CANopen

CANopen support. More...

Collaboration diagram for CANopen:

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_RPI_IMU = 0x05 ,   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.

Macro Definition Documentation

CANOPEN_OD_TO_AGG_DEFINE

#define CANOPEN_OD_TO_AGG_DEFINE	(		_idx,
			_agg,
			_agg_type,
			... )

#include <nturt/canbus/canopen.h>

Value:

  static ODR_t _OD_TO_AGG_WRITE(_idx)(OD_stream_t * stream, const void *buf, \
                                      OD_size_t size,                        \
                                      OD_size_t *size_written) {             \
    ODR_t ret = OD_writeOriginal(stream, buf, size, size_written);           \
    if (ret != ODR_OK) {                                                     \
      return ret;                                                            \
    }                                                                        \
                                                                             \
    switch (stream->subIndex) {                                              \
      FOR_EACH_FIXED_ARG(_OD_TO_AGG_WRITE_CASE, (;), (_agg, _agg_type),      \
                         __VA_ARGS__);                                       \
                                                                             \
      default:                                                               \
        break;                                                               \
    }                                                                        \
                                                                             \
    return ODR_OK;                                                           \
  }                                                                          \
                                                                             \
  STRUCT_SECTION_ITERABLE(canopen_od_init, _OD_INIT(_idx)) = {               \
      .idx = _idx,                                                           \
      .extension =                                                           \
          {                                                                  \
              .read = OD_readOriginal,                                       \
              .write = _OD_TO_AGG_WRITE(_idx),                               \
          },                                                                 \
  }

Define a mapping from OD writes (PDO or SDO) to updates of typed data aggregation.

Parameters

[in]	_idx	Index of the OD entry.
[in]	...	Data to be aggregated, must be specified by OD_TO_AGG_DATA.

CANOPEN_OD_TO_MSG_DEFINE

#define CANOPEN_OD_TO_MSG_DEFINE	(		_msg,
			_init_val,
			_period,
			_min_separation,
			_watermark,
			_flag,
			... )

#include <nturt/canbus/canopen.h>

Value:

  MSG_AGG_TO_MSG_DEFINE(_OD_TO_MSG_AGG(_msg), _msg, _init_val, _period,     \
                        _min_separation, _watermark, _flag,                 \
                        _OD_TO_MSG_MEMBERS(__VA_ARGS__));                   \
                                                                            \
  N_FOR_EACH_FIXED_ARG(_OD_TO_MSG_WRITE_DEFINE, (;), _msg, __VA_ARGS__);

Define a data aggregration for aggregating OD writes (PDO or SDO) to message _msg .

Parameters

[in]	_msg	Message to aggregate.
[in]	_init_val	Initial value of the message, must be a specified by AGG_DATA_INIT.
[in]	_period	Period of data publishing.
[in]	_min_separation	Minimum separation time between two data publishing.
[in]	_watermark	Watermark to wait for late-arriving members.
[in]	_flag	Flag of the aggregation. The same ones and rules as flag in AGG_DEFINE.
[in]	...	OD entries to be aggregated, must be specified by OD_TO_MSG_ENTRY.

CANOPEN_TM_TO_TPDO_DEFINE

#define CANOPEN_TM_TO_TPDO_DEFINE	(		_name,
			_period,
			_min_separation,
			_watermark,
			flag,
			... )

#include <nturt/canbus/canopen.h>

Value:

  FOR_EACH(_TO_TPDO_ALIAS_DEFINE, (;), __VA_ARGS__);                           \
                                                                               \
  TM_GROUP_DEFINE(_TO_TPDO_NAME(_name), _period, _min_separation, _watermark,  \
                  flag, canopen_tm_publish, NULL,                              \
                  FOR_EACH(_TO_TPDO_GROUP_DATA, (, ), __VA_ARGS__))

Define a telemetry group that publishes data to TPDOs.

