File syn_canopen.h¶

FileList > proto > syn_canopen.h

CANopen DS301 Slave Protocol Engine. More...

#include "../common/syn_defs.h"
#include "../drivers/syn_can.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Classes¶

Type	Name
struct	SYN_CANOpenNode CANopen Node State Handle.
struct	SYN_CANOpenNodeConfig CANopen Node Configuration.
struct	SYN_CANOpenODEntry Object Dictionary Entry Definition.
struct	SYN_CANOpenPDOMap PDO Mapping Configuration.
struct	SYN_CANOpenSDOSession

Public Types¶

Type	Name
enum	SYN_CANOpenSDOState

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).

Macros¶

Type	Name
define	SYN_CANOPEN_ACCESS_RO `0x01U` OD Access Rights.
define	SYN_CANOPEN_ACCESS_RW `0x03U`
define	SYN_CANOPEN_ACCESS_WO `0x02U`
define	SYN_CANOPEN_NMT_CMD_PREOP `0x80U`
define	SYN_CANOPEN_NMT_CMD_RESET_COMM `0x82U`
define	SYN_CANOPEN_NMT_CMD_RESET_NODE `0x81U`
define	SYN_CANOPEN_NMT_CMD_START `0x01U` CANopen NMT Command Specifiers.
define	SYN_CANOPEN_NMT_CMD_STOP `0x02U`
define	SYN_CANOPEN_NMT_STATE_BOOTUP `0x00U` CANopen NMT States.
define	SYN_CANOPEN_NMT_STATE_OPERATIONAL `0x05U`
define	SYN_CANOPEN_NMT_STATE_PREOP `0x7FU`
define	SYN_CANOPEN_NMT_STATE_STOPPED `0x04U`
define	SYN_CANOPEN_SDO_ABORT_NONE `0x00000000UL` SDO Abort Codes.
define	SYN_CANOPEN_SDO_ABORT_NOT_EXIST `0x06020000UL`
define	SYN_CANOPEN_SDO_ABORT_READ_ONLY `0x06010002UL`
define	SYN_CANOPEN_SDO_ABORT_SUBINDEX_NOT_EXIST `0x06090011UL`
define	SYN_CANOPEN_SDO_ABORT_TOGGLE_BIT `0x05030000UL`
define	SYN_CANOPEN_SDO_ABORT_TYPE_MISMATCH `0x06070010UL`
define	SYN_CANOPEN_SDO_ABORT_UNSUPPORTED_ACCESS `0x06010000UL`
define	SYN_CANOPEN_SDO_ABORT_WRITE_ONLY `0x06010001UL`
define	SYN_CANOPEN_TYPE_I16 `0x03U`
define	SYN_CANOPEN_TYPE_I32 `0x04U`
define	SYN_CANOPEN_TYPE_I8 `0x02U` OD Data Types.
define	SYN_CANOPEN_TYPE_U16 `0x06U`
define	SYN_CANOPEN_TYPE_U32 `0x07U`
define	SYN_CANOPEN_TYPE_U8 `0x05U`

Detailed Description¶

Implements a lightweight, non-blocking, zero-malloc CANopen DS301 slave stack including Object Dictionary, SDO server, RPDO/TPDO engine, NMT state machine, Heartbeat producer, and Emergency (EMCY) alarms.

Public Types Documentation¶

enum SYN_CANOpenSDOState¶

enum SYN_CANOpenSDOState {
    SYN_CANOPEN_SDO_IDLE = 0,
    SYN_CANOPEN_SDO_SEG_DOWNLOAD,
    SYN_CANOPEN_SDO_SEG_UPLOAD
};

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.

Macro Definition Documentation¶

define SYN_CANOPEN_ACCESS_RO¶

OD Access Rights.

