com_demo.h File Reference

Detailed Description

This file implements service demo functions for a CANopen Master application.

#include "com_mgr.h"
#include "com_nmt.h"
#include "com_lss.h"
#include "com_sync.h"
#include "com_time.h"
#include <stdio.h>
#include <string.h>

Include dependency graph for com_demo.h:

This graph shows which files directly or indirectly include this file:

Functions
ComStatus_tv	ComDemoLssProcess (uint8_t ubNetV)
ComStatus_tv	ComDemoNmtProcess (uint8_t ubNetV)

Macro Definition Documentation

TMPL_COM_HAS_CONSOLE

#define TMPL_COM_HAS_CONSOLE   0

Function Documentation

ComDemoLssProcess()

ComStatus_tv ComDemoLssProcess

(

uint8_t

ubNetV

)

Parameters

[in]

ubNetV

CANopen Network channel

Returns

Value of enumeration ComErr_e

This sample code shows the interaction between the event handler for LSS and an example LSS master process behaviour. The LSS master process should be called periodically (e.g. every 200 ms). The LSS master process performs the following steps:

• test for unconfigured nodes
• run LSS fast-scan if a node has been found
• assign a node-ID to new nodes

ComStatus_tv ComDemoLssProcess(uint8_t ubNetV)
{
   ComStatus_tv   tvStatusT = eCOM_ERR_NONE;
 
   //---------------------------------------------------------------------------------------------------
   // start action according to internal state
   //
   switch (ComDemoLssState(ubNetV))
   {
      //-------------------------------------------------------------------------------------------
      // Run LSS fast-scan process: the purpose here is only to obtain the complete LSS address of 
      // a device, so all parameters are set to 0. If a value (e.g. vendor id) is known it should 
      // be passed as parameter to increase the scan speed.
      //
      case eCOM_LSS_PROT_FASTSCAN:
         tvStatusT = ComLssFastscan(ubNetV, 0, 0, 0, 0);
         break;
 
      //--------------------------------------------------------
      // configure new node-ID
      //
      case eCOM_LSS_PROT_CONF_ID:
         tvStatusT = ComLssConfigureNodeId(ubNetV, ComDemoLssGetNodeId());
         break;
 
      //--------------------------------------------------------
      // switch mode global to waiting
      //
      case eCOM_LSS_PROT_SWI_GLB:
         tvStatusT = ComLssSwitchModeGlobal(ubNetV, eCOM_LSS_MODE_WAITING);
         break;
 
      //-----------------------------------------------------
      // search for non-configured devices
      //
      default:
 
         break;
 
   }
 
 
   return(tvStatusT);
}
 

ComDemoLssState()

uint8_t ComDemoLssState

(

uint8_t

ubNetV

)

ComDemoNmtConfigurationDone()

void ComDemoNmtConfigurationDone	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV )

ComDemoNmtInit()

ComStatus_tv ComDemoNmtInit

(

uint8_t

ubNetV

)

ComDemoNmtProcess()

ComStatus_tv ComDemoNmtProcess

(

uint8_t

ubNetV

)

Parameters

[in]

ubNetV

CANopen Network channel

Returns

Value of enumeration ComErr_e

This sample code shows possible reaction on a NMT state change of a CANopen device.

ComStatus_tv ComDemoNmtProcess(uint8_t ubNetV)
{
   uint16_t uwFifoValueT = 0;
   uint16_t *puwFifoEntryT;
 
   if (atsNmtNodeS[ubNetV] == 0)
   {
      if (McFifoIsEmpty(&atsNmtFifoS[ubNetV]) == 0)
      {
         //-----------------------------------------------------------------------------------
         // Read NMT state and node-id from FIFO
         //
         puwFifoEntryT = McFifoDataOutPtr(&atsNmtFifoS[ubNetV]);
         uwFifoValueT  = *puwFifoEntryT;
         McFifoIncOut(&atsNmtFifoS[ubNetV]);
 
         uint8_t ubNodeIdT   = (uint8_t) uwFifoValueT;
         uint8_t ubNmtStateT = (uint8_t) (uwFifoValueT >> 8);
 
         switch (ubNmtStateT)
         {
            case eCOM_NMT_STATE_BOOTUP:
               atsNmtNodeS[ubNetV] = ubNodeIdT;
               ComDemoNodeIdentify(ubNetV, ubNodeIdT);
               break;
 
            case eCOM_NMT_STATE_PREOPERATIONAL:
               ComNmtSetNodeState(ubNetV, ubNodeIdT, eCOM_NMT_STATE_OPERATIONAL);
 
               break;
 
            case eCOM_NMT_STATE_OPERATIONAL:
 
               break;
 
            default:
               break;
 
         }
 
      }
 
   }
 
   return (eCOM_ERR_NONE);
}
 

ComDemoNmtQueueStateChange()

void ComDemoNmtQueueStateChange	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t	ubNmtStateV )

ComDemoNmtStateString()

char * ComDemoNmtStateString	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV )

ComDemoNodeIdentify()

ComStatus_tv ComDemoNodeIdentify	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV )

ComDemoNodeInfoString()

char * ComDemoNodeInfoString	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV )

ComDemoNodeInit()

ComStatus_tv ComDemoNodeInit

(

uint8_t

ubNetV

)

ComDemoNrlStateString()

char * ComDemoNrlStateString

(

uint8_t

ubNetV

)

ComDemoPdoRcvInit()

ComStatus_tv ComDemoPdoRcvInit

(

uint8_t

ubNetV

)

ComDemoPdoTrmInit()

ComStatus_tv ComDemoPdoTrmInit

(

uint8_t

ubNetV

)

ComDemoSdoObjectRead()

ComStatus_tv ComDemoSdoObjectRead	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV )

ComDemoSyncCounter()

ComStatus_tv ComDemoSyncCounter

(

uint8_t

ubNetV

)

ComDemoSyncStart()

ComStatus_tv ComDemoSyncStart

(

uint8_t

ubNetV

)