Successfull compilation on linux with drvTemplate
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ddbabdae42
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8104f87056
6 changed files with 47 additions and 233 deletions
3
.gitignore
vendored
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3
.gitignore
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canopennode
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*.o
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43
example/Makefile
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43
example/Makefile
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# Makefile for CANopenNode, basic compile with no CAN device.
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STACK_SRC = ../stack
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STACKDRV_SRC = ../stack/drvTemplate
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INCLUDE_DIRS = $(STACK_SRC) \
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-I$(STACKDRV_SRC) \
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-I.
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SOURCES = $(STACKDRV_SRC)/CO_driver.c \
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$(STACKDRV_SRC)/eeprom.c \
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$(STACK_SRC)/crc16-ccitt.c \
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$(STACK_SRC)/CO_SDO.c \
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$(STACK_SRC)/CO_Emergency.c \
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$(STACK_SRC)/CO_NMT_Heartbeat.c \
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$(STACK_SRC)/CO_SYNC.c \
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$(STACK_SRC)/CO_PDO.c \
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$(STACK_SRC)/CO_HBconsumer.c \
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$(STACK_SRC)/CO_SDOmaster.c \
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CANopen.c \
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CO_OD.c \
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main.c
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OBJS = ${SOURCES:%.c=%.o}
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CC = gcc
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CFLAGS = -Wall -I$(INCLUDE_DIRS)
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%.o: %.c
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$(CC) $(CFLAGS) -c -o $*.o $<
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canopennode: $(OBJS)
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$(CC) $(CFLAGS) $(OBJS) -o canopennode
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clean:
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rm -f $(OBJS) canopennode
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@ -1,58 +0,0 @@
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/*
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* Header for application interface for CANopenNode stack.
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*
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* @file application.c
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* @ingroup application
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* @author Janez Paternoster
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* @copyright 2012 - 2013 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 <http://canopennode.sourceforge.net>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "CANopen.h"
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/*******************************************************************************/
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void programStart(void){
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}
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/*******************************************************************************/
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void communicationReset(void){
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}
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/*******************************************************************************/
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void programEnd(void){
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}
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/*******************************************************************************/
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void programAsync(uint16_t timer1msDiff){
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}
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/*******************************************************************************/
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void program1ms(void){
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}
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@ -1,154 +0,0 @@
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/**
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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 - 2013 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 <http://canopennode.sourceforge.net>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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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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#include "CANopen.h"
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#include "application.h"
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/* Global variables and objects */
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/* initialize EEPROM */
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/* Application interface */
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programStart();
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/* increase variable each startup. Variable is stored in EEPROM. */
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OD_powerOnCounter++;
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/* Configure CAN transmit and receive interrupt */
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/* Application interface */
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communicationReset();
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/* start CAN and enable interrupts */
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CO_CANsetNormalMode(ADDR_CAN1);
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CO_ENABLE_INTERRUPTS();
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/* Application interface */
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programAsync(timer1msDiff);
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/* CANopen process */
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reset = CO_process(CO, timer1msDiff);
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CO_DISABLE_INTERRUPTS();
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/* Application interface */
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programEnd();
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/* delete objects from memory */
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CO_delete();
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CO_process_RPDO(CO);
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/* Application interface */
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program1ms();
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CO_process_TPDO(CO);
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/* Include processor header file */
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#include <stddef.h> /* for 'NULL' */
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#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
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#include <stdbool.h> /* for 'true', 'false' */
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/**
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