Files
file	CANopen.h
	Main CANopenNode 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

CANopenNode is free and open source CANopen communication protocol stack.

CANopen is the internationally standardized (EN 50325-4) (CiA DS-301) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/

CANopenNode homepage is https://github.com/CANopenNode/CANopenNode

CANopen.h file combines all CANopenNode source files. Stack configuration is first defined in "CO_config.h" file. Number of different CANopenNode objects used is configured with CO_config_t structure or is read directly from "OD.h" file, if single object dictionary definition is used. "OD.h" and "OD.c" files defines CANopen Object Dictionary and are generated by external tool.

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

https://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.

Macro Definition Documentation

◆ CO_MULTIPLE_OD

#define CO_MULTIPLE_OD

If macro is defined externally, then configuration with multiple object dictionaries will be possible.

If macro is not defined, default "OD.h" file with necessary definitions, such as OD_CNT_xxx, will be used, and also memory consumption and startup time will be lower.

◆ CO_USE_GLOBALS

#define CO_USE_GLOBALS

If macro is defined externally, then global variables for CANopen objects will be used instead of heap.

This is possible only if CO_MULTIPLE_OD is not defined.

Function Documentation

◆ CO_new()

CO_t * CO_new	(	CO_config_t *	config,
		uint32_t *	heapMemoryUsed )

Create new CANopen object.

If CO_USE_GLOBALS is defined, then function uses global static variables for all the CANopenNode objects. Otherwise it allocates all objects from heap.

Remarks: With some microcontrollers it is necessary to specify Heap size within linker configuration, if heap is used.

Parameters

	config	Configuration structure, used if CO_MULTIPLE_OD is defined. It must stay in memory permanently. If CO_MULTIPLE_OD is not defined, config should be NULL and parameters are retrieved from default "OD.h" file.
[out]	heapMemoryUsed	Information about heap memory used. Ignored if NULL.

Returns: Successfully allocated and configured CO_t object or NULL.

◆ CO_delete()

void CO_delete ( CO_t * co )

Delete CANopen object and free memory.

Must be called at program exit.

Parameters

co	CANopen object.

◆ CO_isLSSslaveEnabled()

bool_t CO_isLSSslaveEnabled ( CO_t * co )

Test if LSS slave is enabled.

Parameters

co	CANopen object.

Returns: True if enabled

◆ CO_CANinit()

CO_ReturnError_t CO_CANinit	(	CO_t *	co,
		void *	CANptr,
		uint16_t	bitRate )

Initialize CAN driver.

Function must be called in the communication reset section.

Parameters

co	CANopen object.
CANptr	Pointer to the user-defined CAN base structure, passed to CO_CANmodule_init().
bitRate	CAN bit rate.

Returns: CO_ERROR_NO in case of success.

◆ CO_LSSinit()

CO_ReturnError_t CO_LSSinit	(	CO_t *	co,
		CO_LSS_address_t *	lssAddress,
		uint8_t *	pendingNodeID,
		uint16_t *	pendingBitRate )

Initialize CANopen LSS slave.

Function must be called before CO_CANopenInit.

See CO_LSSslave_init() for description of parameters.

Parameters

	co	CANopen object.
	lssAddress	LSS slave address, from OD object 0x1018
[in,out]	pendingNodeID	Pending node ID or 0xFF (unconfigured)
[in,out]	pendingBitRate	Pending bit rate of the CAN interface

Returns: CO_ERROR_NO in case of success.

◆ CO_CANopenInit()

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.

Function must be called in the communication reset section.

Parameters

	co	CANopen object.
	em	Emergency object, which is used inside different CANopen objects, usually for error reporting. If NULL, then 'co->em' will be used. if NULL and 'co->CNT_EM' is 0, then function returns with error.
	NMT	If 'co->CNT_NMT' is 0, this object must be specified, If 'co->CNT_NMT' is 1,then it is ignored and can be NULL. NMT object is used for retrieving NMT internal state inside CO_process().
	od	CANopen Object dictionary
	OD_statusBits	Argument passed to CO_EM_init(). May be NULL.
	NMTcontrol	Argument passed to CO_NMT_init().
	firstHBTime_ms	Argument passed to CO_NMT_init().
	SDOserverTimeoutTime_ms	Argument passed to CO_SDOserver_init().
	SDOclientTimeoutTime_ms	Default timeout in milliseconds for SDO client, 500 typically. SDO client is configured from CO_GTWA_init().
	SDOclientBlockTransfer	If true, block transfer will be set in SDO client by default. SDO client is configured from by CO_GTWA_init().
	nodeId	CANopen Node ID (1 ... 127) or 0xFF(unconfigured). In the CANopen initialization it is the same as pendingBitRate from CO_LSSinit(). If it is unconfigured, then some CANopen objects will not be initialized nor processed.
[out]	errInfo	Additional information in case of error, may be NULL. errInfo can also be set in noncritical errors, where function returns CO_ERROR_NO. For example, if OD parameter contains wrong value.

