| 1 | /* ======================================================================== *\
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| 2 | !
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| 3 | ! *
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| 4 | ! * This file is part of Stesy, the MAGIC Steering System
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| 5 | ! * Software. It is distributed to you in the hope that it can be a useful
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| 6 | ! * and timesaving tool in analysing Data of imaging Cerenkov telescopes.
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| 7 | ! * It is distributed WITHOUT ANY WARRANTY.
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| 8 | ! *
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| 9 | ! * Permission to use, copy, modify and distribute this software and its
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| 10 | ! * documentation for any purpose is hereby granted without fee,
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| 11 | ! * provided that the above copyright notice appear in all copies and
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| 12 | ! * that both that copyright notice and this permission notice appear
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| 13 | ! * in supporting documentation. It is provided "as is" without express
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| 14 | ! * or implied warranty.
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| 15 | ! *
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| 16 | !
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| 17 | !
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| 18 | ! Author(s): Thomas Bretz <mailto:tbretz@astro.uni-wuerzburg.de>, 2003
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| 19 | !
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| 20 | ! Copyright: MAGIC Software Development, 2000-2008
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| 21 | !
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| 22 | !
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| 23 | \* ======================================================================== */
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| 24 |
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| 25 | ///////////////////////////////////////////////////////////////////////
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| 26 | //
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| 27 | // CanOpen
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| 28 | //
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| 29 | // implements the canopen layer over the raw device driver
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| 30 | //
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| 31 | ///////////////////////////////////////////////////////////////////////
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| 32 | #include "canopen.h"
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| 33 |
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| 34 | #include "MLog.h"
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| 35 | #include "MLogManip.h"
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| 36 |
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| 37 | #include "MTime.h"
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| 38 |
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| 39 | #include "interface.h"
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| 40 |
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| 41 | ClassImp(CanOpen);
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| 42 |
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| 43 | using namespace std;
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| 44 |
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| 45 | // --------------------------------------------------------------------------
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| 46 | //
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| 47 | // Initializes a conditional and a mutex semaphore for all possible
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| 48 | // PDO combinations
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| 49 | //
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| 50 | CanOpen::CanOpen() : fInterface(0)
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| 51 | {
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| 52 | gLog << inf << "- CanOpen initialized." << endl;
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| 53 | }
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| 54 |
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| 55 | // --------------------------------------------------------------------------
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| 56 | //
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| 57 | // Destroys all conditional and mutex semaphores
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| 58 | //
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| 59 | CanOpen::~CanOpen()
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| 60 | {
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| 61 | gLog << inf << "- CanOpen destroyed." << endl;
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| 62 | }
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| 63 |
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| 64 | // --------------------------------------------------------------------------
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| 65 | //
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| 66 | // Start the interface
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| 67 | //
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| 68 | void CanOpen::Start()
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| 69 | {
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| 70 | if (fInterface)
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| 71 | fInterface->Start();
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| 72 | }
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| 73 |
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| 74 | // --------------------------------------------------------------------------
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| 75 | //
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| 76 | // Stop the interface
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| 77 | //
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| 78 | void CanOpen::Stop()
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| 79 | {
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| 80 | if (fInterface)
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| 81 | fInterface->Stop();
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| 82 | }
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| 83 |
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| 84 | Bool_t CanOpen::HasConnection() const
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| 85 | {
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| 86 | return fInterface ? fInterface->HasConnection() : kFALSE;
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| 87 | }
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| 88 |
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| 89 | bool CanOpen::HasError() const
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| 90 | {
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| 91 | return fInterface ? !fInterface->HasConnection() : kFALSE;
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| 92 | }
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| 93 |
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| 94 | // --------------------------------------------------------------------------
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| 95 | //
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| 96 | // This overloads Interface::HandleCanMessage. It is called if a can
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| 97 | // message was received with all message relevant data (COBId, data, time)
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| 98 | // It distributes the data depending on its function code to several
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| 99 | // functions (to be obverloaded)
