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Merge 3d9d5fda83 into 9b8beed836

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henri62 2026-07-13 10:42:54 +00:00 committed by GitHub
commit 164d653993
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8 changed files with 27 additions and 12 deletions
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8
301/CO_HBconsumer.c
View file

@ -18,6 +18,8 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#include <stdint.h>
#include "301/CO_HBconsumer.h"
#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0
@ -91,7 +93,7 @@ OD_write_1016(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
uint32_t val = CO_getUint32(buf);
uint8_t nodeId = (uint8_t)((val >> 16) & 0xFFU);
uint16_t consumer_time = (uint16_t)(val & 0xFFFFU);
CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, stream->subIndex - 1U, nodeId, consumer_time);
CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, stream->subIndex - (uint8_t)1U, nodeId, consumer_time);
if (ret != CO_ERROR_NO) {
return ODR_PAR_INCOMPAT;
}
@ -120,8 +122,8 @@ CO_HBconsumer_init(CO_HBconsumer_t* HBcons, CO_EM_t* em, CO_HBconsNode_t* monito
HBcons->CANdevRxIdxStart = CANdevRxIdxStart;
/* get actual number of monitored nodes */
HBcons->numberOfMonitoredNodes = ((OD_1016_HBcons->subEntriesCount - 1U) < monitoredNodesCount)
? (OD_1016_HBcons->subEntriesCount - 1U)
HBcons->numberOfMonitoredNodes = ((OD_1016_HBcons->subEntriesCount - (uint8_t)1U) < monitoredNodesCount)
? (OD_1016_HBcons->subEntriesCount - (uint8_t)1U)
: monitoredNodesCount;
for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {

2
301/CO_HBconsumer.h
View file

@ -21,6 +21,8 @@
#ifndef CO_HB_CONS_H
#define CO_HB_CONS_H
#include <stdint.h>
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"

8
301/CO_ODinterface.c
View file

@ -17,7 +17,9 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#include <stdint.h>
#include <string.h>
#define OD_DEFINITION
#include "301/CO_ODinterface.h"
@ -147,13 +149,13 @@ OD_find(OD_t* od, uint16_t index) {
}
uint16_t min = 0;
uint16_t max = od->size - 1U;
uint16_t max = od->size - (uint16_t)1U;
/* Fast search in ordered Object Dictionary. If indexes are mixed, this won't work. If Object
* Dictionary has up to N entries, then the max number of loop passes is log2(N) */
while (min < max) {
/* get entry between min and max */
uint16_t cur = (min + max) >> 1;
uint16_t cur = (uint16_t)(min + max) >> 1;
OD_entry_t* entry = &od->list[cur];
if (index == entry->index) {
@ -161,7 +163,7 @@ OD_find(OD_t* od, uint16_t index) {
}
if (index < entry->index) {
max = (cur > 0U) ? (cur - 1U) : cur;
max = (cur > 0U) ? (cur - (uint16_t)1U) : cur;
} else {
min = cur + 1U;
}

4
301/CO_ODinterface.h
View file

@ -21,6 +21,8 @@
#ifndef CO_OD_INTERFACE_H
#define CO_OD_INTERFACE_H
#include <stdint.h>
#include "301/CO_driver.h"
#ifdef __cplusplus
@ -393,7 +395,7 @@ OD_requestTPDO(OD_entry_t* entry, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
if ((entry != NULL) && (entry->extension != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
/* clear subIndex-th bit */
uint8_t mask = ~(1U << (subIndex & 0x07U));
uint8_t mask = (uint8_t)~(1U << (subIndex & 0x07U));
entry->extension->flagsPDO[subIndex >> 3] &= mask;
}
#endif

5
301/CO_PDO.c
View file

@ -18,6 +18,7 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#include <stdint.h>
#include <string.h>
#include "301/CO_PDO.h"
@ -290,7 +291,7 @@ OD_write_PDO_mapping(OD_stream_t* stream, const void* buf, OD_size_t count, OD_s
PDO->mappedObjectsCount = mappedObjectsCount;
} else {
uint32_t val = CO_getUint32(buf);
ODR_t odRet = PDOconfigMap(PDO, val, stream->subIndex - 1U, PDO->isRPDO, PDO->OD);
ODR_t odRet = PDOconfigMap(PDO, val, stream->subIndex - (uint8_t)1U, PDO->isRPDO, PDO->OD);
if (odRet != ODR_OK) {
return odRet;
}
@ -307,7 +308,7 @@ static CO_ReturnError_t
PDO_initMapping(CO_PDO_common_t* PDO, OD_t* OD, OD_entry_t* OD_PDOMapPar, bool_t isRPDO, uint32_t* errInfo,
uint32_t* erroneousMap) {
ODR_t odRet;
size_t pdoDataLength = 0;
uint8_t pdoDataLength = 0;
/* number of mapped application objects in PDO */
uint8_t mappedObjectsCount = 0;

2
301/CO_PDO.h
View file

@ -21,6 +21,8 @@
#ifndef CO_PDO_H
#define CO_PDO_H
#include <stdint.h>
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
#include "301/CO_SYNC.h"

2
example/CO_driver_blank.c
View file

@ -24,6 +24,7 @@
void
CO_CANsetConfigurationMode(void* CANptr) {
(void)(CANptr);
/* Put CAN module in configuration mode */
}
@ -37,6 +38,7 @@ CO_CANsetNormalMode(CO_CANmodule_t* CANmodule) {
CO_ReturnError_t
CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[],
uint16_t txSize, uint16_t CANbitRate) {
(void)(CANbitRate);
uint16_t i;
/* verify arguments */

8
example/main_blank.c
View file

@ -20,6 +20,8 @@
*/
#include <stdio.h>
#include <stdint.h>
#include <inttypes.h>
#include "CANopen.h"
#include "OD.h"
@ -81,7 +83,7 @@ main(void) {
log_printf("Error: Can't allocate memory\n");
return 0;
} else {
log_printf("Allocated %u bytes for CANopen objects\n", heapMemoryUsed);
log_printf("Allocated %" PRIu32 " bytes for CANopen objects\n", heapMemoryUsed);
}
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
@ -139,7 +141,7 @@ main(void) {
activeNodeId, &errInfo);
if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf("Error: Object Dictionary entry 0x%X\n", errInfo);
log_printf("Error: Object Dictionary entry 0x%" PRIu32 "\n", errInfo);
} else {
log_printf("Error: CANopen initialization failed: %d\n", err);
}
@ -149,7 +151,7 @@ main(void) {
err = CO_CANopenInitPDO(CO, CO->em, OD, activeNodeId, &errInfo);
if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf("Error: Object Dictionary entry 0x%X\n", errInfo);
log_printf("Error: Object Dictionary entry 0x%" PRIu32 "\n", errInfo);
} else {
log_printf("Error: PDO initialization failed: %d\n", err);
}