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canopennode/CANopen.h

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/**
* Main CANopen stack file.
*
* It combines Object dictionary (CO_OD) and all other CANopen source files.
* Configuration information are read from CO_OD.h file. This file uses one
* CAN module. If multiple CAN modules are to be used, then this file may be
* customized for different CANopen configuration. (One or multiple CANopen
* device on one or multiple CAN modules.)
*
* @file CANopen.h
* @ingroup CO_CANopen
* @author Janez Paternoster
* @author Uwe Kindler
* @copyright 2010 - 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CANopen_H
#define CANopen_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup CO_CANopen CANopen stack
* @{
*
* CANopenNode is free and open source CANopen Stack.
*
* CANopen is the internationally standardized (EN 50325-4) (CiA DS-301)
* CAN-based higher-layer protocol for embedded control system. For more
* information on CANopen see http://www.can-cia.org/
*
* CANopenNode homepage is https://github.com/CANopenNode/CANopenNode
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "CO_driver.h"
#include "CO_OD.h"
#include "CO_SDO.h"
#include "CO_Emergency.h"
#include "CO_NMT_Heartbeat.h"
#include "CO_SYNC.h"
#include "CO_TIME.h"
#include "CO_PDO.h"
#include "CO_HBconsumer.h"
#if CO_NO_SDO_CLIENT != 0
#include "CO_SDOmaster.h"
#endif
#if CO_NO_TRACE > 0
#include "CO_trace.h"
#endif
#if CO_NO_LSS_SERVER == 1
#include "CO_LSSslave.h"
#endif
#if CO_NO_LSS_CLIENT == 1
#include "CO_LSSmaster.h"
#endif
/**
* Default CANopen identifiers.
*
* Default CANopen identifiers for CANopen communication objects. Same as
* 11-bit addresses of CAN messages. These are default identifiers and
* can be changed in CANopen. Especially PDO identifiers are confgured
* in PDO linking phase of the CANopen network configuration.
*/
typedef enum{
CO_CAN_ID_NMT_SERVICE = 0x000, /**< 0x000, Network management */
CO_CAN_ID_SYNC = 0x080, /**< 0x080, Synchronous message */
CO_CAN_ID_EMERGENCY = 0x080, /**< 0x080, Emergency messages (+nodeID) */
CO_CAN_ID_TIME = 0x100, /**< 0x100, Time message */
CO_CAN_ID_TPDO_1 = 0x180, /**< 0x180, Default TPDO1 (+nodeID) */
CO_CAN_ID_RPDO_1 = 0x200, /**< 0x200, Default RPDO1 (+nodeID) */
CO_CAN_ID_TPDO_2 = 0x280, /**< 0x280, Default TPDO2 (+nodeID) */
CO_CAN_ID_RPDO_2 = 0x300, /**< 0x300, Default RPDO2 (+nodeID) */
CO_CAN_ID_TPDO_3 = 0x380, /**< 0x380, Default TPDO3 (+nodeID) */
CO_CAN_ID_RPDO_3 = 0x400, /**< 0x400, Default RPDO3 (+nodeID) */
CO_CAN_ID_TPDO_4 = 0x480, /**< 0x480, Default TPDO4 (+nodeID) */
CO_CAN_ID_RPDO_4 = 0x500, /**< 0x500, Default RPDO5 (+nodeID) */
CO_CAN_ID_TSDO = 0x580, /**< 0x580, SDO response from server (+nodeID) */
CO_CAN_ID_RSDO = 0x600, /**< 0x600, SDO request from client (+nodeID) */
CO_CAN_ID_HEARTBEAT = 0x700, /**< 0x700, Heartbeat message */
CO_CAN_ID_LSS_CLI = 0x7E4, /**< 0x7E4, LSS response from server to client */
CO_CAN_ID_LSS_SRV = 0x7E5 /**< 0x7E5, LSS request from client to server */
}CO_Default_CAN_ID_t;
/**
* CANopen stack object combines pointers to all CANopen objects.
*/
typedef struct{
CO_CANmodule_t *CANmodule[1]; /**< CAN module objects */
CO_SDO_t *SDO[CO_NO_SDO_SERVER]; /**< SDO object */
CO_EM_t *em; /**< Emergency report object */
CO_EMpr_t *emPr; /**< Emergency process object */
CO_NMT_t *NMT; /**< NMT object */
CO_SYNC_t *SYNC; /**< SYNC object */
CO_TIME_t *TIME; /**< TIME object */
CO_RPDO_t *RPDO[CO_NO_RPDO];/**< RPDO objects */
CO_TPDO_t *TPDO[CO_NO_TPDO];/**< TPDO objects */
CO_HBconsumer_t *HBcons; /**< Heartbeat consumer object*/
#if CO_NO_LSS_SERVER == 1
CO_LSSslave_t *LSSslave; /**< LSS server/slave object */
#endif
#if CO_NO_LSS_CLIENT == 1
CO_LSSmaster_t *LSSmaster; /**< LSS master/client object */
#endif
#if CO_NO_SDO_CLIENT != 0
CO_SDOclient_t *SDOclient[CO_NO_SDO_CLIENT]; /**< SDO client object */
#endif
#if CO_NO_TRACE > 0
CO_trace_t *trace[CO_NO_TRACE]; /**< Trace object for monitoring variables */
#endif
}CO_t;
/** CANopen object */
extern CO_t *CO;
/**
* Function CO_sendNMTcommand() is simple function, which sends CANopen message.
