Application interface to CANopenNode

Application interface, similar to Arduino, extended to CANopen and additional, realtime thread. More...

Collaboration diagram for Application interface to CANopenNode:

Files
file	CO_application.h
	Application interface for CANopenNode.

Functions
CO_ReturnError_t	app_programStart (uint16_t *bitRate, uint8_t *nodeId, uint32_t *errInfo)
	Function is called once on the program startup, after Object dictionary initialization and before CANopen initialization. More...
void	app_communicationReset (CO_t *co)
	Function is called after CANopen communication reset. More...
void	app_programEnd ()
	Function is called just before program ends.
void	app_programAsync (CO_t *co, uint32_t timer1usDiff)
	Function is called cyclically from main(). More...
void	app_programRt (CO_t *co, uint32_t timer1usDiff)
	Function is called cyclically from realtime thread at constant intervals. More...

Detailed Description

Application interface, similar to Arduino, extended to CANopen and additional, realtime thread.

Function Documentation

app_programStart()

CO_ReturnError_t app_programStart	(	uint16_t *	bitRate,
		uint8_t *	nodeId,
		uint32_t *	errInfo
	)

Function is called once on the program startup, after Object dictionary initialization and before CANopen initialization.

Parameters

[in,out]	bitRate	Stored CAN bit rate, can be overridden.
[in,out]	nodeId	Stored CANopen NodeId, can be overridden.
[out]	errInfo	Variable may indicate error information - index of erroneous OD entry.

Returns

CO_ReturnError_t CO_ERROR_NO in case of success.

app_communicationReset()

void app_communicationReset

(

CO_t *

co

)

Function is called after CANopen communication reset.

Parameters

co	CANopen object.

app_programAsync()

void app_programAsync	(	CO_t *	co,
		uint32_t	timer1usDiff
	)

Function is called cyclically from main().

Place for the slower code (all must be non-blocking).

Warning

Mind race conditions between this functions and app_programRt(), which run from the realtime thread. If accessing Object dictionary variable which is also mappable to PDO, it is necessary to use CO_LOCK_OD() and CO_UNLOCK_OD() macros from Critical sections.

Parameters

co	CANopen object.
timer1usDiff	Time difference since last call in microseconds

app_programRt()

void app_programRt	(	CO_t *	co,
		uint32_t	timer1usDiff
	)

Function is called cyclically from realtime thread at constant intervals.

Code inside this function must be executed fast. Take care on race conditions with app_programAsync.

Parameters

co	CANopen object.
timer1usDiff	Time difference since last call in microseconds