#define SYN_CANOPEN_ACCESS_RO `0x01U`

Read-Only access

define SYN_CANOPEN_ACCESS_RW¶

#define SYN_CANOPEN_ACCESS_RW `0x03U`

Read/Write access

define SYN_CANOPEN_ACCESS_WO¶

#define SYN_CANOPEN_ACCESS_WO `0x02U`

Write-Only access

define SYN_CANOPEN_NMT_CMD_PREOP¶

#define SYN_CANOPEN_NMT_CMD_PREOP `0x80U`

Enter Pre-Operational

define SYN_CANOPEN_NMT_CMD_RESET_COMM¶

#define SYN_CANOPEN_NMT_CMD_RESET_COMM `0x82U`

Reset Communication

define SYN_CANOPEN_NMT_CMD_RESET_NODE¶

#define SYN_CANOPEN_NMT_CMD_RESET_NODE `0x81U`

Reset Node

define SYN_CANOPEN_NMT_CMD_START¶

CANopen NMT Command Specifiers.

#define SYN_CANOPEN_NMT_CMD_START `0x01U`

Start Remote Node

define SYN_CANOPEN_NMT_CMD_STOP¶

#define SYN_CANOPEN_NMT_CMD_STOP `0x02U`

Stop Remote Node

define SYN_CANOPEN_NMT_STATE_BOOTUP¶

CANopen NMT States.

#define SYN_CANOPEN_NMT_STATE_BOOTUP `0x00U`

Bootup State

define SYN_CANOPEN_NMT_STATE_OPERATIONAL¶

#define SYN_CANOPEN_NMT_STATE_OPERATIONAL `0x05U`

Operational State

define SYN_CANOPEN_NMT_STATE_PREOP¶

#define SYN_CANOPEN_NMT_STATE_PREOP `0x7FU`

Pre-Operational State

define SYN_CANOPEN_NMT_STATE_STOPPED¶

#define SYN_CANOPEN_NMT_STATE_STOPPED `0x04U`

Stopped State

define SYN_CANOPEN_SDO_ABORT_NONE¶

SDO Abort Codes.

#define SYN_CANOPEN_SDO_ABORT_NONE `0x00000000UL`

No error

define SYN_CANOPEN_SDO_ABORT_NOT_EXIST¶

#define SYN_CANOPEN_SDO_ABORT_NOT_EXIST `0x06020000UL`

Object does not exist in dictionary

define SYN_CANOPEN_SDO_ABORT_READ_ONLY¶

#define SYN_CANOPEN_SDO_ABORT_READ_ONLY `0x06010002UL`

Attempt to write a read only object

define SYN_CANOPEN_SDO_ABORT_SUBINDEX_NOT_EXIST¶

#define SYN_CANOPEN_SDO_ABORT_SUBINDEX_NOT_EXIST `0x06090011UL`

Subindex does not exist

define SYN_CANOPEN_SDO_ABORT_TOGGLE_BIT¶

#define SYN_CANOPEN_SDO_ABORT_TOGGLE_BIT `0x05030000UL`

Toggle bit not altered

define SYN_CANOPEN_SDO_ABORT_TYPE_MISMATCH¶

#define SYN_CANOPEN_SDO_ABORT_TYPE_MISMATCH `0x06070010UL`

Data type mismatch, length mismatch \

define SYN_CANOPEN_SDO_ABORT_UNSUPPORTED_ACCESS¶

#define SYN_CANOPEN_SDO_ABORT_UNSUPPORTED_ACCESS `0x06010000UL`

Unsupported access to object

define SYN_CANOPEN_SDO_ABORT_WRITE_ONLY¶

#define SYN_CANOPEN_SDO_ABORT_WRITE_ONLY `0x06010001UL`

Attempt to read a write only object

define SYN_CANOPEN_TYPE_I16¶

#define SYN_CANOPEN_TYPE_I16 `0x03U`

Signed 16-bit integer

define SYN_CANOPEN_TYPE_I32¶

#define SYN_CANOPEN_TYPE_I32 `0x04U`

Signed 32-bit integer

define SYN_CANOPEN_TYPE_I8¶

OD Data Types.

#define SYN_CANOPEN_TYPE_I8 `0x02U`

Signed 8-bit integer

define SYN_CANOPEN_TYPE_U16¶

#define SYN_CANOPEN_TYPE_U16 `0x06U`

Unsigned 16-bit integer

define SYN_CANOPEN_TYPE_U32¶

#define SYN_CANOPEN_TYPE_U32 `0x07U`

Unsigned 32-bit integer

define SYN_CANOPEN_TYPE_U8¶

#define SYN_CANOPEN_TYPE_U8 `0x05U`

Unsigned 8-bit integer

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