nikon/CANopenNode
1
0
Fork 0
Code Activity Actions

Merge 9c71bbd4fe into 9b8beed836

Browse source
This commit is contained in:
Jona 2026-07-20 09:33:52 +02:00 committed by GitHub
commit 4e85825159
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
14 changed files with 24 additions and 24 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
301/CO_HBconsumer.h
View file

@ -63,7 +63,7 @@ typedef enum {
CO_HBconsumer_UNCONFIGURED = 0x00U, /**< Consumer entry inactive */
CO_HBconsumer_UNKNOWN = 0x01U, /**< Consumer enabled, but no heartbeat received yet */
CO_HBconsumer_ACTIVE = 0x02U, /**< Heartbeat received within set time */
CO_HBconsumer_TIMEOUT = 0x03U, /**< No heatbeat received for set time */
CO_HBconsumer_TIMEOUT = 0x03U, /**< No heartbeat received for set time */
} CO_HBconsumer_state_t;
/**
@ -104,7 +104,7 @@ typedef struct {
/**
* Heartbeat consumer object.
*
* Object is initilaized by CO_HBconsumer_init(). It contains an array of CO_HBconsNode_t objects.
* Object is initialized by CO_HBconsumer_init(). It contains an array of CO_HBconsNode_t objects.
*/
typedef struct {
CO_EM_t* em; /**< From CO_HBconsumer_init() */

6
301/CO_PDO.h
View file

@ -47,7 +47,7 @@ extern "C" {
* @{
* Process data objects are used for real-time data transfer with no protocol overhead.
*
* TPDO with specific identifier is transmitted by one device and recieved by zero or more devices as RPDO. PDO
* TPDO with specific identifier is transmitted by one device and received by zero or more devices as RPDO. PDO
* communication parameters(COB-ID, transmission type, etc.) are in the Object Dictionary at index 0x1400+ and 0x1800+.
* PDO mapping parameters (size and contents of the PDO) are in the Object Dictionary at index 0x1600+ and 0x1A00+.
*
@ -113,7 +113,7 @@ extern "C" {
#define CO_PDO_MAX_MAPPED_ENTRIES 8U
#endif
/** Number of CANopen RPDO objects, which uses default CAN indentifiers. By default first four RPDOs have pre-defined
/** Number of CANopen RPDO objects, which uses default CAN identifiers. By default first four RPDOs have pre-defined
* CAN identifiers, which depends on node-id. This constant may be set to 0 to disable functionality or set to any other
* value. For example, if there are several logical devices inside single CANopen device, then more than four RPDOs may
* have pre-defined CAN identifiers. In that case RPDO5 has CAN_ID=0x200+NodeId+1, RPDO6 has CAN_ID=0x300+NodeId+1,
@ -122,7 +122,7 @@ extern "C" {
#define CO_RPDO_DEFAULT_CANID_COUNT 4U
#endif
/** Number of CANopen TPDO objects, which uses default CAN indentifiers. If value is more than four, then pre-defined
/** Number of CANopen TPDO objects, which uses default CAN identifiers. If value is more than four, then pre-defined
* pre-defined CAN identifiers are: TPDO5 has CAN_ID=0x180+NodeId+1, TPDO6 has CAN_ID=0x280+NodeId+1, TPDO9 has
* CAN_ID=0x180+NodeId+2 and so on. For description see @ref CO_RPDO_DEFAULT_CANID_COUNT. */
#ifndef CO_TPDO_DEFAULT_CANID_COUNT

