CANopen.h File Reference

Main CANopenNode file. More...

#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_HBconsumer.h"
#include "301/CO_Node_Guarding.h"
#include "301/CO_Emergency.h"
#include "301/CO_SDOserver.h"
#include "301/CO_SDOclient.h"
#include "301/CO_SYNC.h"
#include "301/CO_PDO.h"
#include "301/CO_TIME.h"
#include "303/CO_LEDs.h"
#include "304/CO_GFC.h"
#include "304/CO_SRDO.h"
#include "305/CO_LSSslave.h"
#include "305/CO_LSSmaster.h"
#include "309/CO_gateway_ascii.h"
#include "extra/CO_trace.h"

Include dependency graph for CANopen.h:

Go to the source code of this file.

Data Structures
struct	CO_config_t
	CANopen configuration, used with CO_new() More...
struct	CO_t
	CANopen object - collection of all CANopenNode objects. More...

Macros
#define	CO_MULTIPLE_OD
	If macro is defined externally, then configuration with multiple object dictionaries will be possible.
#define	CO_USE_GLOBALS
	If macro is defined externally, then global variables for CANopen objects will be used instead of heap.

Functions
CO_t *	CO_new (CO_config_t *config, uint32_t *heapMemoryUsed)
	Create new CANopen object.
void	CO_delete (CO_t *co)
	Delete CANopen object and free memory.
bool_t	CO_isLSSslaveEnabled (CO_t *co)
	Test if LSS slave is enabled.
CO_ReturnError_t	CO_CANinit (CO_t *co, void *CANptr, uint16_t bitRate)
	Initialize CAN driver.
CO_ReturnError_t	CO_LSSinit (CO_t *co, CO_LSS_address_t *lssAddress, uint8_t *pendingNodeID, uint16_t *pendingBitRate)
	Initialize CANopen LSS slave.
CO_ReturnError_t	CO_CANopenInit (CO_t *co, CO_NMT_t *NMT, CO_EM_t *em, OD_t *od, OD_entry_t *OD_statusBits, uint16_t NMTcontrol, uint16_t firstHBTime_ms, uint16_t SDOserverTimeoutTime_ms, uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer, uint8_t nodeId, uint32_t *errInfo)
	Initialize CANopenNode except PDO objects.
CO_ReturnError_t	CO_CANopenInitPDO (CO_t *co, CO_EM_t *em, OD_t *od, uint8_t nodeId, uint32_t *errInfo)
	Initialize CANopenNode PDO objects.
CO_ReturnError_t	CO_CANopenInitSRDO (CO_t *co, CO_EM_t *em, OD_t *od, uint8_t nodeId, uint32_t *errInfo)
	Initialize Safety related Data Objects.
CO_NMT_reset_cmd_t	CO_process (CO_t *co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process CANopen objects.
bool_t	CO_process_SYNC (CO_t *co, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process CANopen SYNC objects.
void	CO_process_RPDO (CO_t *co, bool_t syncWas, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process CANopen RPDO objects.
void	CO_process_TPDO (CO_t *co, bool_t syncWas, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process CANopen TPDO objects.
CO_SRDO_state_t	CO_process_SRDO (CO_t *co, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process CANopen SRDO objects.

Detailed Description

Main CANopenNode file.

Author

Janez Paternoster

Uwe Kindler

Copyright

2010 - 2023 Janez Paternoster

This file is part of https://github.com/CANopenNode/CANopenNode, a CANopen Stack.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.