CAN Interface

The interface component provides an interface to the hardware driver.

Structure

  classDiagram
      CO_NODE o-- CO_IF : Node
      CO_IF_DRV *-- CO_IF : Drv
      CO_IF_FRM -- CO_IF
      class CO_IF {
        +COIfCanClose()
        +COIfCanRead(destination) int16_t
        +COIfCanReset()
        +COIfCanSend(source) int16_t
      }

Data

The class CO_IF is defined within co_if.h and is responsible for the interface management. The following data members are in this class

Data Member	Type	Description
Node	CO_NODE*	pointer to parent node
Drv	CO_IF_DRV	driver specific CAN bus identification

Note: The data within this structure must never be manipulated without the corresponding class member functions. This can lead to unpredictable behavior of the node.

Functions

The following table describes the API functions of the CANopen interface module. These functions are implemented within the source file: co_if.c/h