357 lines
11 KiB
C
357 lines
11 KiB
C
/**
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* Main CANopenNode file.
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*
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* @file CANopen.h
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* @ingroup CO_CANopen
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* @author Janez Paternoster
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* @author Uwe Kindler
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* @copyright 2010 - 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 CANopen_H
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#define CANopen_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_CANopen CANopen
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* @{
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*
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* CANopenNode is free and open source implementation of CANopen communication
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* protocol.
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*
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* CANopen is the internationally standardized (EN 50325-4) (CiA DS-301)
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* CAN-based higher-layer protocol for embedded control system. For more
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* information on CANopen see http://www.can-cia.org/
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*
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* CANopenNode homepage is https://github.com/CANopenNode/CANopenNode
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*
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* CANopen.h file combines Object dictionary (CO_OD) and all other CANopen
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* source files. Configuration information are read from CO_OD.h file.
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* CO_OD.h/.c files defines CANopen Object Dictionary and are generated by
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* external tool.
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* CANopen.h file contains most common configuration of CANopenNode objects
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* and can also be a template for custom, more complex configurations.
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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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* https://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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*/
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/**
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* @defgroup CO_CANopen_301 CANopen_301
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* @{
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*
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* CANopen application layer and communication profile.
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*
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* Definitions of data types, encoding rules, object dictionary objects and
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* CANopen communication services and protocols.
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* @}
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*/
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/**
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* @defgroup CO_CANopen_305 CANopen_305
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* @{
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*
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* CANopen layer setting services (LSS) and protocols.
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*
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* Inquire or change three parameters on a CANopen device with LSS slave
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* capability by a CANopen device with LSS master capability via the CAN
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* network: the settings of Node-ID of the CANopen device, bit timing
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* parameters of the physical layer (bit rate) or LSS address compliant to the
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* identity object (1018h).
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* @}
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*/
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/**
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* @defgroup CO_CANopen_extra CANopen_extra
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* @{
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*
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* Additional non-standard objects related to CANopenNode.
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* @}
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*/
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/**
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* @addtogroup CO_CANopen
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* @{
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*/
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#include "301/CO_driver.h"
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#include "301/CO_SDOserver.h"
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#include "301/CO_Emergency.h"
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#include "301/CO_NMT_Heartbeat.h"
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#include "301/CO_SYNC.h"
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#include "301/CO_TIME.h"
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#include "301/CO_PDO.h"
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#include "301/CO_HBconsumer.h"
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#if CO_NO_SDO_CLIENT != 0
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#include "301/CO_SDOclient.h"
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#endif
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#if CO_NO_LSS_SERVER != 0
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#include "305/CO_LSSslave.h"
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#endif
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#if CO_NO_LSS_CLIENT != 0
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#include "305/CO_LSSmaster.h"
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#endif
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#if CO_NO_TRACE != 0
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#include "extra/CO_trace.h"
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#endif
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#include "CO_OD.h"
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#ifdef CO_DOXYGEN
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/**
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* @defgroup CO_NO_OBJ Number of CANopenNode communication objects.
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*
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* Definitions specify, which and how many CANopenNode communication objects
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* will be used in current configuration. Usage of some objects is mandatory and
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* is fixed. Others are defined in CO_OD.h.
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* @{
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*/
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/* Definitions valid only for documentation. */
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/** Number of NMT objects, fixed to 1 (slave(CANrx) + master(CANtx)) */
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#define CO_NO_NMT (1)
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/** Number of SYNC objects, 0 or 1 (consumer(CANrx) + producer(CANtx)) */
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#define CO_NO_SYNC (0...1)
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/** Number of Emergency objects, fixed to 1 (consumer(CANrx) +
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* producer(CANtx)) */
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#define CO_NO_EMERGENCY (1)
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/** Number of Time-stamp objects, 0 or 1 (consumer(CANrx) + producer(CANtx)) */
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#define CO_NO_TIME (0...1)
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/** Number of RPDO objects, 1 to 512 consumers (CANrx) */
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#define CO_NO_RPDO (1...512)
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/** Number of TPDO objects, 1 to 512 producers (CANtx) */
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#define CO_NO_TPDO (1...512)
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/** Number of SDO server objects, from 1 to 128 (CANrx + CANtx) */
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#define CO_NO_SDO_SERVER (1...128)
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/** Number of SDO client objects, from 0 to 128 (CANrx + CANtx) */
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#define CO_NO_SDO_CLIENT (0...128)
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/** Number of HB producer objects, fixed to 1 producer(CANtx) */
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#define CO_NO_HB_PROD (1)
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/** Number of HB consumer objects, from 0 to 127 consumers(CANrx) */
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#define CO_NO_HB_CONS (0...127)
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/** Number of LSS slave objects, 0 or 1 (CANrx + CANtx) */
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#define CO_NO_LSS_SLAVE (0...1)
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/** Number of LSS master objects, 0 or 1 (CANrx + CANtx) */
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#define CO_NO_LSS_MASTER (0...1)
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/** Number of Trace objects, 0 to many */
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#define CO_NO_TRACE (0...)
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/** @} */
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#else /* CO_DOXYGEN */
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/* Valid Definitions for program. */
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#define CO_NO_NMT 1 /* NMT master/slave count (fixed) */
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#define CO_NO_HB_PROD 1 /* Heartbeat producer count (fixed) */
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#ifdef ODL_consumerHeartbeatTime_arrayLength
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#define CO_NO_HB_CONS ODL_consumerHeartbeatTime_arrayLength
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#else
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#define CO_NO_HB_CONS 0
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#endif
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#endif /* CO_DOXYGEN */
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/**
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* CANopen object with pointers to all CANopenNode objects.
