173 lines
5.4 KiB
C
173 lines
5.4 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 - 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 <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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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (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 General Public License for more details.
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*
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* You should have received a copy of the GNU 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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* Following clarification and special exception to the GNU General Public
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* License is included to the distribution terms of CANopenNode:
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*
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* Linking this library statically or dynamically with other modules is
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* making a combined work based on this library. Thus, the terms and
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* conditions of the GNU General Public License cover the whole combination.
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*
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* As a special exception, the copyright holders of this library give
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* you permission to link this library with independent modules to
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* produce an executable, regardless of the license terms of these
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* independent modules, and to copy and distribute the resulting
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* executable under terms of your choice, provided that you also meet,
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* for each linked independent module, the terms and conditions of the
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* license of that module. An independent module is a module which is
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* not derived from or based on this library. If you modify this
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* library, you may extend this exception to your version of the
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* library, but you are not obliged to do so. If you do not wish
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* to do so, delete this exception statement from your version.
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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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| | |
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V | |
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+------------------------------------+ | |
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| programAsync() | | |
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+------------------------------------+ | |
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| | |
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V | |
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(Process CANopen asynchronous) | |
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| | |
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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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