main.cpp File Reference

#include "application.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
struct	period_info
	Task Timer used for the Control Loop. More...

Functions
void	configureCANopen (int nodeId, int rtPriority, int CANdevice0Index, char *CANdevice)
void	CO_errExit (char *msg)
void	CO_error (const uint32_t info)
int	main (int argc, char *argv[])

Variables
pthread_mutex_t	CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER
bool	readyToStart = false
uint32_t	tmr1msPrev = 0
volatile uint32_t	CO_timer1ms = 0U
volatile sig_atomic_t	CO_endProgram = 0

Function Documentation

void CO_errExit

(

char *

msg

)

CAN object error code and exit program

Definition at line 313 of file main.cpp.

void CO_error

(

const uint32_t

info

)

send CANopen generic emergency message

Definition at line 317 of file main.cpp.

void configureCANopen	(	int	nodeId,
		int	rtPriority,
		int	CANdevice0Index,
		char *	CANdevice
	)

Definition at line 290 of file main.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Mainline and threads

< Configurable by use case

< linux CAN device interface for app to bind to: change to can1 for bbb vcan0 for virtual can

< CAN Network NODEID

Definition at line 79 of file main.cpp.

Variable Documentation

pthread_mutex_t CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER

Mutex is locked, when CAN is not valid (configuration state). May be used from other threads. RT threads may use CO->CANmodule[0]->CANnormal instead.

Definition at line 39 of file main.cpp.

volatile sig_atomic_t CO_endProgram = 0

Signal handler

Definition at line 71 of file main.cpp.

volatile uint32_t CO_timer1ms = 0U

Global variable increments each millisecond

Definition at line 70 of file main.cpp.

bool readyToStart = false

Flag used by control thread to indicate CAN stack functional

Definition at line 43 of file main.cpp.

uint32_t tmr1msPrev = 0

Definition at line 44 of file main.cpp.