lely_modm_example

This example shows the use of the lely-core stack with modm on two stm32f439zi nucleo boards. We have used two nucleo boards connected via two can transeivers MIKROE-4107

How to use it

• git submodule update --init --recursive
• cd app && lbuild build && scons
• #scons program

What does it do?

The Example does the following things

• Master
  • create transport channel, timers and relevant executor for master
  • initializes master using the static device description (which comes from the eds description files and the lely dfcgen tool) containing the master / slave SDO / PDO configuration
  • reset the master
  • go into polling loop which forwards can messages from the modm driver to lely and from the lely executor loop to the modm can driver
    • boot up the slave & configure some sdo's
    • Send a pdo (0x4000) contaning a counter, receive back a pdo (0x4001) and increment that received value, just to send it back out at (0x4000) (repeat)
  • let the slave transition through cia402 states until CiA402::State::OperationEnabled is reached
• Slave
  • create transport channel, timers and relevant executor for slave
  • reset the slave
  • go into polling loop which forwards can messages from the modm driver to lely and from the lely executor loop to the modm can driver
    • wait for NMT boot up sequence
    • receive a pdo (0x4000), just to send it back out at (0x4001) (repeat)
  • handle CiA402::ControlWord commands (by alwaysCiA402::StatusWord contaoinig the current slave state) , by applying them to the slave state machine (we will just transit forwards) until CiA402::State::OperationEnabled is reached

Some hints

• To switch between master & Slave implementation, change #define CANOPEN_MASTER 1 to #define CANOPEN_MASTER 0 and flash the code on another board.
• The CiA402 implementation can be disregarded (removed) without problems, it is only here to showcase the application of higher level profiles
  • you can void out the profile policy here:
    • lely_modm::SlaveDriver<ElmoMotorDriver302UserAdapter, ElmoMotorDriver402UserAdapter> driver(exec, master, 2);
  • to look like this:
    • lely_modm::SlaveDriver<ElmoMotorDriver302UserAdapter, void> driver(exec, master, 2);