Move socketCAN/Makefile into base directory
Partially update sockeCAN/main.c and rename to sockeCAN/CO_main_basic.c. Fix some warnings in socketCAN.
This commit is contained in:
Janez
parent
9d17b0d671
commit
02a734a832
8 changed files with 70 additions and 97 deletions
3
.gitignore
vendored
3
.gitignore
vendored
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@ -1,4 +1,5 @@
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canopennode
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/example/canopennode_blank
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/canopend
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*.o
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doc/html/
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@ -1,13 +1,13 @@
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# Makefile for CANopenNode with socketCAN
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# Makefile for CANopenNode with Linux socketCAN
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DRV_SRC = .
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CANOPEN_SRC = ..
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OD_SRC = ../example
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APPL_SRC = .
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DRV_SRC = socketCAN
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CANOPEN_SRC = .
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OD_SRC = example
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APPL_SRC = socketCAN
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LINK_TARGET = canopensocket
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LINK_TARGET = canopend
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INCLUDE_DIRS = \
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@ -37,20 +37,13 @@ SOURCES = \
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$(CANOPEN_SRC)/extra/CO_trace.c \
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$(CANOPEN_SRC)/CANopen.c \
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$(OD_SRC)/CO_OD.c \
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$(APPL_SRC)/main.c
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# This can be a single or multi threaded application. If multithreaded is
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# used, then two nonblocking threads will be used: fast rt-thread for CAN
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# reception + PDO + SYNC processing and slow mainline for other processing.
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# For multithreaded operation:
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# - Add flag -DCO_MULTI_THREAD to the CFLAGS.
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# - Add flag -pthread to LDFLAGS.
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$(APPL_SRC)/CO_main_basic.c
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OBJS = $(SOURCES:%.c=%.o)
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CC ?= gcc
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CFLAGS = -Wall -g $(INCLUDE_DIRS) -DCO_MULTI_THREAD
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OPT = -Og
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CFLAGS = -Wall $(OPT) $(INCLUDE_DIRS)
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LDFLAGS = -pthread
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@ -1,17 +1,19 @@
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# Makefile for CANopenNode, basic compile with blank CAN device.
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# Makefile for CANopenNode, basic compile with blank CAN device
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DRV_SRC = .
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CANOPEN_SRC = ..
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OD_SRC = .
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APPL_SRC = .
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LINK_TARGET = canopennode
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LINK_TARGET = canopennode_blank
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INCLUDE_DIRS = \
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-I$(DRV_SRC) \
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-I$(CANOPEN_SRC) \
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-I$(OD_SRC) \
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-I$(APPL_SRC)
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@ -31,13 +33,14 @@ SOURCES = \
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$(CANOPEN_SRC)/305/CO_LSSmaster.c \
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$(CANOPEN_SRC)/extra/CO_trace.c \
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$(CANOPEN_SRC)/CANopen.c \
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$(APPL_SRC)/CO_OD.c \
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$(OD_SRC)/CO_OD.c \
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$(APPL_SRC)/main_blank.c
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OBJS = $(SOURCES:%.c=%.o)
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CC = gcc
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CFLAGS = -Wall $(INCLUDE_DIRS)
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CC ?= gcc
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OPT = -g
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CFLAGS = -Wall $(OPT) $(INCLUDE_DIRS)
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LDFLAGS =
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@ -886,7 +886,7 @@ int32_t CO_CANrxWait(CO_CANmodule_t *CANmodule, int fdTimer, CO_CANrxMsg_t *buff
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{
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int32_t retval;
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int32_t ret;
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const void *CANptr;
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const void *CANptr = NULL;
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CO_ReturnError_t err;
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CO_CANinterface_t *interface = NULL;
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struct epoll_event ev[1];
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@ -26,10 +26,10 @@
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <time.h>
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#include <linux/can/error.h>
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#include "301/CO_driver.h"
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#include "CO_error.h"
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@ -38,7 +38,7 @@
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*/
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static CO_CANinterfaceState_t CO_CANerrorSetListenOnly(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler,
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bool_t resetIf)
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unsigned char resetIf)
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{
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char command[100];
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@ -48,12 +48,17 @@ static CO_CANinterfaceState_t CO_CANerrorSetListenOnly(
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CANerrorhandler->listenOnly = true;
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if (resetIf) {
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int ret;
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snprintf(command, sizeof(command), "ip link set %s down && "
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"ip link set %s up "
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"&",
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CANerrorhandler->ifName,
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CANerrorhandler->ifName);
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system(command);
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ret = system(command);
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if(ret < 0){
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log_printf(LOG_DEBUG, DBG_ERRNO, "system()");
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}
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}
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return CO_INTERFACE_LISTEN_ONLY;
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@ -29,6 +29,10 @@
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#define CO_ERROR_H
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#include <stdint.h>
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#include <errno.h>
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#include <string.h>
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#include <linux/can.h>
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#include <net/if.h>
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#if __has_include("CO_error_custom.h")
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#include "CO_error_custom.h"
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@ -1,7 +1,7 @@
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/*
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* CANopen main program file for Linux SocketCAN.
