Detailed Description

This module holds all functions for the initialisation and control of the CANopen Master. Some functions of this module need to be adopted to the target platform. These functions are located inside the com_user.c file.

Include dependency graph for com_mgr.h:

Data Structures
struct	ComMgrIdentity_s

Typedefs
typedef struct ComMgrIdentity_s	ComMgrIdentity_ts

Enumerations
enum	ComVersion_e { eCOM_VERSION_STACK = 1 , eCOM_VERSION_COMPILER , eCOM_VERSION_SYSTEM }

enum	ComMode_e { eCOM_MODE_NMT_SLAVE = 0x0000 , eCOM_MODE_NMT_MASTER = 0x0001 , eCOM_MODE_NMT_START_ALL = 0x0002 , eCOM_MODE_NMT_PREOPERATIONAL = 0x0004 , eCOM_MODE_NMT_APP_START_NODE = 0x0008 , eCOM_MODE_NMT_RESET_ALL = 0x0010 , eCOM_MODE_NMT_FLYING_MASTER = 0x0020 , eCOM_MODE_NMT_STOP_ALL = 0x0040 , eCOM_MODE_NMT_MASTER_DETECT = 0x0100 , eCOM_MODE_FD = 0x0200 , eCOM_MODE_CAN_RAW = 0x1000 , eCOM_MODE_J1939 = 0x2000 }

Functions
CpState_ts *	ComMgrBusState (uint8_t ubNetV)

void	ComMgrEventBus (uint8_t ubNetV, CpState_ts *ptsBusStateV)

int32_t	ComMgrGetDataBitrate (uint8_t ubNetV)

const char *	ComMgrGetVersionString (uint8_t ubTypeV)

const char *	ComMgrGetConfiguration (void)

ComStatus_tv	ComMgrInit (uint8_t ubCanIfV, uint8_t ubNetV, uint8_t ubBitrateNomSelV, uint8_t ubNodeIdV, uint32_t ulModeV)

void	ComMgrNetTimerEvent (uint8_t ubNetV)

ComStatus_tv	ComMgrNodeAdd (uint8_t ubNetV, uint8_t ubNodeIdV, ComNode_ts *ptsNodeV)

ComStatus_tv	ComMgrNodeDelete (uint8_t ubNetV, uint8_t ubNodeIdV)

ComStatus_tv	ComMgrProcess (uint8_t ubNetV)

ComStatus_tv	ComMgrRelease (uint8_t ubNetV)

ComStatus_tv	ComMgrSetErrorRegister (uint8_t ubNetV, uint8_t ubSetErrorV, uint8_t ubResetErrorV)

ComStatus_tv	ComMgrSetIdentity (uint8_t ubNetV, ComMgrIdentity_ts *ptsIdentityV)

ComStatus_tv	ComMgrStart (uint8_t ubNetV)

ComStatus_tv	ComMgrStop (uint8_t ubNetV)

void	ComMgrTimerEvent (void)

ComStatus_tv	ComMgrUserInit (uint8_t ubNetV)

Typedef Documentation

◆ ComMgrIdentity_ts

typedef struct ComMgrIdentity_s ComMgrIdentity_ts

CANopen Master - device identity.

The structure ComMgrIdentity_s allows access to the device identity object. It is used by the functions ComMgrGetIdentity() and ComMgrSetIdentity().

Enumeration Type Documentation

◆ ComMode_e

enum ComMode_e

NMT startup mode.

The enumeration defines the values for starting the CANopen Master supplied to ComMgrInit(). The CANopen NMT configuration is reflected by object 1F80h (least significant 8 bits).

Enumerator
eCOM_MODE_NMT_SLAVE	Device is NMT slave
eCOM_MODE_NMT_MASTER	Device is the NMT master
eCOM_MODE_NMT_START_ALL	NMT service start remote node with Node-ID = 0
eCOM_MODE_NMT_PREOPERATIONAL	Device does not switch into Operational by itself
eCOM_MODE_NMT_APP_START_NODE	Application shall start the nodes
eCOM_MODE_NMT_RESET_ALL	In case of an error event the NMT service "reset all nodes" shall be executed.
eCOM_MODE_NMT_FLYING_MASTER	CANopen device shall participate the NMT flying master negotiation.
eCOM_MODE_NMT_STOP_ALL	In case of an error event the NMT service "stop remote node" shall be executed.
eCOM_MODE_NMT_MASTER_DETECT	Device shall execute the NMT master detection protocol
eCOM_MODE_FD	Device shall start in CAN FD mode
eCOM_MODE_CAN_RAW	Device shall start in CAN-Raw mode, no CANopen services (SDO, NMT, etc.) are executed. CAN messages are received and send via the PDO module. This is a mutually exclusive mode of operation.
eCOM_MODE_J1939	Device shall start in SAE J1939 mode

◆ ComVersion_e

enum ComVersion_e

Retrieve stack information.