8
301/CO_SDOserver.c
View file

@ -386,12 +386,12 @@ reverseBytes(void* start, OD_size_t size) {
#if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_SEGMENTED) != 0
/* Helper function for writing data to Object dictionary. Function swaps data if necessary,
* calcualtes (and verifies CRC) writes data to OD and verifies data lengths.
* calculates (and verifies CRC) writes data to OD and verifies data lengths.
*
* @param SDO SDO server
* @param [out] abortCode SDO abort code in case of error
* @param crcOperation 0=none, 1=calculate, 2=calculate and compare
* @parma crcClient crc checksum to campare with
* @param crcClient crc checksum to compare with
*
* Returns true on success, otherwise write also abortCode and sets state to CO_SDO_ST_ABORT */
static bool_t
@ -498,11 +498,11 @@ validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t
return true;
}
/* Helper function for reading data from Object dictionary. Function also swaps data if necessary and calcualtes CRC.
/* Helper function for reading data from Object dictionary. Function also swaps data if necessary and calculates CRC.
*
* @param SDO SDO server
* @param [out] abortCode SDO abort code in case of error
* @parma countMinimum if data size in buffer is less than countMinimum, then buffer is refilled from OD variable
* @param countMinimum if data size in buffer is less than countMinimum, then buffer is refilled from OD variable
* @param calculateCrc if true, crc is calculated
*
* Returns true on success, otherwise write also abortCode and sets state to CO_SDO_ST_ABORT */

2
301/CO_SDOserver.h
View file

@ -265,7 +265,7 @@ typedef enum {
* 0 < blksize < 128.
* - byte 3..7: Reserved.
* - SDO server waits for response.
* - If c was set to 1 and all segments were successfull received, then communication enters SDO block upload end
* - If c was set to 1 and all segments were successful received, then communication enters SDO block upload end
* phase. */
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
/**

4
301/CO_SYNC.h
View file

@ -48,14 +48,14 @@ extern "C" {
*
* SYNC message is used for synchronization of the nodes on network. One node can be SYNC producer, others can be SYNC
* consumers. Synchronous TPDOs are transmitted after the CANopen SYNC message. Synchronous received PDOs are
* accepted(copied to OD) immediatelly after the reception of the next SYNC message.
* accepted(copied to OD) immediately after the reception of the next SYNC message.
*
* ####Contents of SYNC message
* By default SYNC message has no data. If _Synchronous counter overflow value_ from Object dictionary (index 0x1019) is
* different than 0, SYNC message has one data byte: _counter_ incremented by 1 with every SYNC transmission.
*
* ####SYNC in CANopenNode
* According to CANopen, synchronous RPDOs must be processed after reception of the next sync messsage. For that reason,
* According to CANopen, synchronous RPDOs must be processed after reception of the next sync message. For that reason,
* there is a double receive buffer for each synchronous RPDO. At the moment, when SYNC is received or transmitted,
* internal variable CANrxToggle toggles. That variable is then used by synchronous RPDO to determine, which of the two
* buffers is used for RPDO reception and which for RPDO processing.

2
301/CO_fifo.h
View file

@ -336,7 +336,7 @@ bool_t CO_fifo_trimSpaces(CO_fifo_t* fifo, bool_t* insideComment);
* Get token from FIFO buffer
*
* Function search FIFO buffer for token. Token is string of only graphical characters. Graphical character is any
* printable character except space with acsii code within limits: 0x20 < code < 0x7F (see isgraph() function).
* printable character except space with ascii code within limits: 0x20 < code < 0x7F (see isgraph() function).
*
* If token is found, then copy it to the buf, if count is large enough. On success also set readPtr to point to the
* next graphical character.

2
304/CO_SRDO.h
View file

@ -253,7 +253,7 @@ CO_ReturnError_t CO_SRDO_config(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuar
/**
* Send SRDO on event
*
* Sends SRDO before the next refresh timer tiggers. The message itself is send in CO_SRDO_process(). Note that RTOS
* Sends SRDO before the next refresh timer triggers. The message itself is send in CO_SRDO_process(). Note that RTOS
* have to trigger its processing quickly. After the transmission the timer is reset to the full refresh time.
*
* @param SRDO This object.

