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
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main.cpp
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00001 00002 /** @file 00003 * @brief main program entry 00004 */ 00005 00006 #include "mbed.h" 00007 #include "CAN.h" 00008 00009 #include "ppCANOpen.h" 00010 #include "Node_pin0808.h" 00011 00012 DigitalOut boardLed (LED1); 00013 00014 void InputScan () 00015 { 00016 boardLed = !boardLed; 00017 } 00018 00019 00020 int main() 00021 { 00022 00023 printf ("\r\n----- MAIN -----\r\n"); 00024 00025 /* blinker task*/ 00026 boardLed = 0; 00027 00028 //#define MASTER 00029 #ifdef MASTER 00030 00031 /* CanOpen start */ 00032 ServiceProvider service; 00033 printf ("----- READY -----\r\n"); 00034 00035 Node_pin0808 node1(2, &service); 00036 //Node_pin0808 node2(&service); 00037 00038 service.PostNmtControl(1, NMT_CS_RESET_NODE); 00039 service.Run(); 00040 service.PostNmtControl(2, NMT_CS_START); 00041 service.Run(); 00042 service.PostNmtControl(3, NMT_CS_START); 00043 service.Run(); 00044 service.PostNmtControl(4, NMT_CS_START); 00045 service.Run(); 00046 service.PostNmtControl(5, NMT_CS_START); 00047 service.Run(); 00048 service.PostNmtControl(6, NMT_CS_START); 00049 service.Run(); 00050 00051 while (1) { 00052 service.Run(); 00053 } 00054 00055 #else 00056 00057 /* CanOpen start */ 00058 ServiceProvider service; 00059 printf ("----- READY -----\r\n"); 00060 00061 Node_pin0808 node1(3, &service); 00062 00063 while (1) { 00064 service.Run(); 00065 } 00066 00067 #endif 00068 00069 printf ("----- END -------\r\n\n"); 00070 00071 }
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