308f204952
Add support for CANopen LED indicators according to the CAN in Automation (CiA) 303-3 specification. This fixes #15278. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
123 lines
3.5 KiB
C
123 lines
3.5 KiB
C
/*
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* Copyright (c) 2019 Vestas Wind Systems A/S
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* @brief CANopen Network Stack
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* @defgroup canopen CANopen Network Stack
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* @ingroup CAN
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* @{
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*/
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#ifndef ZEPHYR_INCLUDE_CANOPEN_H_
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#define ZEPHYR_INCLUDE_CANOPEN_H_
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#include <CANopen.h>
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#include <CO_Emergency.h>
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#include <CO_SDO.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief CANopen object dictionary storage types.
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*/
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enum canopen_storage {
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CANOPEN_STORAGE_RAM,
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CANOPEN_STORAGE_ROM,
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CANOPEN_STORAGE_EEPROM,
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};
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/**
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* @brief Attach CANopen object dictionary storage handlers.
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*
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* Attach CANopen storage handler functions to object dictionary
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* indexes 0x1010 (Store parameters) and 0x1011 (Restore default
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* parameters). This function must be called after calling CANopenNode
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* `CO_init()`.
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*
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* The handlers will save object dictionary entries of type @ref
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* CANOPEN_STORAGE_ROM to non-volatile storage when a CANopen SDO
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* client writes 0x65766173 ('s', 'a', 'v', 'e' from LSB to MSB) to
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* object dictionary index 0x1010 sub-index 1.
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*
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* Object dictionary entries of types @ref CANOPEN_STORAGE_ROM (and
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* optionally @ref CANOPEN_STORAGE_EEPROM) will be deleted from
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* non-volatile storage when a CANopen SDO client writes 0x64616F6C
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* ('l', 'o', 'a', 'd' from LSB to MSB) to object dictionary index
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* 0x1011 sub-index 1.
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*
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* Object dictionary entries of type @ref CANOPEN_STORAGE_EEPROM may be
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* saved by the application by periodically calling @ref
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* canopen_storage_save().
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*
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* Object dictionary entries of type @ref CANOPEN_STORAGE_RAM are
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* never saved to non-volatile storage.
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*
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* @param sdo CANopenNode SDO server object
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* @param em CANopenNode Emergency object
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*/
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void canopen_storage_attach(CO_SDO_t *sdo, CO_EM_t *em);
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/**
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* @brief Save CANopen object dictionary entries to non-volatile storage.
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*
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* Save object dictionary entries of a given type to non-volatile
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* storage.
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*
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* @param storage CANopen object dictionary entry type
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*
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* @return 0 if successful, negative errno code if failure
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*/
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int canopen_storage_save(enum canopen_storage storage);
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/**
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* @brief Erase CANopen object dictionary entries from non-volatile storage.
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*
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* Erase object dictionary entries of a given type from non-volatile
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* storage.
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*
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* @param storage CANopen object dictionary entry type
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*
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* @return 0 if successful, negative errno code if failure
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*/
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int canopen_storage_erase(enum canopen_storage storage);
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/**
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* @typedef canopen_led_callback_t
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* @brief CANopen LED indicator callback function signature.
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*
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* @param value true if the LED indicator shall be turned on, false otherwise.
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* @param arg argument that was passed when LEDs were initialized.
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*/
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typedef void (*canopen_led_callback_t)(bool value, void *arg);
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/**
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* @brief Initialize CANopen LED indicators.
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*
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* Initialize CANopen LED indicators and attach callbacks for setting
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* their state. Two LED indicators, a red and a green, are supported
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* according to CiA 303-3.
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*
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* @param nmt CANopenNode NMT object.
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* @param green_cb callback for changing state on the green LED indicator.
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* @param green_arg argument to pass to the green LED indicator callback.
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* @param red_cb callback for changing state on the red LED indicator.
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* @param red_arg argument to pass to the red LED indicator callback.
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*/
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void canopen_leds_init(CO_NMT_t *nmt,
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canopen_led_callback_t green_cb, void *green_arg,
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canopen_led_callback_t red_cb, void *red_arg);
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#ifdef __cplusplus
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}
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#endif
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/**
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* @}
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*/
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#endif /* ZEPHYR_INCLUDE_CANOPEN_H_ */
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