CANopenNode
CANopen protocol stack
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Gateway ASCII mapping

CANopen access from other networks - ASCII mapping (CiA 309-3 DSP v3.0.0) More...

+ Collaboration diagram for Gateway ASCII mapping:

Topics

 Command syntax
 ASCII command syntax.
 

Files

file  CO_gateway_ascii.h
 CANopen access from other networks - ASCII mapping (CiA 309-3 DS v3.0.0)
 

Data Structures

struct  CO_GTWA_t
 CANopen Gateway-ascii object. More...
 

Macros

#define CO_GTWA_RESP_BUF_SIZE   200U
 Size of response string buffer.
 
#define CO_GTWA_STATE_TIMEOUT_TIME_US   1200000U
 Timeout time in microseconds for some internal states.
 

Enumerations

enum  CO_GTWA_respErrorCode_t {
  CO_GTWA_respErrorNone = 0 , CO_GTWA_respErrorReqNotSupported = 100 , CO_GTWA_respErrorSyntax = 101 , CO_GTWA_respErrorInternalState = 102 ,
  CO_GTWA_respErrorTimeOut = 103 , CO_GTWA_respErrorNoDefaultNetSet = 104 , CO_GTWA_respErrorNoDefaultNodeSet = 105 , CO_GTWA_respErrorUnsupportedNet = 106 ,
  CO_GTWA_respErrorUnsupportedNode = 107 , CO_GTWA_respErrorLostGuardingMessage = 200 , CO_GTWA_respErrorLostConnection = 201 , CO_GTWA_respErrorHeartbeatStarted = 202 ,
  CO_GTWA_respErrorHeartbeatLost = 203 , CO_GTWA_respErrorWrongNMTstate = 204 , CO_GTWA_respErrorBootUp = 205 , CO_GTWA_respErrorErrorPassive = 300 ,
  CO_GTWA_respErrorBusOff = 301 , CO_GTWA_respErrorCANbufferOverflow = 303 , CO_GTWA_respErrorCANinit = 304 , CO_GTWA_respErrorCANactive = 305 ,
  CO_GTWA_respErrorPDOalreadyUsed = 400 , CO_GTWA_respErrorPDOlengthExceeded = 401 , CO_GTWA_respErrorLSSmanufacturer = 501 , CO_GTWA_respErrorLSSnodeIdNotSupported = 502 ,
  CO_GTWA_respErrorLSSbitRateNotSupported = 503 , CO_GTWA_respErrorLSSparameterStoringFailed = 504 , CO_GTWA_respErrorLSSmediaError = 505 , CO_GTWA_respErrorRunningOutOfMemory = 600
}
 Response error codes as specified by CiA 309-3. More...
 
enum  CO_GTWA_state_t {
  CO_GTWA_ST_IDLE = 0x00U , CO_GTWA_ST_READ = 0x10U , CO_GTWA_ST_WRITE = 0x11U , CO_GTWA_ST_WRITE_ABORTED = 0x12U ,
  CO_GTWA_ST_LSS_SWITCH_GLOB = 0x20U , CO_GTWA_ST_LSS_SWITCH_SEL = 0x21U , CO_GTWA_ST_LSS_SET_NODE = 0x22U , CO_GTWA_ST_LSS_CONF_BITRATE = 0x23U ,
  CO_GTWA_ST_LSS_STORE = 0x24U , CO_GTWA_ST_LSS_INQUIRE = 0x25U , CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL = 0x26U , CO_GTWA_ST__LSS_FASTSCAN = 0x30U ,
  CO_GTWA_ST_LSS_ALLNODES = 0x31U , CO_GTWA_ST_LOG = 0x80U , CO_GTWA_ST_HELP = 0x81U , CO_GTWA_ST_LED = 0x82U
}
 Internal states of the Gateway-ascii state machine. More...
 

Functions

CO_ReturnError_t CO_GTWA_init (CO_GTWA_t *gtwa, CO_SDOclient_t *SDO_C, uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer, CO_NMT_t *NMT, CO_LSSmaster_t *LSSmaster, CO_LEDs_t *LEDs, uint8_t dummy)
 Initialize Gateway-ascii object.
 
void CO_GTWA_initRead (CO_GTWA_t *gtwa, size_t(*readCallback)(void *object, const char *buf, size_t count, uint8_t *connectionOK), void *readCallbackObject)
 Initialize read callback in Gateway-ascii object.
 
static size_t CO_GTWA_write_getSpace (CO_GTWA_t *gtwa)
 Get free write buffer space.
 
static size_t CO_GTWA_write (CO_GTWA_t *gtwa, const char *buf, size_t count)
 Write command into CO_GTWA_t object.
 
void CO_GTWA_log_print (CO_GTWA_t *gtwa, const char *message)
 Print message log string into fifo buffer.
 
void CO_GTWA_process (CO_GTWA_t *gtwa, bool_t enable, uint32_t timeDifference_us, uint32_t *timerNext_us)
 Process Gateway-ascii object.
 