* This part of code is an example of custom definition of simple CANopen
* object. Follow the code in CANopen.c file. If macro CO_NO_NMT_MASTER is 1,
* function CO_sendNMTcommand can be used to send NMT master message.
*
* @param co CANopen object.
* @param command NMT command.
* @param nodeID Node ID.
*
* @return 0: Operation completed successfully.
* @return other: same as CO_CANsend().
*/
#if CO_NO_NMT_MASTER == 1
CO_ReturnError_t CO_sendNMTcommand(CO_t *co, uint8_t command, uint8_t nodeID);
#endif
#if CO_NO_LSS_SERVER == 1
/**
* Allocate and initialize memory for CANopen object
*
* Function must be called in the communication reset section.
*
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
* CO_ERROR_OUT_OF_MEMORY
*/
CO_ReturnError_t CO_new(void);
/**
* Initialize CAN driver
*
* Function must be called in the communication reset section.
*
* @param CANdriverState Pointer to the CAN module, passed to CO_CANmodule_init().
* @param bitRate CAN bit rate.
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
* CO_ERROR_ILLEGAL_BAUDRATE, CO_ERROR_OUT_OF_MEMORY
*/
CO_ReturnError_t CO_CANinit(
void *CANdriverState,
uint16_t bitRate);
/**
* Initialize CANopen LSS slave
*
* Function must be called in the communication reset section.
*
* @param nodeId Node ID of the CANopen device (1 ... 127) or CO_LSS_NODE_ID_ASSIGNMENT
* @param bitRate CAN bit rate.
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
*/
CO_ReturnError_t CO_LSSinit(
uint8_t nodeId,
uint16_t bitRate);
/**
* Initialize CANopen stack.
*
* Function must be called in the communication reset section.
*
* @param nodeId Node ID of the CANopen device (1 ... 127).
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
*/
CO_ReturnError_t CO_CANopenInit(
uint8_t nodeId);
#else /* CO_NO_LSS_SERVER == 1 */
/**
* Initialize CANopen stack.
*
* Function must be called in the communication reset section.
*
* @param CANdriverState Pointer to the user-defined CAN base structure, passed to CO_CANmodule_init().
* @param nodeId Node ID of the CANopen device (1 ... 127).
* @param bitRate CAN bit rate.
*
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
* CO_ERROR_OUT_OF_MEMORY, CO_ERROR_ILLEGAL_BAUDRATE
*/
CO_ReturnError_t CO_init(
void *CANdriverState,
uint8_t nodeId,
uint16_t bitRate);
#endif /* CO_NO_LSS_SERVER == 1 */
/**
* Delete CANopen object and free memory. Must be called at program exit.
*
* @param CANdriverState Pointer to the user-defined CAN base structure, passed to CO_CANmodule_init().
*/
void CO_delete(void *CANdriverState);
/**
* Process CANopen objects.
*
* Function must be called cyclically. It processes all "asynchronous" CANopen
* objects.
*
* @param co CANopen object.
* @param timeDifference_ms Time difference from previous function call in [milliseconds].
* @param timerNext_ms Return value - info to OS - maximum delay after function
* should be called next time in [milliseconds]. Value can be used for OS
* sleep time. Initial value must be set to something, 50ms typically.
* Output will be equal or lower to initial value. If there is new object
* to process, delay should be suspended and this function should be
* called immediately. Parameter is ignored if NULL.
*
* @return #CO_NMT_reset_cmd_t from CO_NMT_process().
*/
CO_NMT_reset_cmd_t CO_process(
CO_t *co,
uint16_t timeDifference_ms,
uint16_t *timerNext_ms);
#if CO_NO_SYNC == 1
/**
* Process CANopen SYNC objects.
*
* Function must be called cyclically from real time thread with constant
* interval (1ms typically). It processes SYNC CANopen objects.
*
* @param co CANopen object.
* @param timeDifference_us Time difference from previous function call in [microseconds].
*
* @return True, if CANopen SYNC message was just received or transmitted.
*/
bool_t CO_process_SYNC(
CO_t *co,
uint32_t timeDifference_us);
#endif
/**
* Process CANopen RPDO objects.
*
* Function must be called cyclically from real time thread with constant.
* interval (1ms typically). It processes receive PDO CANopen objects.
*
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or transmitted.
*/
void CO_process_RPDO(
CO_t *co,
bool_t syncWas);
/**
* Process CANopen TPDO objects.
*
* Function must be called cyclically from real time thread with constant.
* interval (1ms typically). It processes transmit PDO CANopen objects.
*
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or transmitted.
* @param timeDifference_us Time difference from previous function call in [microseconds].
*/
void CO_process_TPDO(
CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us);
#ifdef __cplusplus
}
#endif /*__cplusplus*/
/** @} */
#endif
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