
| virtual void OnOperational | ( | void | ) | [protected, pure virtual] |
Perform actions when state changed to operational.
- Note:
- Override to implement user application
| virtual void OnPreoperational | ( | void | ) | [protected, pure virtual] |
Perform actions when state changed to pre-operational.
- Note:
- Override to implement user application
| virtual void OnStopped | ( | void | ) | [protected, pure virtual] |
Perform actions when state changed to stop.
- Note:
- Override to implement user application
| virtual void OnSync | ( | uint8_t | counter ) | [protected, pure virtual] |
Perform actions when state changed to stop.
- Note:
- Override to implement user application
| virtual ObjectData* ScanIndex | ( | IndexSize | index ) | [protected, pure virtual] |
Abstract method to give access to the object entries of derived classes.
| void Update | ( | void | ) |
Call from ServiceProvider every loop of Run()
Field Documentation
| int bLoopbackOn |
ObjectData* dictionary [protected] |
Array of ObjectData to contain all of the object dictionary data.
| int nodeId |
ServiceProvider* pMyProvider [protected] |
uint32_t timeCurrentTick [protected] |
uint32_t timeSinceLastTick [protected] |
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