/***********************************************************************/ /* Demo source for using esd CANopen slave Stack */ /* */ /* Copyright by Shanghai ESD Electric Technology Co., Ltd. */ /*---------------------------------------------------------------------*/ /* Filename: pv_slave_canopen.c */ /* Date: 2023-11-15 */ /* Language: ANSI C */ /* Targetsystem: Linux */ /* Purpose: Demostrate how to control esd CAN-STEPCON-1h */ /* which is DS-402 Implementation for stepper */ /* controller. The device will run under */ /* profile velocity mode, drive start to rotate */ /* and continuously increases its velocity */ /* until the drive will stop automatically. */ /* Author: Bob Tu */ /*---------------------------------------------------------------------*/ /* Revision history: */ /*---------------------------------------------------------------------*/ /* v1.0 Birth of module */ /***********************************************************************/ #include #define CONTROL_WORD 0x6040 #define MODES_OF_OPERATION 0x6060 #define TARGET_VELOCITY 0x60FF #define STATUS_WORD 0x6041 #define VELOCITY_ACTUAL_VALUE 0x606C #define TARGET_REACHED 0X0400 DictionaryData ddControlWord; DictionaryData ddModesOfOperation; DictionaryData ddTargetVelocity; DictionaryData ddStatusWord; DictionaryData ddVelocityActualValue; HNODE hndNode; HPDO hndPdoModeOfOperation; HPDO hndPdoTargetVelocity; HPDO hndPdoVelocityActualValue; UINT16 pdoMapping30x[] = {0x6040, 0, 0x6060, 0, 0, 0}; UINT16 pdoMapping50x[] = {0x6040, 0, 0x60ff, 0, 0, 0}; UINT16 pdoMapping48x[] = {0x6041, 0, 0x606C, 0, 0, 0}; UINT8 pdoDataModeOfOperation[] = {0xf, 0, 0x3}; UINT8 pdoDataTargetVelocity[] = {0xf, 0, 0, 0x1, 0, 0}; UINT8 need_to_update_velocity = 0; UINT8 need_to_stop = 0; UINT8 in_op = 0; /* * Event handler callback of CANopen slave node to notify the * application about node state changes, communication problems, * etc. */ int NodeEventHandler(SLAVE_EVENT *pEvent) { unsigned short net = pEvent->usNetNo; unsigned short node = pEvent->usModId; unsigned long iEvent = pEvent->ulEvent; unsigned long iArg1 = pEvent->ulArg1; printf("Event for net %#x node %#x: ", net, node); switch(iEvent) { case EV_STATE_CHANGE: printf("State changed to "); switch(iArg1) { case NodeInit: printf("INITIALIZING\n"); if(in_op) need_to_stop = 1; case NodePrepared: printf("STOPPED\n"); if(in_op) need_to_stop = 1; break; case NodeOperational: printf("OPERATIONAL\n"); break; case NodePreOperational: printf("PRE-OPERATIONAL\n"); if(in_op) need_to_stop = 1; break; } break; } return(0); } /* * Data handler callback of CANopen slave node to notify the application * about value changes of application defined object dictionary entries * caused either by PDOs which are mapped into this object dictionary or * caused by direct SDO access. */ int DataEventHandler( int NetNo, /* Logical net number of CAN net */ int NodeNo, /* Logical node number of CANopen slave */ int index, /* Object dictionary entry index */ int subindex, /* Object dictionary entry subindex */ void *data /* Direct ptr to data */ ) { // printf("New value for net %d node %d index %x subindex %d is %lx\n", // NetNo, NodeNo, index, subindex, *(unsigned long *)data); if((index == STATUS_WORD) && (*(unsigned long *)data & TARGET_REACHED)) { if(pdoDataTargetVelocity[3]==0xf) need_to_stop=1; else need_to_update_velocity=1; } return(0); } int main() { int iNetNo = 3; int iNodeNo = 