Template code example

The source files test the correct integration of the API (Compile and Build Process). The build file can be executed, but without any feedback.

Prerequisites

In order to build the examples the following programs are required:

C compiler supporting the C99 standard
Installation of CMake when using the corresponding project files (recommended)

Before building, the stack must be configured for the target hardware and application. The configuration is done in the file cos_conf.h, which is part of the application project (not the stack source tree). The template application already contains a working cos_conf.h under source/application/template-cos/. When starting a new integration, copy this file as the basis for the project-specific configuration and adjust the feature defines (e.g. COS_PDO_RCV_NUMBER, COS_LSS_SUPPORT) to match the device requirements.

Building template code

An example which runs on every target system is located inside the directory source/application/template-cos. This example uses a CANpie FD dummy driver (located in the directory source/application/template-device). Perform the following steps to build this example:

cd source/application/template-cos/
mkdir build
cd build
cmake ..
cmake --build .

Executing template code

./cos-template-301
*******************************************************************************
*
* CANopen Slave Protocol Stack template application
*
*******************************************************************************
 
 COS stack version: '7.06'
 CANpie FD version: '3.10'
 
 --- COS user parameter of device application ---
 Device name     : 'CANopen Stack template'
 Hardware version: '1.00'
 Software version: '1.00'

Next steps

After the template builds and runs successfully, continue with:

Initialization Process — how to initialise the stack and run the main application loop
Complete list of callbacks — the user callback functions that must be implemented for a real target