git commit -m "first commit for v2"

2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
--- a/Devices/Libraries/Systems/CANopenSocket/examples/basicDevice/CO_application.h
+++ b/Devices/Libraries/Systems/CANopenSocket/examples/basicDevice/CO_application.h
@@ -0,0 +1,88 @@
+/**
+ * Application interface for CANopenNode.
+ *
+ * @file        CO_application.h
+ * @author      Janez Paternoster
+ * @copyright   2020 Janez Paternoster
+ *
+ * This file is part of CANopenNode, an opensource CANopen Stack.
+ * Project home page is <https://github.com/CANopenNode/CANopenNode>.
+ * For more information on CANopen see <http://www.can-cia.org/>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+
+#ifndef CO_APPLICATION_H
+#define CO_APPLICATION_H
+
+
+#include "CANopen.h"
+
+
+/* Optional OD entry for CO_CANopenInit() -> CO_EM_init() */
+#define OD_STATUS_BITS OD_ENTRY_H2100_errorStatusBits
+
+
+/**
+ * Function is called on program startup.
+ *
+ * @param CANopenConfigured True, if CANopen Node-Id is known and all CANopen
+ * objects are configured.
+ * @param [out] errInfo Variable may indicate additional information for some
+ * types of errors.
+ *
+ * @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
+ */
+CO_ReturnError_t app_programStart(bool_t CANopenConfigured, uint32_t *errInfo);
+
+
+/**
+ * Function is called after CANopen communication reset.
+ *
+ * @param CANopenConfigured True, if CANopen Node-Id is known and all CANopen
+ * objects are configured.
+ */
+void app_communicationReset(bool_t CANopenConfigured);
+
+
+/**
+ * Function is called just before program ends.
+ */
+void app_programEnd();
+
+
+/**
+ * Function is called cyclically from main.
+ *
+ * @param CANopenConfigured True, if CANopen Node-Id is known and all CANopen
+ * objects are configured.
+ * @param timer1usDiff Time difference since last call in microseconds
+ */
+void app_programAsync(bool_t CANopenConfigured, uint32_t timer1usDiff);
+
+
+/**
+ * Function is called cyclically from realtime thread at constant intervals.
+ *
+ * Code inside this function must be executed fast. Take care on race conditions
+ * with app_programAsync.
+ *
+ * @param CANopenConfigured True, if CANopen Node-Id is known and all CANopen
+ * objects are configured.
+ * @param timer1usDiff Time difference since last call in microseconds
+ */
+void app_program1ms(bool_t CANopenConfigured, uint32_t timer1usDiff);
+
+
+#endif /* CO_APPLICATION_H */