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| 100 | // In case of a PDO the conditional semaphore corresponding to this PDO
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| 101 | // is raised (WaitForNextPDO)
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| 102 | // HandleSDO: handles a SDO message
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| 103 | // HandlePDO1/2/3/4: handles received PDOs
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| 104 | //
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| 105 | void CanOpen::HandleCanMessage(WORD_t cobid, const BYTE_t *data, const timeval_t &tv)
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| 106 | {
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| 107 | const WORD_t fcode = cobid >> 7;
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| 108 | const BYTE_t node = cobid & 0x1f;
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| 109 |
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| 110 | switch (fcode)
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| 111 | {
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| 112 | case kNMT:
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| 113 | cout << "NMT: " << hex ;
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| 114 | cout << "CobId: 0x" << cobid << " ";
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| 115 | cout << "cmd=0x" << (int)data[0] << " ";
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| 116 | cout << "node=" << dec << (int)data[1] << endl;
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| 117 | return;
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| 118 |
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| 119 | case kEMERGENCY: // also case kSYNC:
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| 120 | if (cobid==0)
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| 121 | cout << "Sync" << endl;
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| 122 | else
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| 123 | {
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| 124 | cout << "EMERGENCY Node #" << dec << (int)data[1] << endl;
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| 125 | HandleEmergency(node, tv);
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| 126 | }
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| 127 | return;
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| 128 |
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| 129 | case kNodeguard:
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| 130 | //cout << "Nodeguard Node #" << dec << (int)node << endl;
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| 131 | HandleNodeguard(node, tv);
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| 132 | return;
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| 133 |
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| 134 | case kSDO_RX:
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| 135 | {
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| 136 | const BYTE_t cmd = data[0];
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| 137 | const LWORD_t dat = data[4] | (data[5]<<8) | (data[6]<<16) | (data[7]<<24);
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| 138 | const WORD_t idx = data[1] | (data[2]<<8);
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| 139 | const WORD_t subidx = data[3];
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| 140 |
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| 141 | //cout << "SDO_rx: node=" << (int)node << hex << " cmd=0x" << (int)cmd << " idx=0x" << idx << " subidx=0x" << subidx << dec << endl;
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| 142 | HandleSDO(node, cmd, idx, subidx, dat, tv);
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| 143 |
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| 144 | fSdoList.Del(node, idx, subidx);
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| 145 | }
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| 146 | return;
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| 147 |
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| 148 | case kPDO1_TX:
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| 149 | {
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| 150 | HandlePDO1(node, data, tv);
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| 151 | fPdoCond[node-1][0].Broadcast();
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| 152 | }
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| 153 | return;
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| 154 |
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| 155 | case kPDO2_TX:
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| 156 | {
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| 157 | HandlePDO2(node, data, tv);
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| 158 | fPdoCond[node-1][1].Broadcast();
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| 159 | }
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| 160 | return;
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| 161 |
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| 162 | case kPDO3_TX:
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| 163 | {
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| 164 | HandlePDO3(node, data, tv);
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| 165 | fPdoCond[node-1][2].Broadcast();
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| 166 | }
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| 167 | return;
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| 168 |
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| 169 | case kPDO4_TX:
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| 170 | {
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| 171 | HandlePDO4(node, data, tv);
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| 172 | fPdoCond[node-1][3].Broadcast();
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| 173 | }
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| 174 | return;
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| 175 | }
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| 176 |
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| 177 | cout << "CanOpen::HandleCanMessage - Unhandled Message: Function Code=0x" << hex << fcode << " Node #" << dec << (int)node << endl;
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| 178 | }
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| 179 |
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| 180 | // --------------------------------------------------------------------------
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| 181 | //
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| 182 | // Does a basic message processing and hadles the so called command (cmd)
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| 183 | // stamp of the message. This is some kind of message type which is send
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| 184 | // by the can interface
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| 185 | //
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| 186 | void CanOpen::HandleMessage(const Message &msg, const timeval_t &tv)
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| 187 | {
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| 188 | //
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| 189 | // Decode message
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| 190 | //
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| 191 | const WORD_t desc = msg.data[2]<<8 | msg.data[3];
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| 192 | const BYTE_t rtr = (desc>>4)&1;
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| 193 | const BYTE_t len = desc&0xf;
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| 194 | const WORD_t cobid = desc>>5;
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| 195 |
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| 196 | switch (msg.cmd) // FROM mican.h
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| 197 | {
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| 198 | case M_MSG_LOST:
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| 199 | cout << "Interface reports: " << dec << (int)msg.data[0] << " msg(s) lost!" << endl;
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| 200 | return;
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| 201 |
