File syn_canopen.c¶

FileList > proto > syn_canopen.c

CANopen DS301 Slave Protocol Engine implementation.

#include "syntropic/proto/syn_canopen.h"
#include "syntropic/util/syn_pack.h"
#include <string.h>

Public Functions¶

Type	Name
bool	syn_canopen_get_tx (SYN_CANOpenNode * node, uint32_t * out_cob_id, uint8_t * out_data, uint8_t * out_len) Retrieve pending transmit CAN frame.
SYN_Status	syn_canopen_init (SYN_CANOpenNode * node, const SYN_CANOpenNodeConfig * cfg, const SYN_CANOpenODEntry * od_table, size_t od_count) Initialize a CANopen DS301 Node.
SYN_Status	syn_canopen_od_read (SYN_CANOpenNode * node, uint16_t index, uint8_t subindex, void * buf, size_t buf_size, size_t * out_len) Directly read an entry from the Object Dictionary.
SYN_Status	syn_canopen_od_write (SYN_CANOpenNode * node, uint16_t index, uint8_t subindex, const void * data, size_t len) Directly write an entry to the Object Dictionary.
SYN_Status	syn_canopen_process_rx (SYN_CANOpenNode * node, uint32_t cob_id, const uint8_t * data, uint8_t len) Process an incoming CAN frame.
SYN_Status	syn_canopen_send_emcy (SYN_CANOpenNode * node, uint16_t err_code, uint8_t err_reg) Transmit an Emergency (EMCY) message.
SYN_Status	syn_canopen_tpdo_trigger (SYN_CANOpenNode * node, uint8_t pdo_num) Manually trigger transmission of a specific TPDO (1..4).
SYN_Status	syn_canopen_update (SYN_CANOpenNode * node, uint32_t dt_ms) Periodic timer update (call from tick thread or loop).

Public Static Functions¶

Type	Name
const SYN_CANOpenODEntry *	canopen_find_od (const SYN_CANOpenNode * node, uint16_t index, uint8_t subindex) Helper function to find an Object Dictionary entry.
void	canopen_queue_tx (SYN_CANOpenNode * node, uint32_t cob_id, const uint8_t * data, uint8_t len) Helper function to queue a CAN transmit frame.
void	canopen_send_sdo_abort (SYN_CANOpenNode * node, uint16_t index, uint8_t subindex, uint32_t abort_code) Send an SDO Abort frame.

Public Functions Documentation¶

function syn_canopen_get_tx¶

Retrieve pending transmit CAN frame.

bool syn_canopen_get_tx (
    SYN_CANOpenNode * node,
    uint32_t * out_cob_id,
    uint8_t * out_data,
    uint8_t * out_len
)

Parameters:

node Pointer to node handle.
out_cob_id Output COB-ID pointer.
out_data Output 8-byte buffer pointer.
out_len Output frame length pointer.

Returns:

true if a frame was popped, false if no frame pending.

function syn_canopen_init¶

Initialize a CANopen DS301 Node.

SYN_Status syn_canopen_init (
    SYN_CANOpenNode * node,
    const SYN_CANOpenNodeConfig * cfg,
    const SYN_CANOpenODEntry * od_table,
    size_t od_count
)

Parameters:

node Pointer to node handle.
cfg Pointer to node configuration.
od_table Array of Object Dictionary entries.
od_count Number of entries in od_table.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on invalid inputs.

function syn_canopen_od_read¶

Directly read an entry from the Object Dictionary.

SYN_Status syn_canopen_od_read (
    SYN_CANOpenNode * node,
    uint16_t index,
    uint8_t subindex,
    void * buf,
    size_t buf_size,
    size_t * out_len
)

Parameters:

node Pointer to node handle.
index 16-bit OD Index.
subindex 8-bit OD Subindex.
buf Output buffer pointer.
buf_size Maximum buffer capacity.
out_len Pointer to store read byte length.

Returns:

SYN_OK on success, error code if not found or unauthorized.

function syn_canopen_od_write¶

Directly write an entry to the Object Dictionary.

SYN_Status syn_canopen_od_write (
    SYN_CANOpenNode * node,
    uint16_t index,
    uint8_t subindex,
    const void * data,
    size_t len
)

Parameters:

node Pointer to node handle.
index 16-bit OD Index.
subindex 8-bit OD Subindex.
data Input data pointer.
len Input data length in bytes.

Returns:

SYN_OK on success, error code if not found or unauthorized.

function syn_canopen_process_rx¶

Process an incoming CAN frame.

SYN_Status syn_canopen_process_rx (
    SYN_CANOpenNode * node,
    uint32_t cob_id,
    const uint8_t * data,
    uint8_t len
)

Parameters:

node Pointer to node handle.
cob_id Received 11-bit CAN COB-ID.
data Payload buffer (up to 8 bytes).
len Payload length.

Returns:

SYN_OK on success, error code on failure.

function syn_canopen_send_emcy¶

Transmit an Emergency (EMCY) message.

SYN_Status syn_canopen_send_emcy (
    SYN_CANOpenNode * node,
    uint16_t err_code,
    uint8_t err_reg
)

Parameters:

node Pointer to node handle.
err_code 16-bit CANopen Emergency Error Code.
err_reg 8-bit Error Register value (Index 0x1001).

Returns:

SYN_OK on success, SYN_INVALID_PARAM on invalid parameters.

function syn_canopen_tpdo_trigger¶

Manually trigger transmission of a specific TPDO (1..4).

SYN_Status syn_canopen_tpdo_trigger (
    SYN_CANOpenNode * node,
    uint8_t pdo_num
)

Parameters:

node Pointer to node handle.
pdo_num TPDO number (1..4).

Returns:

SYN_OK on success, SYN_INVALID_PARAM if pdo_num invalid or unmapped.

function syn_canopen_update¶

Periodic timer update (call from tick thread or loop).

SYN_Status syn_canopen_update (
    SYN_CANOpenNode * node,
    uint32_t dt_ms
)

Parameters:

node Pointer to node handle.
dt_ms Elapsed time since last update in milliseconds.

Returns:

SYN_OK on success.

Public Static Functions Documentation¶

function canopen_find_od¶

Helper function to find an Object Dictionary entry.

static const SYN_CANOpenODEntry * canopen_find_od (
    const SYN_CANOpenNode * node,
    uint16_t index,
    uint8_t subindex
)

Parameters:

node Pointer to node handle.
index 16-bit OD Index.
subindex 8-bit OD Subindex.

Returns:

Pointer to entry if found, NULL otherwise.

function canopen_queue_tx¶

Helper function to queue a CAN transmit frame.

static void canopen_queue_tx (
    SYN_CANOpenNode * node,
    uint32_t cob_id,
    const uint8_t * data,
    uint8_t len
)

Parameters:

node Pointer to node handle.
cob_id 11-bit CAN COB-ID.
data Payload data pointer.
len Payload length.

function canopen_send_sdo_abort¶

Send an SDO Abort frame.

static void canopen_send_sdo_abort (
    SYN_CANOpenNode * node,
    uint16_t index,
    uint8_t subindex,
    uint32_t abort_code
)

Parameters:

node Pointer to node handle.
index 16-bit OD Index.
subindex 8-bit OD Subindex.
abort_code 32-bit SDO Abort code.

The documentation for this class was generated from the following file src/syntropic/proto/syn_canopen.c