| 1 | #ifndef NODEDRV_H
|
|---|
| 2 | #define NODEDRV_H
|
|---|
| 3 |
|
|---|
| 4 | #include "log.h"
|
|---|
| 5 | #include "gendef.h"
|
|---|
| 6 |
|
|---|
| 7 | class Network;
|
|---|
| 8 |
|
|---|
| 9 | class NodeDrv : public Log
|
|---|
| 10 | {
|
|---|
| 11 | private:
|
|---|
| 12 | Network *fNetwork;
|
|---|
| 13 | BYTE_t fId;
|
|---|
| 14 |
|
|---|
| 15 | char *fName;
|
|---|
| 16 |
|
|---|
| 17 | int fError;
|
|---|
| 18 |
|
|---|
| 19 | protected:
|
|---|
| 20 | void SetError(int err) { fError = err; }
|
|---|
| 21 | void DelError() { fError = 0; }
|
|---|
| 22 | int GetError() { return fError; }
|
|---|
| 23 |
|
|---|
| 24 | public:
|
|---|
| 25 | NodeDrv(BYTE_t nodeid, const char *name=NULL, MLog &out=gLog);
|
|---|
| 26 | virtual ~NodeDrv();
|
|---|
| 27 |
|
|---|
| 28 | BYTE_t GetId() const { return fId; }
|
|---|
| 29 | char *GetNodeName() const { return fName; }
|
|---|
| 30 | Network *GetNetwork() { return fNetwork; }
|
|---|
| 31 |
|
|---|
| 32 | virtual void InitDevice(Network *net);
|
|---|
| 33 | virtual void StopDevice() = 0;
|
|---|
| 34 |
|
|---|
| 35 | bool HasError() { return fError; }
|
|---|
| 36 |
|
|---|
| 37 | virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, struct timeval *tv);
|
|---|
| 38 | virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx);
|
|---|
| 39 | virtual void HandleSDOError(LWORD_t data);
|
|---|
| 40 |
|
|---|
| 41 | virtual void HandlePDO1(BYTE_t *data, struct timeval *tv) {};
|
|---|
| 42 | virtual void HandlePDO2(BYTE_t *data, struct timeval *tv) {};
|
|---|
| 43 | virtual void HandlePDO3(BYTE_t *data, struct timeval *tv) {};
|
|---|
| 44 | virtual void HandlePDO4(BYTE_t *data, struct timeval *tv) {};
|
|---|
| 45 |
|
|---|
| 46 | void SendPDO1(BYTE_t data[8]);
|
|---|
| 47 | void SendPDO2(BYTE_t data[8]);
|
|---|
| 48 | void SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
|
|---|
| 49 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
|
|---|
| 50 | void SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
|
|---|
| 51 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
|
|---|
| 52 |
|
|---|
| 53 | void SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store=true);
|
|---|
| 54 | void SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store=true);
|
|---|
| 55 | void SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store=true);
|
|---|
| 56 |
|
|---|
| 57 | void SendSDO(WORD_t idx, BYTE_t val);
|
|---|
| 58 | void SendSDO(WORD_t idx, WORD_t val);
|
|---|
| 59 | void SendSDO(WORD_t idx, LWORD_t val=0);
|
|---|
| 60 |
|
|---|
| 61 | void SendNMT(BYTE_t cmd);
|
|---|
| 62 |
|
|---|
| 63 | void RequestSDO(WORD_t idx, BYTE_t subidx=0);
|
|---|
| 64 |
|
|---|
| 65 | void WaitForNextPdo1();
|
|---|
| 66 | void WaitForNextPdo2();
|
|---|
| 67 | void WaitForNextPdo3();
|
|---|
| 68 | void WaitForNextPdo4();
|
|---|
| 69 |
|
|---|
| 70 | // void WaitForSdos();
|
|---|
| 71 | void WaitForSdo(WORD_t idx, BYTE_t subidx=0, WORDS_t timeout=500);
|
|---|
| 72 |
|
|---|
| 73 | void EnableCanMsg(BYTE_t fcode);
|
|---|
| 74 | };
|
|---|
| 75 |
|
|---|
| 76 | #endif
|
|---|
