File syn_canopen_mgr.h¶

File List > proto > syn_canopen_mgr.h
#ifndef SYN_CANOPEN_MGR_H
#define SYN_CANOPEN_MGR_H

#include "../common/syn_defs.h"
#include "../drivers/syn_can.h"
#include "syn_canopen.h"

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    SYN_SDO_CLIENT_STATE_IDLE = 0,
    SYN_SDO_CLIENT_STATE_WAIT_READ,
    SYN_SDO_CLIENT_STATE_WAIT_WRITE,
    SYN_SDO_CLIENT_STATE_SUCCESS,
    SYN_SDO_CLIENT_STATE_ERROR
} SYN_SDOClientState;

typedef struct {
    uint8_t target_node;      
    uint16_t index;           
    uint8_t subindex;         
    SYN_SDOClientState state; 
    uint32_t abort_code;      
    uint8_t data[8];          
    size_t data_len;          
    uint16_t timeout_ms;      
} SYN_CANOpenSDOClient;

typedef struct {
    uint8_t node_id;   
    uint8_t nmt_state; 
    uint16_t timer_ms; 
    bool online;       
} SYN_CANOpenNodeMonitor;

typedef struct {
    SYN_CANOpenSDOClient sdo_client;   
    SYN_CANOpenNodeMonitor nodes[128]; 
} SYN_CANOpenManager;

void syn_canopen_mgr_init(SYN_CANOpenManager *mgr);

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

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);

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);

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

void syn_canopen_mgr_step(SYN_CANOpenManager *mgr, uint16_t delta_ms);

#ifdef __cplusplus
}
#endif

#endif /* SYN_CANOPEN_MGR_H */