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