# This could be handy for archiving the generated documentation or
# if some version control system is used.
-PROJECT_NUMBER = 3
+PROJECT_NUMBER = 3.0
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
# base path where the generated documentation will be put.
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
-INPUT = ../../include
+INPUT = ../../include ../../src ../../drivers
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
**
*/
+/** @defgroup emcyo Emergency Object
+ * Emergency Object is used to communicate device and application failures.
+ * @ingroup comobj
+ */
+
#ifndef __emcy_h__
#define __emcy_h__
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/** @defgroup heartbeato Heartbeat Object
+ * The heartbeat mechanism for a device is established through cyclically transmitting a message by a
+ * heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the
+ * heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be
+ * informed about that event.
+ * @ingroup comobj
+ */
+
#ifndef __lifegrd_h__
#define __lifegrd_h__
*************************************************************************/
/**
+ * @ingroup statemachine
* @brief To read the state of a node
* This can be used by the master after having sent a life guard request,
* of by any node if it is waiting for heartbeat.
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
-/** @defgroup lss Layer setting Object
+/** @defgroup lss Layer Setting Services Object
+ * @brief LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on
+ * a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the
+ * CAN Network.
+ * The following parameters can be inquired and/or changed by the use of LSS:
+ * - Node-ID of the CANopen Slave
+ * - Bit timing parameters of the physical layer (baud rate)
+ * - LSS address (/2/ Identity Object, Index 1018H)
* @ingroup comobj
*/
*/
//UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
-/** Used by the Master application to send a LSS command, WITH response, to the slave.
- * The function Callback, which must be defined in the user code, is called at the
+/**
+ * @ingroup lss
+ * @brief Used by the Master application to send a LSS command, WITH response, to the slave.
+ * @param *d Pointer on a CAN object data structure
+ * @param command
+ * @param *dat1
+ * @param *dat2
+ * @param Callback The function Callback, which must be defined in the user code, is called at the
* end of the exchange (on succes or abort) and can be NULL.
+ * @return sendLSS(d,command,dat1,dat2)
* The LSS_MSG_TIMER timer is started to control the timeout
- * return sendLSS(d,command,dat1,dat2)
*/
UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
-/** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
- Returns : LSS_RESET // Transmission not started. Init state.
- LSS_FINISHED // data are available
- LSS_ABORTED_INTERNAL // Aborted but not because of an abort message.
- LSS_TRANS_IN_PROGRESS // Data not yet available
-
- * command: the LSS command (unused).
- * example:
- * UNS32 dat1;
- * UNS8 dat2;
- res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
- while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
+/**
+ * @ingroup lss
+ * @brief Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
+ * @param *d Pointer on a CAN object data structure
+ * @param command The LSS command (unused).
+ * @param *dat1
+ * @param *dat2
+ * @return :
+ * - LSS_RESET // Transmission not started. Init state.
+ * - LSS_FINISHED // data are available
+ * - LSS_ABORTED_INTERNAL // Aborted but not because of an abort message.
+ * - LSS_TRANS_IN_PROGRESS // Data not yet available
+ * @code
+ * example:
+ * UNS32 dat1;
+ * UNS8 dat2;
+ * res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
+ * while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
+ * @endcode
*/
UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
* @ingroup userapi
*/
/** @defgroup nmtmaster NMT Master
+ * @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
* @ingroup networkmanagement
*/
* - initialisation ---> pre-operational (Automatic transition)
* - pre-operational <--> operational
* - pre-operational <--> stopped
- * - pre-operational, operational, stopped -> initialisation
+ * - pre-operational, operational, stopped -> initialisation\n
* @param *d Pointer on a CAN object data structure
* @param Node_ID Id of the slave node
* @param cs State changement
*/
/** @defgroup nmtslave NMT Slave
+ * @brief The NMT Slave methods are called automatically when a NMT message from Master are received.
* @ingroup networkmanagement
*/
#include "data.h"
/**
- * @ingroup nmtslave
* @brief Threat the reception of a NMT message from the master
* bus_id is hardware dependant
* @param *d Pointer on the CAN data structure
void proceedNMTstateChange (CO_Data* d, Message * m);
/**
- * @ingroup nmtslave
* @brief Transmit the boot-Up frame when the slave is moving from initialization
* state to pre_operational state.
* bus_id is hardware dependant
*/
/** @defgroup od Object Dictionary Management
+ * @brief The Object Dictionary is the heart of each CANopen device containing all communication and application objects.
* @ingroup userapi
*/
#define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
#define TRANS_EVENT_PROFILE 255 /* Transmission on event */
-/**
- * @ingroup pdo
+/**
* @brief Copy all the data to transmit in process_var
* Prepare the PDO defined at index to be sent
* *pwCobId : returns the value of the cobid. (subindex 1)
*/
UNS8 proceedPDO (CO_Data* d, Message *m);
-/**
- * @ingroup pdo
+/**
* @brief Used by the application to signal changes in process data
* that could be mapped to some TPDO.
* This do not necessarily imply PDO emission.
UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
/**
- * @ingroup pdo
* @brief Initialize PDO feature
* @param *d Pointer on a CAN object data structure
*/
void PDOInit(CO_Data* d);
/**
- * @ingroup pdo
* @brief Stop PDO feature
* @param *d Pointer on a CAN object data structure
*/
* @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
* @param *data Pointer on data
* @param Callback Callback function
- * @param endianize
+ * @param endianize When not 0, data is endianized into network byte order
+ * when 0, data is not endianized and copied in machine native
+ * endianness
* @return 0xFF if error, else return 0
*/
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
* - SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
* - SDO_UPLOAD_IN_PROGRESS // Data not yet available
* - SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
- *
+ * @code
* example :
* UNS32 data;
* UNS8 size;
* readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
* while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
+ * @endcode
*/
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
* - SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
* - SDO_UPLOAD_IN_PROGRESS // Should not arrive !
*
+ * @code
* example :
* UNS32 data = 0x50;
* UNS8 size;
* UNS32 abortCode;
* writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
* while (getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
+ * @endcode
*/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
/**
* @brief Function that user app can overload
- *
+ * @ingroup statemachine
*/
typedef void (*initialisation_t)(CO_Data*);
typedef void (*preOperational_t)(CO_Data*);
/** @defgroup synco Synchronisation Object
* SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
- * Receiving this message causse the node to set the outputs to values received in the previous synchronous RPDO.
+ * Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
* @ingroup comobj
*/
void _post_TPDO(CO_Data* d);
/**
- * @ingroup synco
* @brief Transmit a SYNC message and trigger sync TPDOs
* @param *d Pointer on a CAN object data structure
* @return
UNS8 sendSYNC (CO_Data* d);
/**
- * @ingroup synco
* @brief Transmit a SYNC message on CAN bus
* @param *d Pointer on a CAN object data structure
* @return
LIB_HANDLE LoadCanDriver(const char* driver_name);
/**
- * @ingroup can
* @brief Send a CAN message
* @param port CanFestival file descriptor
* @param *m The message to send
/**
* @ingroup can
- * @brief Stop the timer task
+ * @brief Close a CANopen device
* @param *d Pointer on the CAN object data structure
* @return 0 if succes
*/
/**
* @ingroup can
- * @brief Stop the timer task
+ * @brief Change the CANopen device baudrate
* @param port CanFestival file descriptor
* @param *baud The new baudrate to assign
* @return 0 if succes
projects / CanFestival-3.git / commitdiff