The enumeration defines possible values for the parameter value ComMgrGetVersionString().

Enumerator
eCOM_VERSION_STACK	Return version information of CANopen Master protocol stack
eCOM_VERSION_COMPILER	Return version information of used compiler
eCOM_VERSION_SYSTEM	Return version information of operating system

Function Documentation

◆ ComMgrBusState()

CpState_ts * ComMgrBusState ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Pointer to CpState_ts structure of corresponding network

This function returns a pointer to the CpState_ts structure of the corresponding network.

◆ ComMgrEventBus()

void ComMgrEventBus	(	uint8_t	ubNetV,
		CpState_ts *	ptsBusStateV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	ptsBusStateV	Pointer to CpState_ts value of bus

This function is called by the stack on a CAN bus state change. The action on this function is application specific. The function body is placed in the file com_user.c.

◆ ComMgrGetConfiguration()

const char * ComMgrGetConfiguration ( void )

Returns: Pointer to a Null terminated configuration string

This function returns a configuration string of the CANopen FD Master.

◆ ComMgrGetDataBitrate()

int32_t ComMgrGetDataBitrate ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Bit-rate value selection for CAN FD data phase

This function is called by ComMgrInit() if the symbol COM_FD_SUPPORT is set to 1 and the CAN FD mode is enabled by eCOM_MODE_FD. In case no bit-rate switching is desired, the function shall return eCP_BITRATE_NONE. The function body is placed in the file com_user.c.

◆ ComMgrGetVersionString()

const char * ComMgrGetVersionString ( uint8_t ubTypeV )

Parameters

[in] ubTypeV - Information type

Returns: Pointer to a Null terminated character string

This function returns a version string of the CANopen FD Master. The parameter ubTypeV defines the requested information, possible values are defined by the enumeration ComVersion_e.

◆ ComMgrInit()

ComStatus_tv ComMgrInit	(	uint8_t	ubCanIfV,
		uint8_t	ubNetV,
		uint8_t	ubBitrateNomSelV,
		uint8_t	ubNodeIdV,
		uint32_t	ulModeV
	)

Parameters

[in]	ubCanIfV	Physical CAN interface
[in]	ubNetV	CANopen Network channel
[in]	ubBitrateNomSelV	Nominal bit-rate selection
[in]	ubNodeIdV	Node-ID value
[in]	ulModeV	Mode selection

Returns: Value of enumeration ComErr_e

See also: ComMgrRelease()

This function must be called before any other function of the CANopen FD Master stack. It is responsible for the initialisation of all services (NMT, SYNC, SDO, PDO, etc).

The function assigns the logical CANopen network number ubNetV to the CAN interface given by ubCanIfV. The value for ubNetV can be taken from the ComNet_e enumeration. The maximum value is given by the symbol COM_NET_MAX.

The parameter ulModeV selects the mode of the protocol stack, possible values are defined by the enumeration ComMode_e.

//------------------------------------------------------
// Initialise the CANopen Master stack with address 1, bit-rate 500 kBit/s
//
ComMgrInit(eCP_CHANNEL_1, eCOM_NET_1, eCP_BITRATE_500K, 1, eCOM_MODE_NMT_MASTER);

◆ ComMgrNetTimerEvent()

void ComMgrNetTimerEvent ( uint8_t ubNetV )

Execute Timer-based Services.

Parameters

ubNetV - CANopen Network channel

See also: ComMgrTimerEvent()

This routine must be called by a timer resource of the target system. It is responsible to call services that depend on a timer (e.g. Heartbeat). The period of the timer is defined via the COM_TIMER_PERIOD constant. The function calls the services for the CANopen network defined by ubNetV. Execution of timer-based services for all CANopen networks is possible via ComMgrTimerEvent().

Example

//-------------------------------------------------------------//
// Timer interrupt service routine                             //
//                                                             //
//-------------------------------------------------------------//
void MyTimerInterrupt(void)
{
   //... timer services of application ...
 