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| 202 | case M_BCAN_TX_con: /* confirm (+/-) transmission */
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| 203 | cout << "Interface reports: CTXcon=0x35" << endl;
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| 204 | cout << "This normally means, that the transmission of the following CAN frame failed:" << hex << endl;
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| 205 | cout << "Descr: 0x" << cobid << dec;
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| 206 | cout << " Rtr: " << (rtr?"Yes":"No");
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| 207 | cout << " Len: " << (int)len << endl;
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| 208 | return;
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| 209 |
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| 210 | case M_BCAN_EVENT_ind:
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| 211 | cout << "Interface reports: CEVTind=0x37: " << hex;
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| 212 | switch (msg.data[0]) // error indicator
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| 213 | {
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| 214 | case 0x01:
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| 215 | cout << "Error interrup occured" << endl;
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| 216 | cout << "This means noisy network normally. Please check the bus termination." << endl;
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| 217 | switch (msg.data[1]) // msg type (board depending)
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| 218 | {
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| 219 | case 2: // SJA1000
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| 220 | cout << dec;
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| 221 | cout << "ModeReg=" << (int)msg.data[2] << ", ";
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| 222 | cout << "StatReg=" << (int)msg.data[3] << ", ";
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| 223 | cout << "RxErrCnt=" << (int)msg.data[4] << ", ";
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| 224 | cout << "TxErrCnt=" << (int)msg.data[5] << endl;
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| 225 | }
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| 226 | //FIXME? TerminateApp();
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| 227 | return;
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| 228 | case 0x02:
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| 229 | cout << "Overrun interrup occured" << endl;
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| 230 | return;
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| 231 | case 0x04:
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| 232 | cout << "Interrupts lost" << endl;
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| 233 | return;
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| 234 | case 0x08:
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| 235 | cout << "Send queue full" << endl;
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| 236 | return;
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| 237 | case 0x10:
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| 238 | cout << "CANbus bus-error" << endl;
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| 239 | return;
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| 240 | }
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| 241 | return;
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| 242 | case M_BCAN_RX_ind:
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| 243 | //
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| 244 | // Message is a message from the Can bus
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| 245 | //
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| 246 | //cout << "HandleCanMessage " << cobid << endl;
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| 247 | HandleCanMessage(cobid, &msg.data[4], tv);
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| 248 | return;
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| 249 | }
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| 250 |
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| 251 | //
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| 252 | // Nothing of the above happened
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| 253 | //
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| 254 | cout << hex;
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| 255 | cout << "Cmd=0x" << (int)msg.cmd << ": ";
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| 256 | cout << "Descr: 0x" << cobid << dec;
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| 257 | cout << " Rtr: " << (rtr?"Yes":"No");
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| 258 | cout << " Len: " << (int)len << endl;
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| 259 |
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| 260 | cout << "As Raw Data:" << hex << setfill('0');
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| 261 | for (int i=0; i<msg.len; i++)
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| 262 | cout << " " << setw(2) << (int)(msg.data[i]) << flush;
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| 263 | cout << endl;
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| 264 | }
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| 265 |
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| 266 | bool CanOpen::WaitForSdos(WORDS_t ms)
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| 267 | {
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| 268 | // 0: unlimited
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| 269 | // <0: don't do a real wait.
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| 270 | if (ms<0)
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| 271 | {
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| 272 | fSdoList.DelAll();
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| 273 | return true;
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| 274 | }
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| 275 |
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| 276 | MTimeout t(ms);
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| 277 | while (fSdoList.IsPending() &&
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| 278 | !StopWaitingForSDO() &&
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| 279 | !t.HasTimedOut())
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| 280 | usleep(1);
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| 281 |
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| 282 | bool rc = true;
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| 283 | if (ms && t.HasTimedOut())
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| 284 | {
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| 285 | gLog << warn << "- CanOpen::WaitForSdos timed out." << endl;
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| 286 | rc = false;
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| 287 | }
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| 288 | /*
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| 289 | if (StopWaitingForSDO())
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| 290 | {
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| 291 | cout << "WaitForSdos stopped." << endl;
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| 292 | rc = false;
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| 293 | }
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| 294 | */
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| 295 | if ((ms && t.HasTimedOut()) || StopWaitingForSDO())
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| 296 | fSdoList.DelAll();
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| 297 |
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| 298 | return rc;
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| 299 | }
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| 300 |
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| 301 | bool CanOpen::WaitForSdo(BYTE_t node, WORD_t idx, BYTE_t subidx, WORDS_t ms)
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| 302 | {
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| 303 | // 0: unlimited
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| 304 | // <0: don't do a real wait.
