File syn_canopen_mgr.c¶

FileList > proto > syn_canopen_mgr.c

Implementation of CANopen CiA 302 Manager, SDO Client & NMT Master.

#include "syn_canopen_mgr.h"
#include "../util/syn_assert.h"
#include "../util/syn_pack.h"
#include <string.h>

Public Functions¶

Type	Name
void	syn_canopen_mgr_build_nmt (SYN_CAN_Frame * frame, uint8_t target_node, uint8_t nmt_cmd) Build an NMT Master command frame.
void	syn_canopen_mgr_init (SYN_CANOpenManager * mgr) Initialize CANopen Manager master instance.
void	syn_canopen_mgr_process_frame (SYN_CANOpenManager * mgr, const SYN_CAN_Frame * frame) Process an incoming CAN frame for Manager processing (Heartbeats, SDO responses).
SYN_Status	syn_canopen_mgr_sdo_read_init (SYN_CANOpenManager * mgr, SYN_CAN_Frame * frame, uint8_t node_id, uint16_t index, uint8_t subindex) Initiate an SDO Read request to a remote slave node.
SYN_Status	syn_canopen_mgr_sdo_write_init (SYN_CANOpenManager * mgr, SYN_CAN_Frame * frame, uint8_t node_id, uint16_t index, uint8_t subindex, const void * data, size_t len) Initiate an SDO Write request to a remote slave node.
void	syn_canopen_mgr_step (SYN_CANOpenManager * mgr, uint16_t delta_ms) Advance CANopen Manager periodic timer ticks.

Public Functions Documentation¶

function syn_canopen_mgr_build_nmt¶

Build an NMT Master command frame.

void syn_canopen_mgr_build_nmt (
    SYN_CAN_Frame * frame,
    uint8_t target_node,
    uint8_t nmt_cmd
)

Parameters:

frame Output CAN frame buffer.
target_node Target node ID (1..127 or 0 for broadcast).
nmt_cmd Command (SYN_CANOPEN_NMT_CMD_*).

function syn_canopen_mgr_init¶

Initialize CANopen Manager master instance.

void syn_canopen_mgr_init (
    SYN_CANOpenManager * mgr
)

Parameters:

mgr Pointer to manager handle.

function syn_canopen_mgr_process_frame¶

Process an incoming CAN frame for Manager processing (Heartbeats, SDO responses).

void syn_canopen_mgr_process_frame (
    SYN_CANOpenManager * mgr,
    const SYN_CAN_Frame * frame
)

Parameters:

mgr Pointer to manager handle.
frame Incoming CAN frame.

function syn_canopen_mgr_sdo_read_init¶

Initiate an SDO Read request to a remote slave node.

SYN_Status syn_canopen_mgr_sdo_read_init (
    SYN_CANOpenManager * mgr,
    SYN_CAN_Frame * frame,
    uint8_t node_id,
    uint16_t index,
    uint8_t subindex
)

Parameters:

mgr Pointer to manager handle.
frame Output CAN request frame buffer.
node_id Target slave Node-ID.
index Target Object Dictionary Index.
subindex Target Object Dictionary Subindex.

Returns:

SYN_OK if initiated, SYN_BUSY if SDO client is busy.

function syn_canopen_mgr_sdo_write_init¶

Initiate an SDO Write request to a remote slave node.

SYN_Status syn_canopen_mgr_sdo_write_init (
    SYN_CANOpenManager * mgr,
    SYN_CAN_Frame * frame,
    uint8_t node_id,
    uint16_t index,
    uint8_t subindex,
    const void * data,
    size_t len
)

Parameters:

mgr Pointer to manager handle.
frame Output CAN request frame buffer.
node_id Target slave Node-ID.
index Target Object Dictionary Index.
subindex Target Object Dictionary Subindex.
data Pointer to payload bytes to write.
len Data length (1..4 bytes for expedited write).

Returns:

SYN_OK if initiated, SYN_BUSY if busy.

function syn_canopen_mgr_step¶

Advance CANopen Manager periodic timer ticks.

void syn_canopen_mgr_step (
    SYN_CANOpenManager * mgr,
    uint16_t delta_ms
)

Parameters:

mgr Pointer to manager handle.
delta_ms Milliseconds elapsed since last call.

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