Detailed Description

CANopen access from other networks - ASCII mapping (CiA 309-3 DSP v3.0.0)

This module enables ascii command interface (CAN gateway), which can be used for master interaction with CANopen network. Some sort of string input/output stream can be used, for example serial port + terminal on microcontroller or stdio in OS or sockets, etc.

For example, one wants to read 'Heartbeat producer time' parameter (0x1017,0) on remote node (with id=4). Parameter is 16-bit integer. He can can enter command string: [1] 4 read 0x1017 0 i16. CANopenNode will use SDO client, send request to remote node via CAN, wait for response via CAN and prints [1] OK to output stream on success.

This module is usually initialized and processed in CANopen.c file. Application should register own callback function for reading the output stream. Application writes new commands with CO_GTWA_write().

Macro Definition Documentation

◆ CO_GTWA_RESP_BUF_SIZE

#define CO_GTWA_RESP_BUF_SIZE   200U

Size of response string buffer.

This is intermediate buffer. If there is larger amount of data to transfer, then multiple transfers will occur.

Enumeration Type Documentation

◆ CO_GTWA_respErrorCode_t

Response error codes as specified by CiA 309-3.

Values less or equal to 0 are used for control for some functions and are not part of the standard.

Enumerator
CO_GTWA_respErrorNone 

0 - No error or idle

CO_GTWA_respErrorReqNotSupported 

100 - Request not supported

CO_GTWA_respErrorSyntax 

101 - Syntax error

CO_GTWA_respErrorInternalState 

102 - Request not processed due to internal state

CO_GTWA_respErrorTimeOut 

103 - Time-out (where applicable)

CO_GTWA_respErrorNoDefaultNetSet 

104 - No default net set

CO_GTWA_respErrorNoDefaultNodeSet 

105 - No default node set

CO_GTWA_respErrorUnsupportedNet 

106 - Unsupported net

CO_GTWA_respErrorUnsupportedNode 

107 - Unsupported node

CO_GTWA_respErrorLostGuardingMessage 

200 - Lost guarding message

CO_GTWA_respErrorLostConnection 

201 - Lost connection

CO_GTWA_respErrorHeartbeatStarted 

202 - Heartbeat started

CO_GTWA_respErrorHeartbeatLost 

203 - Heartbeat lost

CO_GTWA_respErrorWrongNMTstate 

204 - Wrong NMT state

CO_GTWA_respErrorBootUp 

205 - Boot-up

CO_GTWA_respErrorErrorPassive 

300 - Error passive

CO_GTWA_respErrorBusOff 

301 - Bus off

CO_GTWA_respErrorCANbufferOverflow 

303 - CAN buffer overflow

CO_GTWA_respErrorCANinit 

304 - CAN init

CO_GTWA_respErrorCANactive 

305 - CAN active (at init or start-up)

CO_GTWA_respErrorPDOalreadyUsed 

400 - PDO already used

CO_GTWA_respErrorPDOlengthExceeded 

401 - PDO length exceeded

CO_GTWA_respErrorLSSmanufacturer 

501 - LSS implementation- / manufacturer-specific error

CO_GTWA_respErrorLSSnodeIdNotSupported 

502 - LSS node-ID not supported

CO_GTWA_respErrorLSSbitRateNotSupported 

503 - LSS bit-rate not supported

CO_GTWA_respErrorLSSparameterStoringFailed 

504 - LSS parameter storing failed

CO_GTWA_respErrorLSSmediaError 

505 - LSS command failed because of media error

CO_GTWA_respErrorRunningOutOfMemory 

600 - Running out of memory

◆ CO_GTWA_state_t

Internal states of the Gateway-ascii state machine.

Enumerator
CO_GTWA_ST_IDLE 

Gateway is idle, no command is processing.

This state is starting point for new commands, which are parsed here.