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| 305 |
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| 306 | if (ms<0)
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| 307 | {
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| 308 | fSdoList.Del(node, idx, subidx);
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| 309 | return true;
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| 310 | }
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| 311 |
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| 312 | MTimeout t(ms);
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| 313 | while (fSdoList.IsPending(node, idx, subidx) &&
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| 314 | !StopWaitingForSDO() &&
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| 315 | !t.HasTimedOut())
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| 316 | usleep(1);
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| 317 |
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| 318 | bool rc = true;
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| 319 | if (ms && t.HasTimedOut())
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| 320 | {
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| 321 | gLog << warn << MTime(-1);
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| 322 | gLog << " - CanOpen::WaitForSdo Node #" << (int)node << " " << hex << idx << "/" << dec << (int)subidx << " timed out after " << ms << "ms." << endl;
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| 323 | rc = false;
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| 324 | }
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| 325 | /*
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| 326 | if (StopWaitingForSDO())
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| 327 | {
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| 328 | cout << "WaitForSdo Node #" << (int)node << " " << idx << "/" << (int)subidx << " stopped." << endl;
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| 329 | rc = false;
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| 330 | }
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| 331 | */
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| 332 | if ((ms && t.HasTimedOut()) || StopWaitingForSDO())
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| 333 | fSdoList.Del(node, idx, subidx);
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| 334 |
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| 335 | return rc;
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| 336 | }
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| 337 |
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| 338 | // --------------------------------------------------------------------------
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| 339 | //
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| 340 | // Enables can messaged for a given node ID and function code.
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| 341 | //
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| 342 | void CanOpen::EnableCanMsg(BYTE_t node, BYTE_t fcode, int flag)
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| 343 | {
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| 344 | if (node>=0x20)
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| 345 | return;
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| 346 |
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| 347 | if (fInterface)
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| 348 | fInterface->EnableCobId(CobId(node, fcode), flag);
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| 349 | }
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| 350 |
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| 351 | // --------------------------------------------------------------------------
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| 352 | //
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| 353 | // Enables Emergency messages for a given node
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| 354 | //
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| 355 | void CanOpen::EnableEmcy(BYTE_t node)
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| 356 | {
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| 357 | EnableCanMsg(node, kEMERGENCY);
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| 358 | }
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| 359 |
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| 360 | // --------------------------------------------------------------------------
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| 361 | //
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| 362 | // Enables Nodeguard messages for a given node
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| 363 | //
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| 364 | void CanOpen::EnableNodeguard(BYTE_t node)
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| 365 | {
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| 366 | EnableCanMsg(node, kNodeguard);
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| 367 | }
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| 368 |
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| 369 |
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| 370 | // --------------------------------------------------------------------------
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| 371 | //
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| 372 | // Enables SDO rx messages for a given node
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| 373 | //
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| 374 | void CanOpen::EnableSdoRx(BYTE_t node)
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| 375 | {
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| 376 | EnableCanMsg(node, kSDO_RX);
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| 377 | }
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| 378 |
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| 379 | // --------------------------------------------------------------------------
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| 380 | //
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| 381 | // Enables PDO1 tx messages for a given node
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| 382 | //
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| 383 | void CanOpen::EnablePdo1Rx(BYTE_t node)
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| 384 | {
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| 385 | EnableCanMsg(node, kPDO1_TX);
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| 386 | }
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| 387 |
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| 388 | // --------------------------------------------------------------------------
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| 389 | //
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| 390 | // Enables PDO2 tx messages for a given node
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| 391 | //
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| 392 | void CanOpen::EnablePdo2Rx(BYTE_t node)
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| 393 | {
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| 394 | EnableCanMsg(node, kPDO2_TX);
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| 395 | }
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| 396 |
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| 397 | // --------------------------------------------------------------------------
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| 398 | //
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| 399 | // Enables PDO3 rx messages for a given node
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| 400 | //
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| 401 | void CanOpen::EnablePdo3Rx(BYTE_t node)
