154 lines
4.4 KiB
C
154 lines
4.4 KiB
C
/**
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* Application interface for CANopenNode stack.
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*
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* @file application.h
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* @ingroup CO_application
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* @author Janez Paternoster
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* @copyright 2012 - 2020 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CO_APPLICATION_H
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#define CO_APPLICATION_H
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/**
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* @defgroup CO_application Application interface
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* @ingroup CO_CANopen
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* @{
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*
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* Application interface for CANopenNode stack. Function is called
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* from file main_xxx.c (if implemented).
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*
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* ###Main program flow chart
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*
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* @code
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(Program Start)
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V
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+------------------------------------+
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| programStart() |
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+------------------------------------+
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|<-------------------------+
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| |
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V |
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(Initialze CANopen) |
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| |
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V |
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+------------------------------------+ |
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| communicationReset() | |
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+------------------------------------+ |
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| |
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V |
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(Enable CAN and interrupts) |
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| |
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|<----------------------+ |
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V | |
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+------------------------------------+ | |
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| programAsync() | | |
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+------------------------------------+ | |
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V | |
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(Process CANopen asynchronous) | |
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+- infinite loop -------+ |
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+- reset communication ----+
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V
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+------------------------------------+
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| programEnd() |
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+------------------------------------+
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V
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(delete CANopen)
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V
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(Program end)
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@endcode
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*
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*
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* ###Timer program flow chart
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*
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* @code
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(Timer interrupt 1 millisecond)
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V
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(CANopen read RPDOs)
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V
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+------------------------------------+
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| program1ms() |
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+------------------------------------+
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V
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(CANopen write TPDOs)
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@endcode
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*
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*
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* ###Receive and transmit high priority interrupt flow chart
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*
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* @code
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(CAN receive event or)
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(CAN transmit buffer empty event)
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V
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(Process received CAN message or)
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(copy next message to CAN transmit buffer)
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@endcode
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*/
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/**
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* Called after microcontroller reset.
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*/
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void programStart(void);
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/**
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* Called after communication reset.
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*/
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void communicationReset(void);
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/**
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* Called before program end.
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*/
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void programEnd(void);
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/**
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* Called cyclically from main.
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*
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* @param timer1msDiff Time difference since last call
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*/
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void programAsync(uint16_t timer1msDiff);
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/**
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* Called cyclically from 1ms timer task.
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*/
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void program1ms(void);
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/** @} */
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#endif
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