Demo application

A generic demo application, located inside the source/application/template-com/ directory, is used for all examples. Functions related to this demo have the prefix ComDemo. The following code snippet shows a stripped version of the main() function.

//---------------------------------------------------------------------------------------------------
// Initialize the CANopen Master demo application
//
ComDemoAppInit(ubNetV);
 
//---------------------------------------------------------------------------------------------------
// this is the main loop of the embedded application
//
while (ComDemoAppRun() == true)
{
   ComMgrProcess(ubNetV);
   ComDemoAppProcess(ubNetV);
}

CANopen demo initialization

A sample CANopen Master Stack initialization is implemented in the file source/application/template-com/com_demo_app.c

ComStatus_tv ComDemoAppInit(uint8_t ubNetV)
{
   ComStatus_tv   tvResultT;
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the CANopen Master demo application, this is individual for every target
   //
   ComDemoAppInitTarget(tsComOptionsS[ubNetV].ubCanInterface, ubNetV, &tsComOptionsS[ubNetV]);
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the CANopen Master stack with address 127 (default), bit-rate = 500K
   //
   tvResultT = ComMgrInit( tsComOptionsS[ubNetV].ubCanInterface, ubNetV, eCP_BITRATE_500K, tsComOptionsS[ubNetV].ubNodeId, 
               TMPL_COM_CONFIG);
 
 
   //---------------------------------------------------------------------------------------------------
   // add an individual object dictionary for this channel
   //
   tvResultT = ComDictAddList(ubNetV, &atsComDictMasterTableG[0]);
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the CANopen Master stack services
   //
   ComDemoAppInitServices(ubNetV);
 
   //---------------------------------------------------------------------------------------------------
   // start the CANopen master stack:
   // this will issue the boot-up message of the CANopen master
   //
   tvResultT = ComMgrStart(ubNetV);
 
   //---------------------------------------------------------------------------------------------------
   // start master detection procedure
   //
   ComNmtMasterDetection(ubNetV, 1);
 
   //---------------------------------------------------------------------------------------------------
   // Set Heartbeat producer time for CANopen Master 
   //
   tvResultT = ComNmtSetHbProdTime(ubNetV, tsComOptionsS[ubNetV].ulHeartbeatTime);
   if (tvResultT != eCOM_ERR_NONE)
   {
      ComDemoAppConsoleError("Failed to set heartbeat producer time - ", tvResultT);
   }
 
   //---------------------------------------------------------------------------------------------------
   // Set SYNC producer time for CANopen Master 
   //
   #if COM_SYNC_SUPPORT > 0
   tvResultT = ComSyncSetCycleTime(ubNetV, tsComOptionsS[ubNetV].ulSyncCycleTime);
   if (tvResultT != eCOM_ERR_NONE)
   {
      ComDemoAppConsoleError("Failed to set SYNC producer time - ", tvResultT);
   }
   #endif
 
   tsComOptionsS[ubNetV].btNetIsActive = true;
 
   return tvResultT;
}
 

CANopen demo processing

A sample CANopen Master Stack data processing is implemented in the file source/application/template-com/com_demo_app.c

void ComDemoAppProcess(uint8_t ubNetV)
{
   //---------------------------------------------------------------------------------------------------
   // call handler for LSS only if LSS support is enabled
   //
   #if COM_LSS_SUPPORT > 0
   ComDemoLssProcess(ubNetV);
   #endif
 
   ComDemoNmtProcess(ubNetV);
 
   #if TARGET_IS_WINDOWS > 0
   MSG msg;
   while (PeekMessage(&msg, NULL, 0, 0, PM_REMOVE)) 
   {
        TranslateMessage(&msg);
        DispatchMessage(&msg);
   }
   #endif
 
   ComDemoAppIdle();
}