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*
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* @file main
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* @file main.c
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* @author Janez Paternoster
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* @copyright 2015 - 2020 Janez Paternoster
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*
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@ -24,9 +24,6 @@
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*/
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#include "CANopen.h"
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#include "CO_OD_storage.h"
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#include "CO_Linux_threads.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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@ -39,40 +36,37 @@
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#include <linux/reboot.h>
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#include <sys/reboot.h>
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#ifdef CO_USE_APPLICATION
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#include "CANopen.h"
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#include "CO_OD_storage.h"
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#include "CO_notify_pipe.h"
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#include "CO_error.h"
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#include "CO_Linux_threads.h"
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/* Call external application functions. */
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#include "application.h"
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#if __has_include("CO_application.h")
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#include "CO_application.h"
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#define CO_USE_APPLICATION
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#endif
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/* Add trace functionality for recording variables over time */
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#if CO_NO_TRACE > 0
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#include "CO_time_trace.h"
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#endif
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#ifdef CO_USE_309
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/* Use DS309-3 standard - ASCII command interface to CANopen: NMT + LSS master, SDO client */
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/* Use DS309-3 standard - ASCII command interface to CANopen: NMT master,
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* LSS master and SDO client */
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#ifdef CO_309
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#include "CO_command.h"
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#endif
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#ifdef CO_MULTI_THREAD
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/* Use two nonblocking threads: fast rt-thread for CAN reception + PDO + SYNC
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* processing and slow mainline for other processing. */
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#include <pthread.h>
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/* Interval of real-time thread in microseconds */
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#ifndef TMR_THREAD_INTERVAL_US
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#define TMR_THREAD_INTERVAL_US 1000
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#endif
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#define NSEC_PER_SEC (1000000000) /* The number of nanoseconds per second. */
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#define NSEC_PER_MSEC (1000000) /* The number of nanoseconds per millisecond. */
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#define TMR_THREAD_INTERVAL_NS (1000000) /* Interval of threadTmr in nanoseconds */
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#define TMR_THREAD_OVERFLOW_US (5000) /* Overflow detect limit for threadTmr in microseconds */
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#define INCREMENT_1MS(var) (var++) /* Increment 1ms variable in threadTmr */
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/* Global variable increments each millisecond. */
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volatile uint16_t CO_timer1ms = 0U;
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#ifdef CO_MULTI_THREAD
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#ifdef CO_309
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/* Mutex is locked, when CAN is not valid (configuration state). May be used
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* from other threads. RT threads may use CO->CANmodule[0]->CANnormal instead. */
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* from command interface. RT threads may use CO->CANmodule[0]->CANnormal instead. */
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pthread_mutex_t CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER;
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#endif
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@ -83,7 +77,7 @@ static CO_OD_storage_t odStor; /* Object Dictionary storage obj
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static CO_OD_storage_t odStorAuto; /* Object Dictionary storage object for CO_OD_EEPROM */
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static char *odStorFile_rom = "od_storage"; /* Name of the file */
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static char *odStorFile_eeprom = "od_storage_auto"; /* Name of the file */
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#ifdef CO_USE_309
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#ifdef CO_309
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static in_port_t CO_command_socket_tcp_port = 60000; /* default port when used in tcp gateway mode */
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#endif
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#if CO_NO_TRACE > 0
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@ -126,12 +120,13 @@ fprintf(stderr,
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"Options:\n"
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" -i <Node ID> CANopen Node-id (1..127). If not specified, value from\n"
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" Object dictionary (0x2101) is used.\n"
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" -p <RT priority> Realtime priority of RT thread (RT disabled by default).\n"