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*/
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typedef struct {
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CO_CANmodule_t *CANmodule[1]; /**< CAN module objects */
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CO_SDO_t *SDO[CO_NO_SDO_SERVER]; /**< SDO object */
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CO_EM_t *em; /**< Emergency report object */
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CO_EMpr_t *emPr; /**< Emergency process object */
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CO_NMT_t *NMT; /**< NMT object */
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CO_SYNC_t *SYNC; /**< SYNC object */
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CO_TIME_t *TIME; /**< TIME object */
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CO_RPDO_t *RPDO[CO_NO_RPDO]; /**< RPDO objects */
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CO_TPDO_t *TPDO[CO_NO_TPDO]; /**< TPDO objects */
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CO_HBconsumer_t *HBcons; /**< Heartbeat consumer object*/
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#if CO_NO_SDO_CLIENT != 0
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CO_SDOclient_t *SDOclient[CO_NO_SDO_CLIENT]; /**< SDO client object */
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#endif
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#if CO_NO_LSS_SERVER == 1
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CO_LSSslave_t *LSSslave; /**< LSS slave object */
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#endif
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#if CO_NO_LSS_CLIENT == 1
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CO_LSSmaster_t *LSSmaster; /**< LSS master object */
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#endif
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#if CO_NO_TRACE > 0
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CO_trace_t *trace[CO_NO_TRACE]; /**< Trace object for recording variables */
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#endif
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} CO_t;
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/** CANopen object */
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extern CO_t *CO;
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/**
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* Allocate and initialize memory for CANopen object
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*
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* Function must be called the first time, after program starts.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
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* CO_ERROR_OUT_OF_MEMORY
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*/
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CO_ReturnError_t CO_new(void);
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/**
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* Delete CANopen object and free memory. Must be called at program exit.
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*
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* @param CANptr Pointer to the user-defined CAN base structure, passed to
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* CO_CANmodule_init().
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*/
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void CO_delete(void *CANptr);
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/**
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* Initialize CAN driver
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*
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* Function must be called in the communication reset section.
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*
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* @param CANptr Pointer to the user-defined CAN base structure, passed to
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* CO_CANmodule_init().
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* @param bitRate CAN bit rate.
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
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* CO_ERROR_ILLEGAL_BAUDRATE, CO_ERROR_OUT_OF_MEMORY
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*/
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CO_ReturnError_t CO_CANinit(void *CANptr,
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uint16_t bitRate);
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#if CO_NO_LSS_SERVER == 1
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/**
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* Initialize CANopen LSS slave
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*
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* Function must be called in the communication reset section.
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*
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* @param nodeId Node ID of the CANopen device (1 ... 127) or
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* CO_LSS_NODE_ID_ASSIGNMENT
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* @param bitRate CAN bit rate.
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
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*/
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CO_ReturnError_t CO_LSSinit(uint8_t nodeId,
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uint16_t bitRate);
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#endif /* CO_NO_LSS_SERVER == 1 */
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/**
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* Initialize CANopenNode.
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*
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* Function must be called in the communication reset section.
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*
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* @param nodeId Node ID of the CANopen device (1 ... 127).
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
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*/
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CO_ReturnError_t CO_CANopenInit(uint8_t nodeId);
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/**
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* Process CANopen objects.
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*
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* Function must be called cyclically. It processes all "asynchronous" CANopen
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* objects.
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*
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* @param co CANopen object.
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* @param timeDifference_us Time difference from previous function call in
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* microseconds.
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* @param timerNext_us [out] info to OS - maximum delay after function
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* should be called next time in [microseconds]. Value can be used for OS
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* sleep time. Initial value must be set to something, 50000us typically.
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* Output will be equal or lower to initial value. If there is new object
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* to process, delay should be suspended and this function should be
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* called immediately. Parameter is ignored if NULL.
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*
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* @return #CO_NMT_reset_cmd_t from CO_NMT_process().
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*/
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CO_NMT_reset_cmd_t CO_process(CO_t *co,
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uint32_t timeDifference_us,
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uint32_t *timerNext_us);
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#if CO_NO_SYNC == 1
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/**
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* Process CANopen SYNC objects.
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*
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* Function must be called cyclically from real time thread with constant
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* interval (1ms typically). It processes SYNC CANopen objects.
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*
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* @param co CANopen object.
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* @param timeDifference_us Time difference from previous function call in
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* microseconds.
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* @param timerNext_us [out] info to OS - see CO_process().
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*
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* @return True, if CANopen SYNC message was just received or transmitted.
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*/
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bool_t CO_process_SYNC(CO_t *co,
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uint32_t timeDifference_us,
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uint32_t *timerNext_us);
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#endif /* CO_NO_SYNC == 1 */
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/**
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* Process CANopen RPDO objects.
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*
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* Function must be called cyclically from real time thread with constant.
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* interval (1ms typically). It processes receive PDO CANopen objects.
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*
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* @param co CANopen object.
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* @param syncWas True, if CANopen SYNC message was just received or
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* transmitted.
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*/
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void CO_process_RPDO(CO_t *co, bool_t syncWas);
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/**
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* Process CANopen TPDO objects.
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*
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* Function must be called cyclically from real time thread with constant.
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* interval (1ms typically). It processes transmit PDO CANopen objects.
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*
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* @param co CANopen object.
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* @param syncWas True, if CANopen SYNC message was just received or
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* transmitted.
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* @param timeDifference_us Time difference from previous function call in
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* microseconds.
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* @param timerNext_us [out] info to OS - see CO_process().
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*/
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void CO_process_TPDO(CO_t *co,
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bool_t syncWas,
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uint32_t timeDifference_us,
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uint32_t *timerNext_us);
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/** @} */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* CANopen_H */
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