canopen.h File Reference

CANopen support. More...

#include <stdint.h>
#include <zephyr/sys/iterable_sections.h>
#include <canopennode.h>
#include "nturt/msg/aggregation.h"
#include "nturt/msg/msg.h"
#include "nturt/sys/util.h"
#include "nturt/telemetry.h"

Include dependency graph for canopen.h:

Data Structures
struct	canopen_od_init
	Struct for initializing OD entries. More...

Macros
#define	CO_EMC_NTURT   0xFF10
	CANopen error code for reporting NTURT errors.
#define	TPDO_DATA(data, idx, subidx, ...)
	Specify the telemetry data to be published to TPDOs.
#define	CANOPEN_TM_TO_TPDO_DEFINE(_name, _period, _min_separation, _watermark, flag, ...)
	Define a telemetry group that publishes data to TPDOs.
#define	OD_TO_AGG_DATA(subidx, type, convert, member)
	Specify the data in an OD entry to be aggregated. Used in OD_TO_MSG_ENTRY.
#define	CANOPEN_OD_TO_AGG_DEFINE(_idx, _agg, _agg_type, ...)
	Define a mapping from OD writes (PDO or SDO) to updates of typed data aggregation.
#define	OD_TO_MSG_DATA(subidx, type, convert, member)
	Specify the data in an OD entry to be aggregated. Used in OD_TO_MSG_ENTRY.
#define	OD_TO_MSG_ENTRY(idx, ...)
	Specify an OD entry to be aggregated. Used in CANOPEN_OD_TO_MSG_DEFINE.
#define	CANOPEN_OD_TO_MSG_DEFINE(_msg, _init_val, _period, _min_separation, _watermark, _flag, ...)
	Define a data aggregration for aggregating OD writes (PDO or SDO) to message _msg .

Enumerations
enum	canopen_node_id {   NODE_ID_VCU = 0x01 , NODE_ID_SENSORS = 0x02 , NODE_ID_RPI = 0x04 , NODE_ID_IMU = 0x08 ,   NODE_ID_GPS , NODE_ID_ACC = 0x10 , NODE_ID_INV_FL , NODE_ID_INV_FR ,   NODE_ID_INV_RL , NODE_ID_INV_RR }
	CANopen node ID. More...

Functions
void	canopen_tm_publish (uint32_t addr, const void *data, size_t size, void *user_data)
	Publishing function for CANOPEN_TM_TO_TPDO_DEFINE.

Detailed Description

CANopen support.

Author

quantumspawner

Version

0.0.1

Date

2025-07-01

Copyright

Copyright (c) 2025 NTU Racing Team