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" -p <RT priority> Real-time priority of RT thread (1 .. 99). If not set or\n"
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" set to -1, then normal scheduler is used for RT thread.\n"
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" -r Enable reboot on CANopen NMT reset_node command. \n"
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" -s <ODstorage file> Set Filename for OD storage ('od_storage' is default).\n"
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" -a <ODstorageAuto> Set Filename for automatic storage variables from\n"
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" Object dictionary. ('od_storage_auto' is default).\n");
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#ifdef CO_USE_309
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#ifdef CO_309
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fprintf(stderr,
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" -c <Socket path> Enable command interface for master functionality. \n"
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" If socket path is specified as empty string \"\",\n"
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@ -147,7 +142,7 @@ fprintf(stderr,
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#endif
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fprintf(stderr,
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"\n"
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"See also: https://github.com/CANopenNode/CANopenSocket\n"
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"See also: https://github.com/CANopenNode/CANopenNode\n"
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"\n");
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}
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@ -167,7 +162,7 @@ int main (int argc, char *argv[]) {
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bool_t nodeIdFromArgs = false; /* True, if program arguments are used for CANopen Node Id */
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int nodeId = -1; /* Use value from Object Dictionary or set to 1..127 by arguments */
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bool_t rebootEnable = false; /* Configurable by arguments */
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#ifdef CO_USE_309
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#ifdef CO_309
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typedef enum CMD_MODE {CMD_NONE, CMD_LOCAL, CMD_REMOTE} cmdMode_t;
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cmdMode_t commandEnable = CMD_NONE; /* Configurable by arguments */
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#endif
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@ -187,7 +182,7 @@ int main (int argc, char *argv[]) {
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break;
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case 'p': rtPriority = strtol(optarg, NULL, 0); break;
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case 'r': rebootEnable = true; break;
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#ifdef CO_USE_309
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#ifdef CO_309
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case 'c':
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/* In case of empty string keep default name, just enable interface. */
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if(strlen(optarg) != 0) {
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@ -288,7 +283,7 @@ int main (int argc, char *argv[]) {
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printf("%s - communication reset ...\n", argv[0]);
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#ifdef CO_MULTI_THREAD
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#ifdef CO_309
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/* Wait other threads (command interface). */
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pthread_mutex_lock(&CO_CAN_VALID_mtx);
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#endif
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@ -335,6 +330,7 @@ int main (int argc, char *argv[]) {
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/* Configure callback functions for thread control */
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// void CO_CANopenInitCallback(void *object, void (*pFunctSignal)(void *object));
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// CO_EM_initCallback(CO->em, threadMain_cbSignal);
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// CO_SDO_initCallback(CO->SDO[0], threadMain_cbSignal);
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// CO_SDOclient_initCallback(CO->SDOclient, threadMain_cbSignal);
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@ -367,8 +363,6 @@ int main (int argc, char *argv[]) {
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/* Init threadRT */
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CANrx_threadTmr_init(rt_thread_epoll_fd, TMR_THREAD_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);
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OD_performance[ODA_performance_timerCycleTime] = TMR_THREAD_INTERVAL_NS/1000; /* informative */
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/* Create rt_thread */
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if(pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0)
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CO_errExit("Program init - rt_thread creation failed");
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@ -381,23 +375,9 @@ int main (int argc, char *argv[]) {
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if(pthread_setschedparam(rt_thread_id, SCHED_FIFO, ¶m) != 0)
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CO_errExit("Program init - rt_thread set scheduler failed");
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}
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#else
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/* Init threadRT */
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CANrx_threadTmr_init(mainline_epoll_fd, TMR_THREAD_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);
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OD_performance[ODA_performance_timerCycleTime] = TMR_THREAD_INTERVAL_NS/1000; /* informative */
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/* Set priority for mainline */
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if(rtPriority > 0) {
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struct sched_param param;
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param.sched_priority = rtPriority;
