Modules
	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 200
	Size of response string buffer. More...

#define	CO_GTWA_STATE_TIMEOUT_TIME_US 1200000
	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. More...

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. More...

static size_t	CO_GTWA_write_getSpace (CO_GTWA_t *gtwa)
	Get free write buffer space. More...

static size_t	CO_GTWA_write (CO_GTWA_t gtwa, const char buf, size_t count)
	Write command into CO_GTWA_t object. More...

void	CO_GTWA_log_print (CO_GTWA_t gtwa, const char message)
	Print message log string into fifo buffer. More...

void	CO_GTWA_process (CO_GTWA_t gtwa, bool_t enable, uint32_t timeDifference_us, uint32_t timerNext_us)
	Process Gateway-ascii object. More...

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 200

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

enum 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

enum 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

gtwa	This object will be initialized
SDO_C	SDO client object
SDOclientTimeoutTime_ms	Default timeout in milliseconds, 500 typically
SDOclientBlockTransfer	If true, block transfer will be set by default
NMT	NMT object
LSSmaster	LSS master object
LEDs	LEDs object
dummy	dummy 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()(void object, const char buf, size_t count, uint8_t connectionOK)	readCallback,
		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

gtwa	This object will be initialized
readCallback	Pointer to external function for reading response from Gateway-ascii object. See CO_GTWA_t for parameters.
readCallbackObject	Pointer 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

gtwa	This 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

gtwa	This object
buf	Buffer which will be copied
count	Number 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

gtwa	This object
message	Null 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

	gtwa	This object will be initialized.
	enable	If 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_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS - see CO_process().

Returns: CO_ReturnError_t: CO_ERROR_NO on success or CO_ERROR_ILLEGAL_ARGUMENT

Modules

Files

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ CO_GTWA_RESP_BUF_SIZE

Enumeration Type Documentation

◆ CO_GTWA_respErrorCode_t

◆ CO_GTWA_state_t

Function Documentation

◆ CO_GTWA_init()

◆ CO_GTWA_initRead()

◆ CO_GTWA_write_getSpace()

◆ CO_GTWA_write()

◆ CO_GTWA_log_print()

◆ CO_GTWA_process()