Detailed Description

This module holds all functions for the initialization and control of the CANopen slave. Some functions of this module need to be adopted to the target application:

These functions are located in the cos_user.c file. Please refer to Initialization Process for details about the CosMgrInit() function and also check the Complete Startup Process for reference.

Include dependency graph for cos_mgr.h:

Macros
#define	COS_CONF_SLAVE ((uint16_t) 0x0000)

#define	COS_CONF_MASTER ((uint16_t) 0x0001)

#define	COS_CONF_AUTOSTART ((uint16_t) 0x0002)

#define	COS_CONF_FD ((uint16_t) 0x0004)

Functions
uint8_t	CosMgrGetBitrate (void)

uint8_t	CosMgrGetNodeId (void)

uint32_t	CosMgrGetProductCode (void)

uint32_t	CosMgrGetSerialNumber (void)

uint8_t	CosMgrInit (uint8_t ubCanIfV, uint16_t uwConfigV)

void	CosMgrOnBootUp (void)

void	CosMgrOnStart (uint8_t ubCallerResultV)

uint8_t	CosMgrProcess (void)

void	CosMgrProfileUpdate (uint16_t uwIndexV, uint8_t ubSubIndexV)

uint8_t	CosMgrRelease (void)

uint8_t	CosMgrStart (uint8_t ubNodeIdV, int32_t slBitrateNomSelV, int32_t slBitrateDatSelV)

Macro Definition Documentation

◆ COS_CONF_AUTOSTART

#define COS_CONF_AUTOSTART ((uint16_t) 0x0002)

After transmission of the boot-up message, make an automatic transition of the NMT state machine to the Operational state.

◆ COS_CONF_FD

#define COS_CONF_FD ((uint16_t) 0x0004)

Start CANopen slave in ISO CAN FD mode (CANopen FD).

◆ COS_CONF_MASTER

#define COS_CONF_MASTER ((uint16_t) 0x0001)

Use the CANopen FD Slave protocol stack as NMT master and LSS master. This option is only possible in conjunction with the mini-master add-on. It is advised to use the CANopen FD Master protocol stack in order to achieve full support of all CANopen master features.

◆ COS_CONF_SLAVE

#define COS_CONF_SLAVE ((uint16_t) 0x0000)

This the the default configuration: CANopen slave.

Function Documentation

◆ CosMgrGetBitrate()

uint8_t CosMgrGetBitrate ( void )

Get module bit-rate.

Returns: Constant value for bit-rate

Todo:: This function has to be adopted to the application (cos_user.c)

This routine checks for the bit-rate. The code of this routine has to be adopted to the specific target. The function returns a constant for the bit-rate that is specified in the canpie.h file.

◆ CosMgrGetNodeId()

uint8_t CosMgrGetNodeId ( void )

Returns: node-ID

Todo:: This function has to be adopted to the application (cos_user.c)

This routine checks for the node-ID. The code of this routine has to be adopted to the specific target. The function returns a value in the range from 1 to 127.

◆ CosMgrGetProductCode()

uint32_t CosMgrGetProductCode ( void )

Returns: Product Code

Todo:: This function has to be adopted to the application (cos_user.c)

This routine returns the Product Code of the module. The Product Number is used within in Identity Object (index 1018:02h).

◆ CosMgrGetSerialNumber()

uint32_t CosMgrGetSerialNumber ( void )

Returns: Serial Number

Todo:: This function has to be adopted to the application (cos_user.c)

This routine returns the Serial Number of the module, which must be a unique value for a product family. The Serial Number is used within the Identity Object (index 1018:04h).

◆ CosMgrInit()

uint8_t CosMgrInit	(	uint8_t	ubCanIfV,
		uint16_t	uwConfigV
	)

Initialise the CANopen Slave.

Parameters

ubCanIfV	- Physical CAN interface
uwConfigV	- Initial configuration

Returns: Error Code

The function returns eCOS_ERR_NONE on success. It is responsible for the following tasks:

Initialise the CANopen state machine
Initialise LED management

Possible values for uwConfigV are:

COS_CONF_SLAVE for Classical CANopen
COS_CONF_FD for CANopen FD

◆ CosMgrOnBootUp()

void CosMgrOnBootUp ( void )

This event is called after successful transmission of the Boot-up message.

