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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: CanOpen.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>CanOpen.cpp</h1><a href="CanOpen_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment">This file holds code for the top level CANopen class.</span><a name="l00015"></a>00015 <span class="comment">This class is used for over all control of the CANopen network.</span><a name="l00016"></a>00016 <span class="comment"></span><a name="l00017"></a>00017 <span class="comment">*/</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00020"></a>00020 <a name="l00021"></a>00021 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00022"></a>00022 <a name="l00023"></a>00023 <span class="comment">// static CANopen error objects</span><a name="l00024"></a>00024 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, ThreadStart, <span class="stringliteral">"Error starting CANopen read thread"</span> );<a name="l00025"></a>00025 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, BadParam, <span class="stringliteral">"Bad parameter value"</span> );<a name="l00026"></a>00026 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, SDO_Busy, <span class="stringliteral">"SDO object is not idle"</span> );<a name="l00027"></a>00027 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, SDO_Timeout, <span class="stringliteral">"Timeout waiting on SDO"</span> );<a name="l00028"></a>00028 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, SDO_Unknown, <span class="stringliteral">"Unknown SDO error"</span> );<a name="l00029"></a>00029 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, SDO_BadMuxRcvd, <span class="stringliteral">"Invalid multiplexor received in SDO message"</span> );<a name="l00030"></a>00030 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, SDO_BadMsgRcvd, <span class="stringliteral">"Invalid format for received SDO message"</span> );<a name="l00031"></a>00031 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, BadNodeID, <span class="stringliteral">"The specified Node ID was invalid"</span> );<a name="l00032"></a>00032 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, NotInitialized, <span class="stringliteral">"The referenced object has not been initialized"</span> );<a name="l00033"></a>00033 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, Initialized, <span class="stringliteral">"The referenced object is already initialized"</span> );<a name="l00034"></a>00034 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, NotSupported, <span class="stringliteral">"The feature is not supported"</span> );<a name="l00035"></a>00035 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, MonitorRunning, <span class="stringliteral">"Heartbeat or node guarding already started"</span> );<a name="l00036"></a>00036 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, IllegalFieldCt, <span class="stringliteral">"Illegal field count returned for the requested object"</span> );<a name="l00037"></a>00037 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, RcvrNotFound, <span class="stringliteral">"No enabled receiver could be found for that ID"</span> );<a name="l00038"></a>00038 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, RcvrPresent, <span class="stringliteral">"A CAN receiver using that ID is already enabled"</span> );<a name="l00039"></a>00039 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classCanOpenError.html">CanOpenError</a>, Closed, <span class="stringliteral">"The CANopen port is closed"</span> );<a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00042"></a>00042 <span class="comment">/**</span><a name="l00043"></a>00043 <span class="comment">Default constructor. Simply initializes some local variables.</span><a name="l00044"></a>00044 <span class="comment">*/</span><a name="l00045"></a>00045 <span class="comment">/***************************************************************************/</span><a name="l00046"></a><a class="code" href="classCanOpen.html#a0">00046</a> <a class="code" href="classCanOpen.html#a0">CanOpen::CanOpen</a>( <span class="keywordtype">void</span> )<a name="l00047"></a>00047 {<a name="l00048"></a>00048 synchProducer = 0;<a name="l00049"></a>00049 errorFrameCt = 0;<a name="l00050"></a>00050 <a name="l00051"></a>00051 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<<a class="code" href="CML__Settings_8h.html#a1">CML_HASH_SIZE</a>; i++ )<a name="l00052"></a>00052 hash[i] = 0;<a name="l00053"></a>00053 can = 0;<a name="l00054"></a>00054 }<a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00057"></a>00057 <span class="comment">/**</span><a name="l00058"></a>00058 <span class="comment">CanOpen Destructor. This closes the CANopen network.</span><a name="l00059"></a>00059 <span class="comment">*/</span><a name="l00060"></a>00060 <span class="comment">/***************************************************************************/</span><a name="l00061"></a><a class="code" href="classCanOpen.html#a1">00061</a> <a class="code" href="classCanOpen.html#a1">CanOpen::~CanOpen</a>( <span class="keywordtype">void</span> )<a name="l00062"></a>00062 {<a name="l00063"></a>00063 <a class="code" href="classCanOpen.html#a4">Close</a>();<a name="l00064"></a>00064 }<a name="l00065"></a>00065 <a name="l00066"></a>00066 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00067"></a>00067 <span class="comment">/**</span><a name="l00068"></a>00068 <span class="comment">Close the CANopen network. This disables all receivers and stops the</span><a name="l00069"></a>00069 <span class="comment">thread that listens on the CAN network.