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| 402 | {
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| 403 | EnableCanMsg(node, kPDO1_TX);
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| 404 | }
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| 405 |
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| 406 | // --------------------------------------------------------------------------
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| 407 | //
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| 408 | // Enables PDO4 rx messages for a given node
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| 409 | //
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| 410 | void CanOpen::EnablePdo4Rx(BYTE_t node)
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| 411 | {
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| 412 | EnableCanMsg(node, kPDO2_TX);
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| 413 | }
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| 414 |
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| 415 | // --------------------------------------------------------------------------
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| 416 | //
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| 417 | // Sends a PDO1 message with the given data to the given node
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| 418 | //
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| 419 | void CanOpen::SendPDO1(BYTE_t node, BYTE_t data[8])
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| 420 | {
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| 421 | SendCanFrame(CobId(node, kPDO1_TX), data);
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| 422 | }
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| 423 |
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| 424 | // --------------------------------------------------------------------------
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| 425 | //
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| 426 | // Sends a PDO2 message with the given data to the given node
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| 427 | //
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| 428 | void CanOpen::SendPDO2(BYTE_t node, BYTE_t data[8])
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| 429 | {
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| 430 | SendCanFrame(CobId(node, kPDO2_TX), data);
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| 431 | }
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| 432 |
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| 433 | // --------------------------------------------------------------------------
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| 434 | //
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| 435 | // Sends a PDO3 message with the given data to the given node
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| 436 | //
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| 437 | void CanOpen::SendPDO3(BYTE_t node, BYTE_t data[8])
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| 438 | {
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| 439 | SendCanFrame(CobId(node, kPDO3_TX), data);
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| 440 | }
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| 441 |
|
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| 442 | // --------------------------------------------------------------------------
|
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| 443 | //
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| 444 | // Sends a PDO4 message with the given data to the given node
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| 445 | //
|
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| 446 | void CanOpen::SendPDO4(BYTE_t node, BYTE_t data[8])
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| 447 | {
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| 448 | SendCanFrame(CobId(node, kPDO4_TX), data);
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| 449 | }
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| 450 |
|
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| 451 | // --------------------------------------------------------------------------
|
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| 452 | //
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| 453 | // Sends a PDO1 message with the given data to the given node
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| 454 | //
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| 455 | void CanOpen::SendPDO1(BYTE_t node,
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| 456 | BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,
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| 457 | BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7)
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| 458 | {
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| 459 | BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 };
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| 460 | SendCanFrame(CobId(node, kPDO2_TX), msg);
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| 461 | }
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| 462 |
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| 463 | // --------------------------------------------------------------------------
|
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| 464 | //
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| 465 | // Sends a PDO2 message with the given data to the given node
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| 466 | //
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| 467 | void CanOpen::SendPDO2(BYTE_t node,
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| 468 | BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,
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| 469 | BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7)
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|---|
| 470 | {
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|---|
| 471 | BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 };
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| 472 | SendCanFrame(CobId(node, kPDO2_TX), msg);
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| 473 | }
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|---|
| 474 |
|
|---|
| 475 | // --------------------------------------------------------------------------
|
|---|
| 476 | //
|
|---|
| 477 | // Sends a PDO3 message with the given data to the given node
|
|---|
| 478 | //
|
|---|
| 479 | void CanOpen::SendPDO3(BYTE_t node,
|
|---|
| 480 | BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,
|
|---|
| 481 | BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7)
|
|---|
| 482 | {
|
|---|
| 483 | BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 };
|
|---|
| 484 | SendCanFrame(CobId(node, kPDO3_TX), msg);
|
|---|
| 485 | }
|
|---|
| 486 |
|
|---|
| 487 | // --------------------------------------------------------------------------
|
|---|
| 488 | //
|
|---|
| 489 | // Sends a PDO4 message with the given data to the given node
|
|---|
| 490 | //
|
|---|
| 491 | void CanOpen::SendPDO4(BYTE_t node,
|
|---|
| 492 | BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,
|
|---|
| 493 | BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7)
|
|---|
| 494 | {
|
|---|
| 495 | BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 };
|
|---|
| 496 | SendCanFrame(CobId(node, kPDO4_TX), msg);
|
|---|
| 497 | }
|
|---|
| 498 |
|
|---|
| 499 | // --------------------------------------------------------------------------
|
|---|
| 500 | //
|
|---|
| 501 | // Sends a SDO message with the given data to the given node:
|
|---|
| 502 | // - index describing the dictionary index to set
|
|---|
| 503 | // - subindex describing the dictionary subindex of theindex to set
|
|---|
| 504 | // - val describing the value to set.