◆ CosMgrOnStart()

void CosMgrOnStart ( uint8_t ubCallerResultV )

Parameters

[in] ubCallerResultV Result of CANopen service initialization

This event is called during the initialization of CANopen services (refer to CosMgrStart()). The parameter ubCallerResultV holds the state of the initialization process. Possible values are defined by the CosErr_e enumeration. On successful initialization the value for ubCallerResultV is eCOS_ERR_NONE.

The following example shows how to change default settings for the heartbeat and the SYNC producer, as well as registration of EMCY codes.

void CosMgrOnStart(uint8_t ubCallerResultV)
{
   //---------------------------------------------------------------------------------------------------
   // Device Profile : CiA 401
   //
   Cos301_SetDeviceType(1, 0x000F0191);
 
   //---------------------------------------------------------------------------------------------------
   // Register possible EMCY codes
   //
   CosEmcyErrorRegister(eEMCY_301_MAINS_VOLTAGE,         EMCY_ERR_VOLT_INP_LOW, eCoErrReg_VOLTAGE,     0);
   CosEmcyErrorRegister(eEMCY_301_DEVICE_TEMPERATURE,    EMCY_ERR_TEMP_DEVICE,  eCoErrReg_TEMPERATURE, 0);
 
   //---------------------------------------------------------------------------------------------------
   // Check status of initialization
   //
   switch (ubCallerResultV)
   {
      case eCOS_ERR_NONE:
         // no error
         break;
 
      case eCOS_ERR_CAN_INIT:
         // failed to initialise CAN interface
         break;
 
      case eCOS_ERR_VALUE_NODE_ID:
         // node-ID not valid
         break;
 
      case eCOS_ERR_PARM_LOAD:
         // could not load parameters from NVM
         break;
 
      default:
         break;
 
   }
 
   //---------------------------------------------------------------------------------------------------
   // Set SYNC producer to 2 sec
   //
   CosSyncSetProducer(2000);
 
   //---------------------------------------------------------------------------------------------------
   // Set heartbeat producer to 1 sec
   //
   CosNmtSetHeartbeatProd(1000);
}

◆ CosMgrProcess()

uint8_t CosMgrProcess ( void )

Process CANopen message queue.

Returns: Status of CANopen Slave Protocol stack

This function has to called within the main loop of the application. It is responsible to handle NVM operations and to check the requested NMT state. Possible return values are:

◆ CosMgrProfileUpdate()

void CosMgrProfileUpdate	(	uint16_t	uwIndexV,
		uint8_t	ubSubIndexV
	)

Update parameter of device profile.

Parameters

uwIndexV	parameter index
ubSubIndexV	parameter sub-index

This function is called by the stack when a parameter of a device profile is modified. It can be used to control the interaction between the CANopen slave stack and the application. The implementation of this function depends on the application.

◆ CosMgrRelease()

uint8_t CosMgrRelease ( void )

Release the CANopen Slave protocol stack.

Returns: Error Code

This routine stops the CANopen protocol stack. The function returns CosErr_OK on success.

◆ CosMgrStart()

uint8_t CosMgrStart	(	uint8_t	ubNodeIdV,
		int32_t	slBitrateNomSelV,
		int32_t	slBitrateDatSelV
	)

Parameters

ubNodeIdV	- Device node-ID (NID)
slBitrateNomSelV	- Nominal bit rate value
slBitrateDatSelV	- Data bit rate value

Returns: Error Code

See also: CosMgrOnBootUp(), CosMgrOnStart()

This routine starts the CANopen protocol stack on the given node-ID and bit rate. The initialization routines from other CANopen services are called and the Boot-up message is sent. The function returns eCOS_ERR_NONE on success.

In case the device shall be started in classical CANopen mode the parameter slBitrateDatSelV must be set to eCP_BITRATE_NONE.

Attention: The number and position of parameters has been changed with major version 6 (CANopen FD) of the protocol stack.

Detailed Description

Macros

Functions

Macro Definition Documentation

◆ COS_CONF_AUTOSTART

◆ COS_CONF_FD

◆ COS_CONF_MASTER

◆ COS_CONF_SLAVE

Function Documentation

◆ CosMgrGetBitrate()

◆ CosMgrGetNodeId()

◆ CosMgrGetProductCode()

◆ CosMgrGetSerialNumber()

◆ CosMgrInit()

◆ CosMgrOnBootUp()

◆ CosMgrOnStart()

◆ CosMgrProcess()

◆ CosMgrProfileUpdate()

◆ CosMgrRelease()

◆ CosMgrStart()