   //--- call CANopen stack timer function -------------
   ComMgrNetTimerEvent(eCOM_NET_1);
 
   //... retrigger the timer
}

◆ ComMgrNodeAdd()

ComStatus_tv ComMgrNodeAdd	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		ComNode_ts *	ptsNodeV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value
ptsNodeV	- Pointer to CANopen node

Returns: Value of enumeration ComErr_e

See also: ComMgrNodeDelete()

This function adds a new CANopen node (device) to the CANopen Master on address ubNodeIdV.

◆ ComMgrNodeDelete()

ComStatus_tv ComMgrNodeDelete	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV
	)

Remove CANopen device.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value

Returns: Value of enumeration ComErr_e

See also: ComMgrNodeAdd()

This function removes a CANopen node (device) from the CANopen Master on address ubNodeIdV.

◆ ComMgrProcess()

ComStatus_tv ComMgrProcess ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

This function is responsible for processing of CAN messages if the symbol COM_MGR_INT is set to 0.

◆ ComMgrRelease()

ComStatus_tv ComMgrRelease ( uint8_t ubNetV )

Shutdown the CANopen Master.

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrInit()

This function performs a shutdown of the CANopen Master.

◆ ComMgrSetErrorRegister()

ComStatus_tv ComMgrSetErrorRegister	(	uint8_t	ubNetV,
		uint8_t	ubSetErrorV,
		uint8_t	ubResetErrorV
	)

Set error register.

Parameters

ubNetV	- CANopen Network channel
ubSetErrorV	- Set new new error state
ubResetErrorV	- Clear error state

Returns: Value of enumeration ComErr_e

This function sets and clears bit-masked error states of the error register.

◆ ComMgrSetIdentity()

ComStatus_tv ComMgrSetIdentity	(	uint8_t	ubNetV,
		ComMgrIdentity_ts *	ptsIdentityV
	)

Set CANopen master identity values.

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ptsIdentityV	Identity structure

Returns: Value of enumeration ComErr_e

This function sets the values for object 1000_h (device type) and object 1018_h (identity). The new value must be different from 0, otherwise the default value is not modified. The value of object 1018_h, sub-index 3 (software revision) allows only the modification of the lower 16 bits (minor revision number).

◆ ComMgrStart()

ComStatus_tv ComMgrStart ( uint8_t ubNetV )

Start the CANopen Master.

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrStop()

◆ ComMgrStop()

ComStatus_tv ComMgrStop ( uint8_t ubNetV )

Stop the CANopen Master.

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrStart()

◆ ComMgrTimerEvent()

void ComMgrTimerEvent ( void )

Execute Timer-based Services.

See also: ComMgrNetTimerEvent()

This routine must be called by a timer resource of the target system. It is responsible to call services that depend on a timer (e.g. Heartbeat). The period of the timer is defined via the COM_TIMER_PERIOD constant. The function calls the services for all available networks. Execution of timer-based services for an individual network is possible via ComMgrNetTimerEvent().

Example

//-------------------------------------------------------------//
// Timer interrupt service routine                             //
//                                                             //
//-------------------------------------------------------------//
void MyTimerInterrupt(void)
{
   //... timer services of application ...
 
   //--- call CANopen stack timer function -------------
   ComMgrTimerEvent();
 
   //... retrigger the timer
}

◆ ComMgrUserInit()

ComStatus_tv ComMgrUserInit ( uint8_t ubNetV )

Change CANopen Master settings.

Parameters

ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

This function is called by ComMgrInit() during the initialisation phase. It can be used to change internal values of the Master (e.g. the vendor-ID or product code). The behavior of this function is application specific. The function body is placed in the file com_user.c.

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ComMgrIdentity_ts

Enumeration Type Documentation

◆ ComMode_e

◆ ComVersion_e

Function Documentation

◆ ComMgrBusState()

◆ ComMgrEventBus()

◆ ComMgrGetConfiguration()

◆ ComMgrGetDataBitrate()

◆ ComMgrGetVersionString()

◆ ComMgrInit()

◆ ComMgrNetTimerEvent()

◆ ComMgrNodeAdd()

◆ ComMgrNodeDelete()

◆ ComMgrProcess()

◆ ComMgrRelease()

◆ ComMgrSetErrorRegister()

◆ ComMgrSetIdentity()

◆ ComMgrStart()

◆ ComMgrStop()

◆ ComMgrTimerEvent()

◆ ComMgrUserInit()