|
|---|
| 505 | // - store describes whether the sdo should be stored in a list to
|
|---|
| 506 | // be able to wait for an answer
|
|---|
| 507 | //
|
|---|
| 508 | void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, BYTE_t val, bool store)
|
|---|
| 509 | {
|
|---|
| 510 | if (store)
|
|---|
| 511 | fSdoList.Add(node, idx, subidx);
|
|---|
| 512 |
|
|---|
| 513 | SendCanFrame(CobId(node, kSDO_TX), kSDO_RX1,
|
|---|
| 514 | word_to_lsb(idx), word_to_msb(idx), subidx, val);
|
|---|
| 515 | }
|
|---|
| 516 |
|
|---|
| 517 | // --------------------------------------------------------------------------
|
|---|
| 518 | //
|
|---|
| 519 | // Sends a SDO message with the given data to the given node:
|
|---|
| 520 | // - index describing the dictionary index to set
|
|---|
| 521 | // - subindex describing the dictionary subindex of theindex to set
|
|---|
| 522 | // - val describing the value to set.
|
|---|
| 523 | // - store describes whether the sdo should be stored in a list to
|
|---|
| 524 | // be able to wait for an answer
|
|---|
| 525 | //
|
|---|
| 526 | void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, WORD_t val, bool store)
|
|---|
| 527 | {
|
|---|
| 528 | if (store)
|
|---|
| 529 | fSdoList.Add(node, idx, subidx);
|
|---|
| 530 |
|
|---|
| 531 | SendCanFrame(CobId(node, kSDO_TX), kSDO_RX2,
|
|---|
| 532 | word_to_lsb(idx), word_to_msb(idx), subidx,
|
|---|
| 533 | word_to_lsb(val), word_to_msb(val));
|
|---|
| 534 | }
|
|---|
| 535 |
|
|---|
| 536 | // --------------------------------------------------------------------------
|
|---|
| 537 | //
|
|---|
| 538 | // Sends a SDO message with the given data to the given node:
|
|---|
| 539 | // - index describing the dictionary index to set
|
|---|
| 540 | // - subindex describing the dictionary subindex of theindex to set
|
|---|
| 541 | // - val describing the value to set.
|
|---|
| 542 | // - store describes whether the sdo should be stored in a list to
|
|---|
| 543 | // be able to wait for an answer
|
|---|
| 544 | //
|
|---|
| 545 | void CanOpen::SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, LWORD_t val, bool store)
|
|---|
| 546 | {
|
|---|
| 547 | if (store)
|
|---|
| 548 | fSdoList.Add(node, idx, subidx);
|
|---|
| 549 |
|
|---|
| 550 | SendCanFrame(CobId(node, kSDO_TX), kSDO_RX4,
|
|---|
| 551 | word_to_lsb(idx), word_to_msb(idx), subidx,
|
|---|
| 552 | word_to_lsb(val&0xffff), word_to_msb(val&0xffff),
|
|---|
| 553 | word_to_lsb(val>>16), word_to_msb(val>>16));
|
|---|
| 554 | }
|
|---|
| 555 |
|
|---|
| 556 | // --------------------------------------------------------------------------
|
|---|
| 557 | //
|
|---|
| 558 | // Request a SDO message from the given node:
|
|---|
| 559 | // - index describing the dictionary index to request
|
|---|
| 560 | // - subindex describing the dictionary subindex of the index to request
|
|---|
| 561 | //
|
|---|
| 562 | void CanOpen::RequestSDO(BYTE_t node, WORD_t idx, BYTE_t subidx)
|
|---|
| 563 | {
|
|---|
| 564 | fSdoList.Add(node, idx, subidx);
|
|---|
| 565 |
|
|---|
| 566 | SendCanFrame(CobId(node, kSDO_TX), kSDO_RX_DATA, word_to_lsb(idx), word_to_msb(idx), subidx);