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if(sched_setscheduler(0, SCHED_FIFO, ¶m) != 0)
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CO_errExit("Program init - mainline set scheduler failed");
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}
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#endif
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#ifdef CO_USE_309
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#ifdef CO_309
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/* Initialize socket command interface */
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switch(commandEnable) {
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case CMD_LOCAL:
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@ -421,7 +401,7 @@ int main (int argc, char *argv[]) {
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/* Execute optional additional application code */
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app_programStart();
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#endif
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}
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} /* if(firstRun) */
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#ifdef CO_USE_APPLICATION
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@ -433,7 +413,7 @@ int main (int argc, char *argv[]) {
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/* start CAN */
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CO_CANsetNormalMode(CO->CANmodule[0]);
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#ifdef CO_MULTI_THREAD
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#ifdef CO_309
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pthread_mutex_unlock(&CO_CAN_VALID_mtx);
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#endif
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@ -456,17 +436,6 @@ int main (int argc, char *argv[]) {
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}
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}
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#ifndef CO_MULTI_THREAD
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else if(CANrx_threadTmr_process(ev.data.fd)) {
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/* code was processed in the above function. Additional code process below */
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INCREMENT_1MS(CO_timer1ms);
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/* Detect timer large overflow */
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if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_THREAD_OVERFLOW_US && rtPriority > 0) {
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CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
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}
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}
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#endif
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else if(threadMain_process(ev.data.fd, &reset, CO_timer1ms)) {
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uint16_t timer1msDiff;
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static uint16_t tmr1msPrev = 0;
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@ -495,7 +464,7 @@ int main (int argc, char *argv[]) {
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/* program exit ***************************************************************/
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/* join threads */
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#ifdef CO_USE_309
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#ifdef CO_309
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switch (commandEnable)
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{
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case CMD_LOCAL:
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@ -566,9 +535,6 @@ static void* rt_thread(void* arg) {
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else if(CANrx_threadTmr_process(ev.data.fd)) {
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int i;
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/* code was processed in the above function. Additional code process below */
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INCREMENT_1MS(CO_timer1ms);
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#if CO_NO_TRACE > 0
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/* Monitor variables with trace objects */
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CO_time_process(&CO_time);
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@ -582,10 +548,6 @@ static void* rt_thread(void* arg) {
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app_program1ms();
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#endif
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/* Detect timer large overflow */
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if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_THREAD_OVERFLOW_US && rtPriority > 0 && CO->CANmodule[0]->CANnormal) {
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CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
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}
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}
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else {
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@ -6,6 +6,7 @@
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#include <stdlib.h>
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#include "CO_notify_pipe.h"
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#include "CO_error.h"
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CO_NotifyPipe_t *CO_NotifyPipeCreate(void)
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@ -50,8 +51,12 @@ int CO_NotifyPipeGetFd(CO_NotifyPipe_t *p)
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void CO_NotifyPipeSend(CO_NotifyPipe_t *p)
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{
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ssize_t ret;
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if (p == NULL) {
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return;
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}
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write(p->m_sendFd,"1",1);
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ret = write(p->m_sendFd,"1",1);
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if(ret < 0){
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log_printf(LOG_DEBUG, DBG_ERRNO, "write()");
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}
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}
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