Functions
void	ComMgrEventBus (uint8_t ubNetV, CpState_ts *ptsBusStateV)

uint8_t	ComMgrGetVersionMajor (void)

uint8_t	ComMgrGetVersionMinor (void)

const char *	ComMgrGetVersionString (uint8_t ubTypeV)

const char *	ComMgrGetConfiguration (void)

ComStatus_tv	ComMgrInit (uint8_t ubCanIfV, uint8_t ubNetV, uint8_t ubBaudSelV, uint8_t ubNodeIdV, uint32_t ulModeV)

ComStatus_tv	ComMgrProcess (uint8_t ubNetV)

ComStatus_tv	ComMgrUserInit (uint8_t ubNetV)

void	ComMgrNetTimerEvent (uint8_t ubNetV)

ComStatus_tv	ComMgrNodeAdd (uint8_t ubNetV, uint8_t ubNodeIdV, ComNode_ts *ptsNodeV)

ComStatus_tv	ComMgrNodeDelete (uint8_t ubNetV, uint8_t ubNodeIdV)

ComStatus_tv	ComMgrRelease (uint8_t ubNetV)

ComStatus_tv	ComMgrSetErrorRegister (uint8_t ubNetV, uint8_t ubSetErrorV, uint8_t ubResetErrorV)

ComStatus_tv	ComMgrStart (uint8_t ubNetV)

ComStatus_tv	ComMgrStop (uint8_t ubNetV)

void	ComMgrTimerEvent (void)

Detailed Description

This module holds all functions for the initialisation and control of the CANopen Master.

The CANopen Master is initialised with ComMgrInit(). This routine will setup the CAN controller and initialise all necessary services. Afterwards the stack can be started by calling the ComMgrStart(), which will issue a boot-up message for the CANopen Master.

In summary three steps are necessary to start the CANopen Master:

Initialise CANopen Master Stack: ComMgrInit()
Start CANopen Master: ComMgrStart()
Start the timer event function: ComMgrTimerEvent()

The following example depicts this process:

 void MyComInit(void)
 {
   //------------------------------------------------------
   // Initialise the CANopen Master stack with address 1
   // Bitrate = 500kBit/s
   //
   ComMgrInit(eCP_CHANNEL_1, eCOM_NET_1,
              eCP_BITRATE_500K, 1,
              eCOM_MODE_NMT_MASTER);
   //------------------------------------------------------
   // start the CANopen master stack
   //
   ComMgrStart(eCOM_NET_1);
   //------------------------------------------------------
   // now the CANopen Master Stack is initialised and
   // has to be triggered by calling ComMgrTimerEvent()
}

Function Documentation

◆ ComMgrEventBus()

void ComMgrEventBus	(	uint8_t	ubNetV,
		CpState_ts *	ptsBusStateV
	)

Parameters

[in]	ubNetV	- CANopen Network channel
[in]	ptsBusStateV	- pointer to CpState_ts value of bus

This function is called by the stack on a bus state change. The implementation on this function is application specific.

◆ ComMgrGetConfiguration()

const char* ComMgrGetConfiguration ( void )

Returns: Pointer to a Null terminated character string

This function returns a configuration string of the CANopen FD Master.

◆ ComMgrGetVersionMajor()

uint8_t ComMgrGetVersionMajor ( void )

This function returns the major version of the CANopen FD Master Library.

◆ ComMgrGetVersionMinor()

uint8_t ComMgrGetVersionMinor ( void )

This function returns the minor version of the CANopen FD Master Library.

◆ ComMgrGetVersionString()

const char* ComMgrGetVersionString ( uint8_t ubTypeV )

Parameters

[in] ubTypeV - Information type

Returns: Pointer to a Null terminated character string

This function returns a version string of the CANopen FD Master Library. The parameter ubTypeV defines the requested information, possible values are defined by the enumeration ComVersion_e.

◆ ComMgrInit()

ComStatus_tv ComMgrInit	(	uint8_t	ubCanIfV,
		uint8_t	ubNetV,
		uint8_t	ubBaudSelV,
		uint8_t	ubNodeIdV,
		uint32_t	ulModeV
	)

Parameters

[in]	ubCanIfV	- CAN interface index
[in]	ubNetV	- CANopen Network channel
[in]	ubBitrateSelV	- Bit-rate selection
[in]	ubNodeIdV	- Node-ID value
[in]	ulModeV	- Initial mode

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComMgrRelease()

This function must be called before any other function of the CANopen Master stack. It is responsible for the initialisation of all services (NMT, SYNC, SDO, PDO, etc).