Returns: CO_ERROR_NO in case of success.

◆ CO_CANopenInitPDO()

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.

Function must be called in the end of communication reset section after all CANopen and application initialization, otherwise some OD variables wont be mapped into PDO correctly.

Parameters

	co	CANopen object.
	em	Emergency object, which is used inside PDO objects for error reporting.
	od	CANopen Object dictionary
	nodeId	CANopen Node ID (1 ... 127) or 0xFF(unconfigured). If unconfigured, then PDO will not be initialized nor processed.
[out]	errInfo	Additional information in case of error, may be NULL.

Returns: CO_ERROR_NO in case of success.

◆ CO_CANopenInitSRDO()

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.

Function must be called in the end of communication reset section after all CANopen and application initialization, otherwise some OD variables wont be mapped into SRDO correctly.

Parameters

	co	CANopen object.
	em	Emergency object, which is used inside PDO objects for error reporting.
	od	CANopen Object dictionary
	nodeId	CANopen Node ID (1 ... 127) or 0xFF(unconfigured). If unconfigured, then PDO will not be initialized nor processed.
[out]	errInfo	Additional information in case of error, may be NULL.

Returns: CO_ERROR_NO in case of success.

◆ CO_process()

CO_NMT_reset_cmd_t CO_process	(	CO_t *	co,
		bool_t	enableGateway,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process CANopen objects.

Function must be called cyclically. It processes all "asynchronous" CANopen objects.

Parameters

	co	CANopen object.
	enableGateway	If true, gateway to external world will be enabled.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - maximum delay time after this function should be called next time in [microseconds]. Value can be used for OS sleep time. Initial value must be set to maximum interval time. Output will be equal or lower to initial value. Calculation is based on various timers which expire in known time. Parameter should be used in combination with callbacks configured with CO_***_initCallbackPre() functions. Those callbacks should also trigger calling of CO_process() function. Parameter is ignored if NULL. See also CO_CONFIG_FLAG_CALLBACK_PRE configuration macro.

Returns: Node or communication reset request, from CO_NMT_process().

◆ CO_process_SYNC()

bool_t CO_process_SYNC	(	CO_t *	co,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process CANopen SYNC objects.

Function must be called cyclically. For time critical applications it may be called from real time thread with constant interval (1ms typically). It processes SYNC CANopen objects.

Parameters

	co	CANopen object.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - see CO_process().

Returns: True, if CANopen SYNC message was just received or transmitted.

◆ CO_process_RPDO()

void CO_process_RPDO	(	CO_t *	co,
		bool_t	syncWas,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process CANopen RPDO objects.

Function must be called cyclically. For time critical applications it may be called from real time thread with constant interval (1ms typically). It processes receive PDO CANopen objects.

Parameters

	co	CANopen object.
	syncWas	True, if CANopen SYNC message was just received or transmitted.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - see CO_process().

◆ CO_process_TPDO()

void CO_process_TPDO	(	CO_t *	co,
		bool_t	syncWas,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process CANopen TPDO objects.

Function must be called cyclically. For time critical applications it may be called from real time thread with constant interval (1ms typically). It processes transmit PDO CANopen objects.

Parameters

	co	CANopen object.
	syncWas	True, if CANopen SYNC message was just received or transmitted.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - see CO_process().

◆ CO_process_SRDO()

CO_SRDO_state_t CO_process_SRDO	(	CO_t *	co,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process CANopen SRDO objects.

Function must be called cyclically. For time critical applications it may be called from real time thread with constant interval (1ms typically). It processes SRDO CANopen objects.

Parameters

	co	CANopen object.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - see CO_process().

Returns: CO_SRDO_state_t: lowest state of the SRDO objects.

Files

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ CO_MULTIPLE_OD

◆ CO_USE_GLOBALS

Function Documentation

◆ CO_new()

◆ CO_delete()

◆ CO_isLSSslaveEnabled()

◆ CO_CANinit()

◆ CO_LSSinit()

◆ CO_CANopenInit()

◆ CO_CANopenInitPDO()

◆ CO_CANopenInitSRDO()

◆ CO_process()

◆ CO_process_SYNC()

◆ CO_process_RPDO()

◆ CO_process_TPDO()

◆ CO_process_SRDO()