1 /* 2 * Copyright (c) 2019 Vestas Wind Systems A/S 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 /** 8 * @defgroup CAN CAN BUS 9 * @{ 10 * @} 11 */ 12 13 /** 14 * @brief CANopen Network Stack 15 * @defgroup canopen CANopen Network Stack 16 * @ingroup CAN 17 * @{ 18 */ 19 20 #ifndef ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_ 21 #define ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_ 22 23 #include <CANopen.h> 24 #include <CO_Emergency.h> 25 #include <CO_SDO.h> 26 27 #ifdef __cplusplus 28 extern "C" { 29 #endif 30 31 /** 32 * @brief CANopen object dictionary storage types. 33 */ 34 enum canopen_storage { 35 CANOPEN_STORAGE_RAM, 36 CANOPEN_STORAGE_ROM, 37 CANOPEN_STORAGE_EEPROM, 38 }; 39 40 struct canopen_context { 41 const struct device *dev; 42 }; 43 44 /** 45 * @brief Attach CANopen object dictionary storage handlers. 46 * 47 * Attach CANopen storage handler functions to object dictionary 48 * indexes 0x1010 (Store parameters) and 0x1011 (Restore default 49 * parameters). This function must be called after calling CANopenNode 50 * `CO_init()`. 51 * 52 * The handlers will save object dictionary entries of type @ref 53 * CANOPEN_STORAGE_ROM to non-volatile storage when a CANopen SDO 54 * client writes 0x65766173 ('s', 'a', 'v', 'e' from LSB to MSB) to 55 * object dictionary index 0x1010 sub-index 1. 56 * 57 * Object dictionary entries of types @ref CANOPEN_STORAGE_ROM (and 58 * optionally @ref CANOPEN_STORAGE_EEPROM) will be deleted from 59 * non-volatile storage when a CANopen SDO client writes 0x64616F6C 60 * ('l', 'o', 'a', 'd' from LSB to MSB) to object dictionary index 61 * 0x1011 sub-index 1. 62 * 63 * Object dictionary entries of type @ref CANOPEN_STORAGE_EEPROM may be 64 * saved by the application by periodically calling @ref 65 * canopen_storage_save(). 66 * 67 * Object dictionary entries of type @ref CANOPEN_STORAGE_RAM are 68 * never saved to non-volatile storage. 69 * 70 * @param sdo CANopenNode SDO server object 71 * @param em CANopenNode Emergency object 72 */ 73 void canopen_storage_attach(CO_SDO_t *sdo, CO_EM_t *em); 74 75 /** 76 * @brief Save CANopen object dictionary entries to non-volatile storage. 77 * 78 * Save object dictionary entries of a given type to non-volatile 79 * storage. 80 * 81 * @param storage CANopen object dictionary entry type 82 * 83 * @return 0 if successful, negative errno code if failure 84 */ 85 int canopen_storage_save(enum canopen_storage storage); 86 87 /** 88 * @brief Erase CANopen object dictionary entries from non-volatile storage. 89 * 90 * Erase object dictionary entries of a given type from non-volatile 91 * storage. 92 * 93 * @param storage CANopen object dictionary entry type 94 * 95 * @return 0 if successful, negative errno code if failure 96 */ 97 int canopen_storage_erase(enum canopen_storage storage); 98 99 /** 100 * @brief Attach CANopen object dictionary program download handlers. 101 * 102 * Attach CANopen program download functions to object dictionary 103 * indexes 0x1F50, 0x1F51, 0x1F56, and 0x1F57. This function must be 104 * called after calling CANopenNode `CO_init()`. 105 * 106 * @param nmt CANopenNode NMT object 107 * @param sdo CANopenNode SDO server object 108 * @param em CANopenNode Emergency object 109 */ 110 void canopen_program_download_attach(CO_NMT_t *nmt, CO_SDO_t *sdo, CO_EM_t *em); 111 112 /** 113 * @typedef canopen_led_callback_t 114 * @brief CANopen LED indicator callback function signature. 115 * 116 * @param value true if the LED indicator shall be turned on, false otherwise. 117 * @param arg argument that was passed when LEDs were initialized. 118 */ 119 typedef void (*canopen_led_callback_t)(bool value, void *arg); 120 121 /** 122 * @brief Initialize CANopen LED indicators. 123 * 124 * Initialize CANopen LED indicators and attach callbacks for setting 125 * their state. Two LED indicators, a red and a green, are supported 126 * according to CiA 303-3. 127 * 128 * @param nmt CANopenNode NMT object. 129 * @param green_cb callback for changing state on the green LED indicator. 130 * @param green_arg argument to pass to the green LED indicator callback. 131 * @param red_cb callback for changing state on the red LED indicator. 132 * @param red_arg argument to pass to the red LED indicator callback. 133 */ 134 void canopen_leds_init(CO_NMT_t *nmt, 135 canopen_led_callback_t green_cb, void *green_arg, 136 canopen_led_callback_t red_cb, void *red_arg); 137 138 /** 139 * @brief Indicate CANopen program download in progress 140 * 141 * Indicate that a CANopen program download is in progress. 142 * 143 * @param in_progress true if program download is in progress, false otherwise 144 */ 145 void canopen_leds_program_download(bool in_progress); 146 147 #ifdef __cplusplus 148 } 149 #endif 150 151 /** 152 * @} 153 */ 154 155 #endif /* ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_ */ 156
