CO_application.h

/**
 * Application interface for CANopenNode.
 *
 * @file        CO_application.h
 * @ingroup     CO_applicationLinux
 * @author      Janez Paternoster
 * @copyright   2021 Janez Paternoster
 *
 * This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
 * file except in compliance with the License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software distributed under the License is
 * distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 */

#ifndef CO_APPLICATION_H
#define CO_APPLICATION_H

#include "CANopen.h"

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @defgroup CO_applicationLinux Application interface to CANopenNode Application interface, similar to Arduino,
 * extended to CANopen and additional, realtime thread.
 *
 * @ingroup CO_socketCAN
 * @{
 */

/**
 * Function is called once on the program startup, after Object dictionary initialization and before CANopen
 * initialization.
 *
 * @param [in,out] bitRate Stored CAN bit rate, can be overridden.
 * @param [in,out] nodeId Stored CANopen NodeId, can be overridden.
 * @param [out] errInfo Variable may indicate error information - index of erroneous OD entry.
 *
 * @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
 */
CO_ReturnError_t app_programStart(uint16_t* bitRate, uint8_t* nodeId, uint32_t* errInfo);

/**
 * Function is called after CANopen communication reset.
 *
 * @param co CANopen object.
 */
void app_communicationReset(CO_t* co);

/**
 * Function is called just before program ends.
 */
void app_programEnd();

/**
 * Function is called cyclically from main().
 *
 * Place for the slower code (all must be non-blocking).
 *
 * @warning
 * Mind race conditions between this functions and app_programRt(), which run from the realtime thread. If accessing
 * Object dictionary variable which is also mappable to PDO, it is necessary to use CO_LOCK_OD() and CO_UNLOCK_OD()
 * macros from @ref CO_critical_sections.
 *
 * @param co CANopen object.
 * @param timer1usDiff Time difference since last call in microseconds
 */
void app_programAsync(CO_t* co, uint32_t timer1usDiff);

/**
 * Function is called cyclically from realtime thread at constant intervals.
 *
 * Code inside this function must be executed fast. Take care on race conditions with app_programAsync.
 *
 * @param co CANopen object.
 * @param timer1usDiff Time difference since last call in microseconds
 */
void app_programRt(CO_t* co, uint32_t timer1usDiff);

/** @} */ /* CO_applicationLinux */

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* CO_APPLICATION_H */