</span><a name="l00070"></a>00070 <span class="comment">*/</span><a name="l00071"></a>00071 <span class="comment">/***************************************************************************/</span><a name="l00072"></a><a class="code" href="classCanOpen.html#a4">00072</a> <span class="keywordtype">void</span> <a class="code" href="classCanOpen.html#a4">CanOpen::Close</a>( <span class="keywordtype">void</span> )<a name="l00073"></a>00073 {<a name="l00074"></a>00074 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<<a class="code" href="CML__Settings_8h.html#a1">CML_HASH_SIZE</a>; i++ )<a name="l00075"></a>00075 {<a name="l00076"></a>00076 <span class="keywordflow">if</span>( hash[i] )<a name="l00077"></a>00077 {<a name="l00078"></a>00078 DisableReceiver( hash[i] );<a name="l00079"></a>00079 hash[i] = 0;<a name="l00080"></a>00080 }<a name="l00081"></a>00081 }<a name="l00082"></a>00082 <a class="code" href="classThread.html#a4">stop</a>();<a name="l00083"></a>00083 <a name="l00084"></a>00084 <span class="keywordflow">if</span>( can )<a name="l00085"></a>00085 {<a name="l00086"></a>00086 can-><a class="code" href="classCanInterface.html#r0">canOpenPtr</a> = 0;<a name="l00087"></a>00087 can-><a class="code" href="classCanInterface.html#a5">Close</a>();<a name="l00088"></a>00088 can = 0;<a name="l00089"></a>00089 }<a name="l00090"></a>00090 }<a name="l00091"></a>00091 <a name="l00092"></a>00092 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00093"></a>00093 <span class="comment">/**</span><a name="l00094"></a>00094 <span class="comment">Open the CANopen network. This function performs the one time initialization </span><a name="l00095"></a>00095 <span class="comment">necessary to communication via the CANopen network. It should be the first </span><a name="l00096"></a>00096 <span class="comment">function called for the CANopen object.</span><a name="l00097"></a>00097 <span class="comment"></span><a name="l00098"></a>00098 <span class="comment">All configurable settings will be set to their defaults when the CanOpen object</span><a name="l00099"></a>00099 <span class="comment">is opened using this method. For a list of CanOpen object settings and their</span><a name="l00100"></a>00100 <span class="comment">default values, please see the CanOpenSettings object.</span><a name="l00101"></a>00101 <span class="comment"></span><a name="l00102"></a>00102 <span class="comment">@param canRef A reference to the CAN interface object that will be used for</span><a name="l00103"></a>00103 <span class="comment"> all low level communication over the network.</span><a name="l00104"></a>00104 <span class="comment"> </span><a name="l00105"></a>00105 <span class="comment">@return A pointer to an error object, or NULL on success.</span><a name="l00106"></a>00106 <span class="comment">*/</span><a name="l00107"></a>00107 <span class="comment">/***************************************************************************/</span><a name="l00108"></a><a class="code" href="classCanOpen.html#a2">00108</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a2">CanOpen::Open</a>( <a class="code" href="classCanInterface.html">CanInterface</a> &canRef )<a name="l00109"></a>00109 {<a name="l00110"></a>00110 <a class="code" href="classCanOpenSettings.html">CanOpenSettings</a> settings;<a name="l00111"></a>00111 <span class="keywordflow">return</span> <a class="code" href="classCanOpen.html#a2">Open</a>( canRef, settings );<a name="l00112"></a>00112 }<a name="l00113"></a>00113 <a name="l00114"></a>00114 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00115"></a>00115 <span class="comment">/**</span><a name="l00116"></a>00116 <span class="comment">Open the CANopen network. This function performs the one time initialization </span><a name="l00117"></a>00117 <span class="comment">necessary to communication via the CANopen network. It should be the first </span><a name="l00118"></a>00118 <span class="comment">function called for the CANopen object.</span><a name="l00119"></a>00119 <span class="comment"></span><a name="l00120"></a>00120 <span class="comment">This version of the Open function takes a CanOpenSettings object reference</span><a name="l00121"></a>00121 <span class="comment">as it's second parameter. The data members of the settings object may be</span><a name="l00122"></a>00122 <span class="comment">used to configure some of the CanOpen object's behavior.</span><a name="l00123"></a>00123 <span class="comment"></span><a name="l00124"></a>00124 <span class="comment">@param canRef A reference to the CAN interface object that will be used for</span><a name="l00125"></a>00125 <span class="comment"> all low level communication over the network.</span><a name="l00126"></a>00126 <span class="comment"> </span><a name="l00127"></a>00127 <span class="comment">@param settings A reference to a CanOpenSettings object. This object is used</span><a name="l00128"></a>00128 <span class="comment"> to customize the behavior of the CanOpen object.</span><a name="l00129"></a>00129 <span class="comment"> </span><a name="l00130"></a>00130 <span class="comment">@return A pointer to an error object, or NULL on success.</span><a name="l00131"></a>00131 <span class="comment">*/</span><a name="l00132"></a>00132 <span class="comment">/***************************************************************************/</span><a name="l00133"></a><a class="code" href="classCanOpen.html#a3">00133</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a2">CanOpen::Open</a>( <a class="code" href="classCanInterface.html">CanInterface</a> &canRef, <a class="code" href="classCanOpenSettings.html">CanOpenSettings</a> &settings )<a name="l00134"></a>00134 {<a name="l00135"></a>00135 <span class="keywordflow">if</span>( can )⌨️ 快捷键说明
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