0x11; SLAVE_NET_INFO slaveNetInfo; SLAVE_NODE_INFO slaveNodeInfo; memset(&slaveNetInfo, 0, sizeof(slaveNetInfo)); slaveNetInfo.usBaudrate = 1000; if (canOpenCreateNetworkEx(iNetNo,&slaveNetInfo)) { printf("canOpenCreateNetworkEx() error!"); (void)canOpenRemoveNetwork(iNetNo); exit(-1); } memset(&slaveNodeInfo, 0, sizeof(slaveNodeInfo)); slaveNodeInfo.ulEventMask = EV_STATE_CHANGE | EV_READ_DICTIONARY | EV_SYNC; slaveNodeInfo.usRxPDO = 4; slaveNodeInfo.usTxPDO = 4; slaveNodeInfo.ucMaxIdentityObj = 1; slaveNodeInfo.ulDeviceType = DEV_TYPE(DEVTYPE_DS402, 4); slaveNodeInfo.ulVendorId = VENDOR_ID_ESD; if(canOpenCreateNodeEx(iNetNo,iNodeNo,NodeEventHandler,&slaveNodeInfo,&hndNode)) { printf("canOpenCreateNodeEx() error!"); (void)canOpenRemoveNetwork(iNetNo); exit(-1); } /* * Definition of local Object Dictionary */ BEGIN_DICTIONARY_TABLE(DicTableForNode1) DICTIONARY_ENTRY(CONTROL_WORD, 0, OBJ_VAR, MAP_UINT16, MAPPABLE | READ_ACCESS | WRITE_ACCESS | MULTI_MAP, &ddControlWord, NULL, NULL) DICTIONARY_ENTRY(MODES_OF_OPERATION, 0, OBJ_VAR, MAP_INT8, MAPPABLE | READ_ACCESS | WRITE_ACCESS, &ddModesOfOperation, NULL, NULL) DICTIONARY_ENTRY(TARGET_VELOCITY, 0, OBJ_VAR, MAP_INT32, MAPPABLE | READ_ACCESS | WRITE_ACCESS, &ddTargetVelocity, NULL, NULL) DICTIONARY_ENTRY(STATUS_WORD, 0, OBJ_VAR, MAP_UINT16, MAPPABLE | READ_ACCESS | WRITE_ACCESS, &ddStatusWord, DataEventHandler, NULL) DICTIONARY_ENTRY(VELOCITY_ACTUAL_VALUE, 0, OBJ_VAR, MAP_INT32, MAPPABLE | READ_ACCESS | WRITE_ACCESS, &ddVelocityActualValue, NULL, NULL) END_DICTIONARY_TABLE() DECLARE_DICTIONARY(hndNode, DicTableForNode1); canOpenDefinePDO( hndNode, /* handle of the node */ NULL, /* legacy parameter always set to NULL */ 0x301, /* COB-ID of the PDO */ TRANSMIT_PDO | AUTO_NOTIFY_PDO | 255, /* transmission mode */ 0, /* inhibit time disabled*/ 5000, /* TxTout */ 5000, /* RxTout*/ 0 , /* iEventTimer 0 msec*/ &pdoMapping30x[0], /* Mapping */ &hndPdoModeOfOperation /* handle of the pdo */ ); canOpenDefinePDO( hndNode, /* handle of the node */ NULL, /* legacy parameter always set to NULL */ 0x501, /* COB-ID of the PDO */ TRANSMIT_PDO | AUTO_NOTIFY_PDO | 255, /* transmission mode */ 0, /* inhibit time */ 5000, /* TxTout */ 5000, /* RxTout*/ 0 , /* iEventTimer 0 msec*/ &pdoMapping50x[0], /* Mapping */ &hndPdoTargetVelocity /* handle of the pdo */ ); canOpenDefinePDO( hndNode, /* handle of the node */ NULL, /* legacy parameter always set to NULL */ 0x481, /* COB-ID of the PDO */ RECEIVE_PDO | AUTO_NOTIFY_PDO | 255, /* transmission mode */ 0, /* inhibit time */ 5000, /* TxTout */ 5000, /* RxTout*/ 0 , /* iEventTimer 0 msec*/ &pdoMapping48x[0], /* Mapping */ &hndPdoVelocityActualValue /* handle of the pdo */ ); canOpenActivateNode(hndNode); printf("Waiting for node state to OPERATIONAL\n"); canOpenWaitForNodeState(hndNode, WFNS_OPERATIONAL); in_op=1; canOpenWritePDO(hndPdoModeOfOperation, &pdoDataModeOfOperation[0]); canOpenWritePDO(hndPdoTargetVelocity, &pdoDataTargetVelocity[0]); while(1) { if(need_to_stop){ PSYS_SLEEP_SEC(3); pdoDataModeOfOperation[0]=0x7; canOpenWritePDO(hndPdoModeOfOperation,&pdoDataModeOfOperation); break; } if(need_to_update_velocity){ PSYS_SLEEP_SEC(3); pdoDataTargetVelocity[3]++; canOpenWritePDO(hndPdoTargetVelocity,&pdoDataTargetVelocity); need_to_update_velocity=0; } } printf("CANopen slave is going down\n"); canOpenResetNode(hndNode); canOpenDeleteNode(hndNode); canOpenRemoveNetwork(iNetNo); return(0); }