The function assigns the logical CANopen network number ubNetV to the CAN interface given by ubCanIfV. The value for ubNetV can be taken from the ComNet_e enumeration. The maximum value is given by the symbol #COM_NET_MAX.

The initial mode parameter ulModeV defines the startup behaviour. Valid values are defined in the enumeration ComMode_e.

◆ ComMgrNetTimerEvent()

void ComMgrNetTimerEvent ( uint8_t ubNetV )

Execute Timer-based Services.

Parameters

ubNetV - CANopen Network channel

See also: ComMgrTimerEvent()

This routine must be called by a timer resource of the target system. It is responsible to call services that depend on a timer (e.g. Heartbeat). The period of the timer is supplied to the CANopen FD Master library using the ComTmrSetPeriod() function. The function calls the services for the CANopen network defined by ubNetV. Execution of timer-based services for all CANopen networks is possible via ComMgrTimerEvent().

Example

//-------------------------------------------------------------//
// Timer interrupt service routine                             //
//                                                             //
//-------------------------------------------------------------//
void MyTimerInterrupt(void)
{
   //... timer services of application ...
   //--- call CANopen stack timer function -------------
   ComMgrNetTimerEvent(eCOM_NET_1);
   //... retrigger the timer
}

◆ ComMgrNodeAdd()

ComStatus_tv ComMgrNodeAdd	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		ComNode_ts *	ptsNodeV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value
ptsNodeV	- Pointer to CANopen node

Returns: Value of enumeration ComErr_e

See also: ComMgrNodeDelete()

This function adds a new CANopen node (device) to the CANopen Master on address ubNodeIdV. The CANopen node structure shall be intitialised using ComNodeSetDefault() in advance.

◆ ComMgrNodeDelete()

ComStatus_tv ComMgrNodeDelete	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV
	)

Remove CANopen device.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value

Returns: Value of enumeration ComErr_e

See also: ComMgrNodeAdd()

This function removes a CANopen node (device) from the CANopen Master on address ubNodeIdV.

◆ ComMgrProcess()

ComStatus_tv ComMgrProcess ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

This function is responsible for processing of CAN messages on the supplied network channel ubNetV.

◆ ComMgrRelease()

ComStatus_tv ComMgrRelease ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrInit()

This function performs a shutdown of the CANopen FD Master.

◆ ComMgrSetErrorRegister()

ComStatus_tv ComMgrSetErrorRegister	(	uint8_t	ubNetV,
		uint8_t	ubSetErrorV,
		uint8_t	ubResetErrorV
	)

Parameters

[in]	ubNetV	- CANopen Network channel
[in]	ubSetErrorV	- Set new new error state
[in]	ubResetErrorV	- Clear error state

Returns: Value of enumeration ComErr_e

This function sets and clears bit-masked error states of the error register.

◆ ComMgrStart()

ComStatus_tv ComMgrStart ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrStop()

◆ ComMgrStop()

ComStatus_tv ComMgrStop ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComMgrStart()

◆ ComMgrTimerEvent()

void ComMgrTimerEvent ( void )

Execute Timer-based Services.

See also: ComMgrNetTimerEvent()

This routine must be called by a timer resource of the target system. It is responsible to call services that depend on a timer (e.g. Heartbeat). The period of the timer is defined via the ComTmrSetPeriod() value.

Example

//-------------------------------------------------------------//
// Timer handler                                               //
//                                                             //
//-------------------------------------------------------------//
void MyTimerHandler(void)
{
   //... timer services of application ...
   //--- call CANopen stack timer function -------------
   ComMgrTimerEvent();
}

◆ ComMgrUserInit()

ComStatus_tv ComMgrUserInit ( uint8_t ubNetV )

Parameters

[in] ubNetV - CANopen Network channel

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

This function is called by ComMgrInit() during the initialisation phase. It is responsible for setting internal values of the Master. The behaviour of this function is application specific.

Functions

Detailed Description

Function Documentation

◆ ComMgrEventBus()

◆ ComMgrGetConfiguration()

◆ ComMgrGetVersionMajor()

◆ ComMgrGetVersionMinor()

◆ ComMgrGetVersionString()

◆ ComMgrInit()

◆ ComMgrNetTimerEvent()

◆ ComMgrNodeAdd()

◆ ComMgrNodeDelete()

◆ ComMgrProcess()

◆ ComMgrRelease()

◆ ComMgrSetErrorRegister()

◆ ComMgrStart()

◆ ComMgrStop()

◆ ComMgrTimerEvent()

◆ ComMgrUserInit()