|
|---|
| 567 | }
|
|---|
| 568 |
|
|---|
| 569 | // --------------------------------------------------------------------------
|
|---|
| 570 | //
|
|---|
| 571 | // Send a NMT Message to the given node with command cmd
|
|---|
| 572 | //
|
|---|
| 573 | void CanOpen::SendNMT(BYTE_t node, BYTE_t cmd)
|
|---|
| 574 | {
|
|---|
| 575 | SendCanFrame(CobId(0, kNMT), cmd, node);
|
|---|
| 576 | }
|
|---|
| 577 |
|
|---|
| 578 | // --------------------------------------------------------------------------
|
|---|
| 579 | //
|
|---|
| 580 | // Send a Nodeguard Message to the given node with command cmd
|
|---|
| 581 | //
|
|---|
| 582 | void CanOpen::SendNodeguard(BYTE_t node)
|
|---|
| 583 | {
|
|---|
| 584 | BYTE_t msg[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
|
|---|
| 585 | SendCanFrame(CobId(node, kNodeguard), msg, 1);
|
|---|
| 586 | }
|
|---|
| 587 |
|
|---|
| 588 | // --------------------------------------------------------------------------
|
|---|
| 589 | //
|
|---|
| 590 | // This is IcSendReqBCAN from the Janz software
|
|---|
| 591 | //
|
|---|
| 592 | // /*
|
|---|
| 593 | // * IcSendReqBCAN - Send a CANbus message
|
|---|
| 594 | // *
|
|---|
| 595 | // * Issue request to send a CAN message. <Spec> controls whether to send with
|
|---|
| 596 | // * or without spec/confirmation.
|
|---|
| 597 | // * .CS
|
|---|
| 598 | // * spec action
|
|---|
| 599 | // * 0 send only
|
|---|
| 600 | // * 1 send with confirmation to the host.
|
|---|
| 601 | // * 2 send and echo message to the host.
|
|---|
| 602 | // * 3 send and generate both echo and confirmation.
|
|---|
| 603 | // * .CE
|
|---|
| 604 | // *
|
|---|
| 605 | // * SERVICE: CTXreq, CTXCreq, CTXEreq, CTXCEreq
|
|---|
| 606 | // *
|
|---|
| 607 | // * NOTE:
|
|---|
| 608 | // * Raw ICANOS version of the firmware only.
|
|---|
| 609 | // */
|
|---|
| 610 | //
|
|---|
| 611 | void CanOpen::SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr)
|
|---|
| 612 | {
|
|---|
| 613 | if (fInterface)
|
|---|
| 614 | fInterface->SendCanFrame(cobid, m, rtr);
|
|---|
| 615 | }
|
|---|
| 616 |
|
|---|
| 617 | // --------------------------------------------------------------------------
|
|---|
| 618 | //
|
|---|
| 619 | // Sends a can frame with the given cobid and the given eight bytes
|
|---|
| 620 | // through the can network
|
|---|
| 621 | //
|
|---|
| 622 | void CanOpen::SendCanFrame(WORD_t cobid,
|
|---|
| 623 | BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,
|
|---|
| 624 | BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7)
|
|---|
| 625 | {
|
|---|
| 626 | BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 };
|
|---|
| 627 | SendCanFrame(cobid, msg);
|
|---|
| 628 | }
|
|---|
| 629 |
|
|---|
| 630 | // --------------------------------------------------------------------------
|
|---|
| 631 | //
|
|---|
| 632 | // Decodes node and function code into a CobId
|
|---|
| 633 | //
|
|---|
| 634 | WORD_t CanOpen::CobId(BYTE_t node, BYTE_t fcode) const
|
|---|
| 635 | {
|
|---|
| 636 | return (fcode<<7) | (node&0x1f);
|
|---|
| 637 | }
|
|---|