Parameters

[in]	_name	Name of the telemetry group.
[in]	_period	Period of data publishing.
[in]	_min_separation	Minimum separation time between two data publishing.
[in]	_watermark	Watermark to wait for late-arriving members.
[in]	flag	Flag of the aggregation. The same ones and rules as flag in AGG_DEFINE.
[in]	...	Telemetry data to be published to PDOs, must be specified by TPDO_DATA.

CO_EMC_NTURT

#define CO_EMC_NTURT   0xFF10

#include <nturt/canbus/canopen.h>

CANopen error code for reporting NTURT errors.

OD_TO_AGG_DATA

#define OD_TO_AGG_DATA	(		subidx,
			type,
			convert,
			member )

#include <nturt/canbus/canopen.h>

Value:

  (subidx, type, convert, member)

Specify the data in an OD entry to be aggregated. Used in OD_TO_MSG_ENTRY.

Parameters

[in]	subidx	Subindex of the data in the OD entry. If the entry is of type VAR, this must be 0.
[in]	type	Type of the data.
[in]	convert	Function to convert the raw data into physical data, which is useful if the raw data have different scale or offset. If no conversion is needed, use Zephyr IDENTITY.
[in]	member	Member of typed data aggregation to update.

OD_TO_MSG_DATA

#define OD_TO_MSG_DATA	(		subidx,
			type,
			convert,
			member )

#include <nturt/canbus/canopen.h>

Value:

  (subidx, type, convert, member)

Specify the data in an OD entry to be aggregated. Used in OD_TO_MSG_ENTRY.

Parameters

[in]	subidx	Subindex of the data in the OD entry. If the entry is of type VAR, this must be 0.
[in]	type	Type of the data.
[in]	convert	Function to convert the raw data into physical data, which is useful if the raw data have different scale or offset. If no conversion is needed, use Zephyr IDENTITY.
[in]	member	Member in the message that the data corresponds to and will be updated to when the OD data is received, must be specified by AGG_MEMBER.

OD_TO_MSG_ENTRY

#define OD_TO_MSG_ENTRY	(		idx,
			... )

#include <nturt/canbus/canopen.h>

Value:

(idx, __VA_ARGS__)

Specify an OD entry to be aggregated. Used in CANOPEN_OD_TO_MSG_DEFINE.

Parameters

[in]	idx	Index of the OD entry.
[in]	...	Data to be aggregated, must be specified by OD_TO_MSG_DATA.

TPDO_DATA

#define TPDO_DATA	(		data,
			idx,
			subidx,
			... )

#include <nturt/canbus/canopen.h>

Value:

  (data, idx, subidx, (COND_CODE_1(__VA_OPT__(1), (__VA_ARGS__), (0))))

Specify the telemetry data to be published to TPDOs.

Parameters

[in]	data	Telemetry data defined by TM_DATA_DEFINE.
[in]	idx	Index of the OD entry that corresponds to the data.
[in]	subidx	Subindex of the OD entry that corresponds to the data. If the entry is of type VAR, this must be 0.
[in]	...	Optional flags of the data, the same ones and rules as AGG_MEMBER.

Enumeration Type Documentation

canopen_node_id

enum canopen_node_id

#include <nturt/canbus/canopen.h>

CANopen node ID.

Enumerator
NODE_ID_VCU
NODE_ID_SENSORS
NODE_ID_RPI
NODE_ID_RPI_IMU
NODE_ID_IMU
NODE_ID_GPS
NODE_ID_ACC
NODE_ID_INV_FL
NODE_ID_INV_FR
NODE_ID_INV_RL
NODE_ID_INV_RR

Function Documentation

canopen_tm_publish()

void canopen_tm_publish	(	uint32_t	addr,
		const void *	data,
		size_t	size,
		void *	user_data )

#include <nturt/canbus/canopen.h>

Publishing function for CANOPEN_TM_TO_TPDO_DEFINE.

Warning

Internal use only.