CO_GTWA_ST_READ 

SDO 'read' (upload)

CO_GTWA_ST_WRITE 

SDO 'write' (download)

CO_GTWA_ST_WRITE_ABORTED 

SDO 'write' (download) - aborted, purging remaining data.

CO_GTWA_ST_LSS_SWITCH_GLOB 

LSS 'lss_switch_glob'.

CO_GTWA_ST_LSS_SWITCH_SEL 

LSS 'lss_switch_sel'.

CO_GTWA_ST_LSS_SET_NODE 

LSS 'lss_set_node'.

CO_GTWA_ST_LSS_CONF_BITRATE 

LSS 'lss_conf_bitrate'.

CO_GTWA_ST_LSS_STORE 

LSS 'lss_store'.

CO_GTWA_ST_LSS_INQUIRE 

LSS 'lss_inquire_addr' or 'lss_get_node'.

CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL 

LSS 'lss_inquire_addr', all parameters.

CO_GTWA_ST__LSS_FASTSCAN 

LSS '_lss_fastscan'.

CO_GTWA_ST_LSS_ALLNODES 

LSS 'lss_allnodes'.

CO_GTWA_ST_LOG 

print message 'log'

CO_GTWA_ST_HELP 

print 'help' text

CO_GTWA_ST_LED 

print 'status' of the node

Function Documentation

◆ CO_GTWA_init()

CO_ReturnError_t CO_GTWA_init ( CO_GTWA_t * gtwa,
CO_SDOclient_t * SDO_C,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
CO_NMT_t * NMT,
CO_LSSmaster_t * LSSmaster,
CO_LEDs_t * LEDs,
uint8_t dummy )

Initialize Gateway-ascii object.

Parameters
gtwaThis object will be initialized
SDO_CSDO client object
SDOclientTimeoutTime_msDefault timeout in milliseconds, 500 typically
SDOclientBlockTransferIf true, block transfer will be set by default
NMTNMT object
LSSmasterLSS master object
LEDsLEDs object
dummydummy argument, set to 0
Returns
CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT

◆ CO_GTWA_initRead()

void CO_GTWA_initRead ( CO_GTWA_t * gtwa,
size_t(* readCallback )(void *object, const char *buf, size_t count, uint8_t *connectionOK),
void * readCallbackObject )

Initialize read callback in Gateway-ascii object.

Callback will be used for transfer data to output stream of the application. It will be called from CO_GTWA_process() zero or multiple times, depending on the data available. If readCallback is uninitialized or NULL, then output data will be purged.

Parameters
gtwaThis object will be initialized
readCallbackPointer to external function for reading response from Gateway-ascii object. See CO_GTWA_t for parameters.
readCallbackObjectPointer to object, which will be used inside readCallback

◆ CO_GTWA_write_getSpace()

static size_t CO_GTWA_write_getSpace ( CO_GTWA_t * gtwa)
inlinestatic

Get free write buffer space.

Parameters
gtwaThis object
Returns
number of available bytes

◆ CO_GTWA_write()

static size_t CO_GTWA_write ( CO_GTWA_t * gtwa,
const char * buf,
size_t count )
inlinestatic

Write command into CO_GTWA_t object.

This function copies ascii command from buf into internal fifo buffer. Command must be closed with '
' character. Function returns number of bytes successfully copied. If there is not enough space in destination, not all bytes will be copied and data can be refilled later (in case of large SDO download).

Parameters
gtwaThis object
bufBuffer which will be copied
countNumber of bytes in buf
Returns
number of bytes actually written.

◆ CO_GTWA_log_print()

void CO_GTWA_log_print ( CO_GTWA_t * gtwa,
const char * message )

Print message log string into fifo buffer.

This function enables recording of system log messages including CANopen events. Function can be called by application for recording any message. Message is copied to internal fifo buffer. In case fifo is full, old messages will be owerwritten. Message log fifo can be read with non-standard command "log". After log is read, it is emptied.

Parameters
gtwaThis object
messageNull terminated string

◆ CO_GTWA_process()

void CO_GTWA_process ( CO_GTWA_t * gtwa,
bool_t enable,
uint32_t timeDifference_us,
uint32_t * timerNext_us )

Process Gateway-ascii object.

This is non-blocking function and must be called cyclically

Parameters
gtwaThis object will be initialized.
enableIf true, gateway operates normally. If false, gateway is completely disabled and no command interaction is possible. Can be connected to hardware switch, for example.
timeDifference_usTime difference from previous function call in [microseconds].
[out]timerNext_usinfo to OS - see CO_process().