Paul Paterson
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.
Dependencies: CANnucleo mbed ppCANOpen
Diff: Application/include/Node_pin0808.h
- Revision:
- 10:ec59d628ebdc
diff -r 8352cfe17ab1 -r ec59d628ebdc Application/include/Node_pin0808.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/include/Node_pin0808.h Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,269 @@
+/**
+ ******************************************************************************
+ * @file
+ * @author Paul Paterson
+ * @version
+ * @date 2015-12-14
+ * @brief CANOpen implementation library
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 Paul Paterson
+ *
+ * All rights reserved.
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef PPCAN_NODE_PIN0808_H
+#define PPCAN_NODE_PIN0808_H
+
+#include "Node.h"
+
+namespace ppCANOpen
+{
+
+/** Custom Object Dictionary for pinball io_0808 device.
+ */
+class Node_pin0808 : public Node
+{
+
+public:
+ Node_pin0808(int id, ServiceProvider * provider, int bLoop = 0);
+ virtual ~Node_pin0808(void);
+
+private:
+ /* constants */
+ /** milliseconds necessary to debounce all input */
+ static const uint8_t DEBOUNCE_TIME = 3;
+
+ /* IO details */
+ uint8_t prevInputBuffers[1];
+ uint8_t inputDebounce[8];
+
+ uint8_t prevOutputBuffers[1];
+ int scheduleIndexTime;
+
+ /**************************************************************************
+ * Implementation Overrides
+ **************************************************************************
+ */
+
+ /* Application run */
+ virtual void OnFixedUpdate(void);
+ virtual void OnUpdate(void);
+
+ /* SYNC */
+ virtual void OnSync (uint8_t counter);
+
+ /* NMT Control */
+ virtual void OnInitialize (void);
+ virtual void OnPreoperational (void);
+ virtual void OnOperational (void);
+ virtual void OnStopped (void);
+
+
+ /**************************************************************************
+ * Object Dictionary
+ **************************************************************************
+ */
+
+ /* Communication --------------------------------------------------------*/
+ /* index 0x1200 : SDO Server */
+ ObjectData Obj1200;
+ SubIndexSize Obj1200_highestSubIndex;
+ uint32_t Obj1200_ReceiveCobId;
+ uint32_t Obj1200_TransmitCobId;
+ EntryData Obj1200_entries[3];
+
+ /* index 0x1400 : Receive PDO 1 Parameter (Write Digital Output) */
+ ObjectData Obj1400;
+ SubIndexSize Obj1400_highestSubIndex;
+ uint32_t Obj1400_CobId;
+ uint8_t Obj1400_TransmissionType;
+ uint16_t Obj1400_InhibitTime;
+ uint8_t Obj1400_CompatibilityEntry;
+ uint16_t Obj1400_EventTimer;
+ EntryData Obj1400_entries[6];
+
+ /* index 0x1401 : Receive PDO 2 Parameter (Write Output Configuration) */
+ ObjectData Obj1401;
+ SubIndexSize Obj1401_highestSubIndex;
+ uint32_t Obj1401_CobId;
+ uint8_t Obj1401_TransmissionType;
+ uint16_t Obj1401_InhibitTime;
+ uint8_t Obj1401_CompatibilityEntry;
+ uint16_t Obj1401_EventTimer;
+ EntryData Obj1401_entries[6];
+
+ /* index 0x1402 : Receive PDO 3 Parameter (Write/Clear Autotrigger Rule) */
+ ObjectData Obj1402;
+ SubIndexSize Obj1402_highestSubIndex;
+ uint32_t Obj1402_CobId;
+ uint8_t Obj1402_TransmissionType;
+ uint16_t Obj1402_InhibitTime;
+ uint8_t Obj1402_CompatibilityEntry;
+ uint16_t Obj1402_EventTimer;
+ EntryData Obj1402_entries[6];
+
+ /* index 0x1403 : Receive PDO 5 Parameter (input changes) */
+ ObjectData Obj1403;
+ SubIndexSize Obj1403_highestSubIndex;
+ uint32_t Obj1403_CobId;
+ uint8_t Obj1403_TransmissionType;
+ uint16_t Obj1403_InhibitTime;
+ uint8_t Obj1403_CompatibilityEntry;
+ uint16_t Obj1403_EventTimer;
+ EntryData Obj1403_entries[6];
+
+ /* index 0x1600 : Receive PDO 1 Mapping */
+ ObjectData Obj1600;
+ SubIndexSize Obj1600_highestSubIndex;
