30 lines
1 KiB
C++
30 lines
1 KiB
C++
// ================================================================================
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// CANopen application usage
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// ================================================================================
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#include "canopen.h"
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// find CAN interface:
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canbus* bus = (canbus*) MyPcpApp.FindDeviceByName("can1");
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// …or simply use m_can1 if you're a vehicle subclass ;)
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// create CANopen client:
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CANopenClient client(bus);
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// read value from node #1 SDO 0x1008.00:
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uint32_t value;
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if (client.ReadSDO(1, 0x1008, 0x00, (uint8_t)&value, sizeof(value)) == COR_OK)
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…
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// start node #2, wait for presence:
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if (client.SendNMT(2, CONC_Start, true) == COR_OK)
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…
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// write value into node #3 SDO 0x2345.18:
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if (client.WriteSDO(3, 0x2345, 0x18, (uint8_t)&value, 0) == COR_OK)
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…
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// ================================================================================
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// See shell commands in canopen.cpp for more examples.
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// ================================================================================
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