Node Specification
This section describes the basic node specification. This table must be existent for each CANopen node, which shall be active within the CANopen device.
Example:
| Code Block | ||
|---|---|---|
| ||
const CO_NODE_SPEC AppSpec = {
(CPU_INT08U ) 0x01,
(CO_OBJ *)&AppObjDir,
(CPU_INT16U ) sizeof(AppObjDir)/sizeof(CO_OBJ),
(CO_EMCY_TBL *)&AppEmcyCode,
(CO_TMR_MEM *)&AppTmrMem,
(CPU_INT16U ) sizeof(AppTmrMem)/sizeof(CO_TMR_MEM),
(CANBUS_PARA *)&AppCanCfg,
(CPU_INT08U *)&AppSdoBuf
}; |
This example specifies the basic node information for the example node. Each entry is a part of this configuration file co_obj_cfg.c. This structure is only required for startup of the CANopen stack.
...
For the usage of this structure, see the Reference Manual [2]. The following example instantiates a single CANopen node:
| Code Block | ||
|---|---|---|
| ||
extern const CO_NODE_SPEC AppSpec;
CO_NODE AppNode;
void StartNode (void)
{
CONodeInit(&AppNode, (CO_NODE_SPEC *)&AppSpec);
if (CONodeGetErr(&AppNode) != CO_ERR_NONE) {
/* error handling */
}
}; |