+ uint32_t Obj1600_Map;
+ EntryData Obj1600_entries[2];
+
+ /* index 0x1601 : Transmit PDO 1 Mapping */
+ ObjectData Obj1601;
+ SubIndexSize Obj1601_highestSubIndex;
+ uint32_t Obj1601_Map;
+ EntryData Obj1601_entries[2];
+
+ /* index 0x1602 : Transmit PDO 1 Mapping */
+ ObjectData Obj1602;
+ SubIndexSize Obj1602_highestSubIndex;
+ uint32_t Obj1602_Map;
+ EntryData Obj1602_entries[2];
+
+ /* index 0x1603 : Receive PDO 2 Mapping */
+ ObjectData Obj1603;
+ SubIndexSize Obj1603_highestSubIndex;
+ uint32_t Obj1603_Map;
+ EntryData Obj1603_entries[2];
+
+
+ /* index 0x1800 : Transmit PDO 1 Parameter */
+ ObjectData Obj1800;
+ SubIndexSize Obj1800_highestSubIndex;
+ uint32_t Obj1800_CobId;
+ uint8_t Obj1800_TransmissionType;
+ uint16_t Obj1800_InhibitTime;
+ uint8_t Obj1800_CompatibilityEntry;
+ uint16_t Obj1800_EventTimer;
+ EntryData Obj1800_entries[6];
+
+ /* index 0x1A00 : Transmit PDO 1 Mapping */
+ ObjectData Obj1A00;
+ SubIndexSize Obj1A00_highestSubIndex;
+ uint32_t Obj1A00_MapInput;
+ uint32_t Obj1A00_MapVoid16;
+ uint32_t Obj1A00_MapChange;
+ uint32_t Obj1A00_MapSourceId;
+ EntryData Obj1A00_entries[6];
+
+
+ /* Manufacturer Specific ------------------------------------------------*/
+ /* index 0x2001 : Pin Output Configurations */
+ struct OutputConfiguration {
+ static const uint8_t PULSE = 0x01;
+ static const uint8_t PATTER = 0x02;
+ static const uint8_t PULSED_PATTER = 0x04;
+ //static const uint8_t SCHEDULED = 0x08;
+
+ uint8_t type;
+ uint8_t pulse_ms;
+ uint8_t pwm_on;
+ uint8_t pwm_off;
+ uint32_t writeData;
+ };
+
+ ObjectData Obj2001;
+ SubIndexSize Obj2001_highestSubIndex;
+ OutputConfiguration writeOutputConfig;
+ OutputConfiguration outputConfigs[8];
+ OutputConfiguration outputTimers[8]; /* not actually part of dictionary */
+ EntryData Obj2001_entries[10];
+
+ /* index 0x2002 : Output Schedule Configuration */
+ ObjectData Obj2002;
+ SubIndexSize Obj2002_highestSubIndex;
+ uint32_t scheduleConfig;
+ uint32_t schedules[8];
+ EntryData Obj2002_entries[10];
+
+ /* index 0x2100 : Input change data */
+ ObjectData Obj2100;
+ SubIndexSize Obj2100_highestSubIndex;
+ uint8_t inputChangeMask[1];
+ /* uint8_t nodeId; */
+ EntryData Obj2100_entries[3];
+
+ /* index 0x2200 : Autotrigger Rules */
+ struct AutotriggerRule {
+ uint8_t sourceId;
+ uint8_t input; /* 0-4: inputNum (0-23)
+ 5-7: 0 on inactive
+ 1 on active
+ 2 on any change
+ 3 ???
+ */
+ uint8_t setMask[3];
+ uint8_t clearMask[3];
+ };
+
+ struct AutotriggerMessage {
+ uint8_t input[3];
+ uint8_t change[3];
+ uint8_t sourceId;
+ };
+
+ ObjectData Obj2200;
+ SubIndexSize Obj2200_highestSubIndex;
+ AutotriggerRule writeRule;
+ AutotriggerMessage autotriggerMessage;
+ AutotriggerRule rules[24];
+ EntryData Obj2200_entries[27];
+
+
+ /* Device Specific ------------------------------------------------------*/
+ /* index 0x6000 : Mapped variable "inputs" */
+ ObjectData Obj6000;
+ SubIndexSize Obj6000_highestSubIndex;
+ uint8_t readInputBuffers[1];
+ EntryData Obj6000_entries[2];
+
+ /* index 0x6005 : Global Input Interrupt Enable */
+ ObjectData Obj6005;
+ SubIndexSize Obj6005_highestSubIndex;
+ uint8_t bInputInterruptEnable;
+ EntryData Obj6005_entries[2];
+
+ /* index 0x6006 : Any Change Interrupt Mask */
+ ObjectData Obj6006;
+ SubIndexSize Obj6006_highestSubIndex;
+ uint8_t inputInterruptMask[1];
+ EntryData Obj6006_entries[2];
+
+ /* index 0x6200 : Mapped variable "outputs" */
+ ObjectData Obj6200;
+ SubIndexSize Obj6200_highestSubIndex;
+ uint8_t writeOutputBuffers[1];
+ EntryData Obj6200_entries[2];
+
+ /* Scan Method */
+ virtual ObjectData * ScanIndex(IndexSize index);
+};
+
+} /* namespace ppCANOpen */
+
+#endif // PPCAN_NODE_PIN0808_H