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Add CO_errinfo() into CO_driver.h and driver_targets.

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Add additional error info for 'CO_ERROR_OD_PARAMETERS'.
This commit is contained in:
Janez 2020-10-23 10:49:01 +02:00
parent cf9fb2a547
commit 0e317dddf3
9 changed files with 54 additions and 7 deletions
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4
301/CO_Emergency.c
View file

@ -392,6 +392,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
/* get and verify "Error register" from Object Dictionary */
if (OD_getPtr_u8(OD_1001_errReg, 0, &em->errorRegister) != ODR_OK) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1001_errReg));
return CO_ERROR_OD_PARAMETERS;
}
*em->errorRegister = 0;
@ -401,6 +402,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
uint32_t COB_IDEmergency32;
ODR_t odRet0 = OD_get_u32(OD_1014_cobIdEm, 0, &COB_IDEmergency32, true);
if (odRet0 != ODR_OK || (COB_IDEmergency32 & 0x7FFFF800) != 0) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1014_cobIdEm));
return CO_ERROR_OD_PARAMETERS;
}
@ -412,6 +414,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
(void *) em,
OD_read_1014,
OD_write_1014)) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1014_cobIdEm));
return CO_ERROR_OD_PARAMETERS;
}
/* following two variables are used inside OD_read_1014 and OD_write_1014 */
@ -428,6 +431,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
(void *) em,
OD_read_1014_default,
OD_writeOriginal)) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1014_cobIdEm));
return CO_ERROR_OD_PARAMETERS;
}
#endif

1
301/CO_NMT_Heartbeat.c
View file

@ -126,6 +126,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
/* get and verify required "Producer heartbeat time" from Object Dict. */
uint16_t HBprodTime_ms;
if (OD_get_u16(OD_1017_ProducerHbTime, 0, &HBprodTime_ms, true) != ODR_OK) {
CO_errinfo(NMT_CANdevRx, OD_getIndex(OD_1017_ProducerHbTime));
return CO_ERROR_OD_PARAMETERS;
}
NMT->HBproducerTime_us = (uint32_t)HBprodTime_ms * 1000;

2
301/CO_SDOclient.c
View file

@ -284,6 +284,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
if (odRet0 != ODR_OK || maxSubIndex != 3
|| odRet1 != ODR_OK || odRet2 != ODR_OK || odRet3 != ODR_OK
) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1280_SDOcliPar));
return CO_ERROR_OD_PARAMETERS;
}
@ -292,6 +293,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
(void *)SDO_C,
OD_readOriginal,
OD_write_1280)) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1280_SDOcliPar));
return CO_ERROR_OD_PARAMETERS;
}

17
301/CO_SDOserver.c
View file

@ -388,9 +388,11 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
if (!OD_extensionIO_init(OD_1200_SDOsrvPar,
(void *) SDO,
OD_read_1200_default,
NULL)) {
return CO_ERROR_OD_PARAMETERS;
}
NULL)
) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar));
return CO_ERROR_OD_PARAMETERS;
}
}
else if (OD_getIndex(OD_1200_SDOsrvPar) > OD_H1200_SDO_SERVER_1_PARAM
&& OD_getIndex(OD_1200_SDOsrvPar) <= (OD_H1200_SDO_SERVER_1_PARAM+0x7F)
@ -409,6 +411,7 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
if (odRet0 != ODR_OK || (maxSubIndex != 2 && maxSubIndex != 3)
|| odRet1 != ODR_OK || odRet2 != ODR_OK
) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar));
return CO_ERROR_OD_PARAMETERS;
}
@ -422,9 +425,11 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
if (!OD_extensionIO_init(OD_1200_SDOsrvPar,
(void *) SDO,
OD_readOriginal,
OD_write_1201_additional)) {
return CO_ERROR_OD_PARAMETERS;
}
OD_write_1201_additional)
) {
CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar));
return CO_ERROR_OD_PARAMETERS;
}
#endif
}
else {

19
301/CO_driver.h
View file

@ -324,6 +324,7 @@ typedef struct {
volatile uint16_t CANtxCount; /**< Number of messages in transmit
buffer, which are waiting to be copied to the CAN module */
uint32_t errOld; /**< Previous state of CAN errors */
int32_t errinfo; /**< For use with @ref CO_errinfo() */
} CO_CANmodule_t;
@ -393,6 +394,24 @@ typedef struct {
#endif /* CO_DOXYGEN */
/** Macro for passing additional information about error.
*
* This macro is called from several CANopen init functions, which returns
* @ref CO_ReturnError_t.
*
* CO_driver_target.h may implement this macro. Usually macro only sets
* CANmodule->errinfo to err. Application may then use CANmodule->errinfo to
* determine the reason of failure. errinfo must be type of int32_t. By default
* macro does not record anything.
*
* CO_errinfo is called in following @ref CO_ReturnError_t reasons:
* - 'CO_ERROR_OD_PARAMETERS' - Index of erroneous OD parameter.
*/
#ifndef CO_errinfo
#define CO_errinfo(CANmodule, err)
#endif
/**
* Default CANopen identifiers.
*

5
example/CO_driver_target.h
View file

@ -182,6 +182,10 @@ extern "C" {
#endif
/* Macro for passing additional information about error, see CO_driver.h. */
#define CO_errinfo(CANmodule, err) CANmodule->errinfo = err
/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
#define CO_LITTLE_ENDIAN
#define CO_SWAP_16(x) x
@ -234,6 +238,7 @@ typedef struct {
volatile bool_t firstCANtxMessage;
volatile uint16_t CANtxCount;
uint32_t errOld;
int32_t errinfo;
} CO_CANmodule_t;

4
socketCAN/CO_driver_target.h
View file

@ -194,6 +194,9 @@ extern "C" {
* Linux socketCAN specific @ref CO_driver definitions for CANopenNode.
*/
/* Macro for passing additional information about error, see CO_driver.h. */
#define CO_errinfo(CANmodule, err) CANmodule->errinfo = err
/**
* Multi interface support
*
@ -347,6 +350,7 @@ typedef struct {
CO_CANtx_t *txArray;
uint16_t txSize;
uint16_t CANerrorStatus;
int32_t errinfo;
volatile bool_t CANnormal;
int epoll_fd; /* File descriptor for epoll, which waits for
CAN receive event */

1
socketCAN/CO_error_msgs.h
View file

@ -77,6 +77,7 @@ extern "C" {
#define DBG_WRONG_PRIORITY "(%s) Wrong RT priority \"%d\"", __func__
#define DBG_NO_CAN_DEVICE "(%s) Can't find CAN device \"%s\"", __func__
#define DBG_OBJECT_DICTIONARY "(%s) Error in Object Dictionary \"%s\"", __func__
#define DBG_OD_ENTRY "(%s) Error in Object Dictionary entry: 0x%X", __func__
#define DBG_CAN_OPEN "(%s) CANopen error in %s, err=%d", __func__
#define DBG_CAN_OPEN_INFO "CANopen device, Node ID = 0x%02X, %s"

8
socketCAN/CO_main_basic.c
View file

@ -500,7 +500,13 @@ int main (int argc, char *argv[]) {
SDO_TIMEOUT_TIME, /* SDOtimeoutTime_ms */
CO_activeNodeId);
if(err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf(LOG_CRIT, DBG_OD_ENTRY,
(uint16_t)CO->CANmodule->errinfo);
}
else {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
}
exit(EXIT_FAILURE);
}