2
305/CO_LSSmaster.c
View file

@ -918,7 +918,7 @@ CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference
case CO_LSSmaster_FS_STATE_SCAN:
ret = CO_LSSmaster_FsScanWait(LSSmaster, timeDifference_us, fastscan->scan[LSSmaster->fsLssSub]);
if (ret == CO_LSSmaster_SCAN_FINISHED) {
/* scanning finished, initiate verifcation. The verification message also contains
/* scanning finished, initiate verification. The verification message also contains
* the node state machine "switch to next state" request */
next = CO_LSSmaster_FsSearchNext(LSSmaster, fastscan);
ret = CO_LSSmaster_FsVerifyInitiate(LSSmaster, timeDifference_us, fastscan->scan[LSSmaster->fsLssSub],

6
305/CO_LSSmaster.h
View file

@ -46,7 +46,7 @@ extern "C" {
* - Activate bit timing parameters
* - Store configuration
*
* The LSS master is initalized during the CANopenNode initialization process. Except for enabling the LSS master in the
* The LSS master is initialized during the CANopenNode initialization process. Except for enabling the LSS master in the
* configurator, no further run-time configuration is needed for basic operation. The LSS master does basic checking of
* commands and command sequence.
*
@ -331,7 +331,7 @@ typedef struct {
*
* This initiates searching for a unconfigured node by the means of LSS fastscan mechanism. When this function is
* finished
* - a (more or less) arbitrary node is selected and ready for node ID assingment
* - a (more or less) arbitrary node is selected and ready for node ID assignment
* - no node is selected because the given criteria do not match a node
* - no node is selected because all nodes are already configured
*
@ -356,7 +356,7 @@ fastscan.scan[CO_LSS_FASTSCAN_REV] = CO_LSSmaster_FS_SKIP;
fastscan.scan[CO_LSS_FASTSCAN_SERIAL] = CO_LSSmaster_FS_SCAN;
* \endcode
*
* This example will take 2 scan cyles for verifying vendor ID and product code and 33 scan cycles to find the serial
* This example will take 2 scan cycles for verifying vendor ID and product code and 33 scan cycles to find the serial
* number.
*
* For scanning, the following limitations apply:

2
doc/deviceSupport.md
View file

@ -44,7 +44,7 @@ PIC32, dsPIC30, dsPIC33
* Features: OD storage for PIC32, SDO client demo for PIC32, error counters
* Development tools: MPLAB X
* Demo hardware: Explorer 16 from Microchip, [Max32 board](https://reference.digilentinc.com/reference/microprocessor/max32/start)
* Example with smallest resuorces (less than 2kb RAM), 4TPDO+4RPDO: 16-bit dsPIC30F4011
* Example with smallest resources (less than 2kb RAM), 4TPDO+4RPDO: 16-bit dsPIC30F4011
[Analog Devices Inc](https://www.analog.com): MAX32662, MAX32690

4
doc/traceUsage.md
View file

@ -4,7 +4,7 @@ Trace usage
**TRACE DOES NOT WORK IN THE LAST VERSION**
CANopenNode includes optional trace functionality (non-standard). It monitors
choosen variables from Object Dictionary. On change of state of variable it
chosen variables from Object Dictionary. On change of state of variable it
makes a record with timestamp into circular buffer. String with points can later
be read via SDO.
@ -39,6 +39,6 @@ case CANopenSocket must first receive PDO data from remote node(s) and store it
to the local Object Dictionary variable. CANopenSocket's trace then monitors
that variable. Text buffer is then read with the similar command as above. But
local SDO data access from CANopenSocket itself doesn't occupy CAN bus, so large
data is transfered realy fast. Besides that, Linux machine has much more RAM to
data is transferred really fast. Besides that, Linux machine has much more RAM to
store the monitored data. Except timestamp is less accurate.

2
example/DS301_profile.md
View file

@ -108,7 +108,7 @@ Communication Specific Parameters
* Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
* sub-index 1 and above:
* bit 16-31: Manufacturer specific additional information
* bit 0-15: Error code as transmited in the Emergency object
* bit 0-15: Error code as transmitted in the Emergency object
### 0x1005 - COB-ID SYNC message
| Object Type | Count Label | Storage Group |

2
example/DS301_profile.xpd
View file

@ -657,7 +657,7 @@
<description lang="en">* Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
* sub-index 1 and above:
* bit 16-31: Manufacturer specific additional information
* bit 0-15: Error code as transmited in the Emergency object</description>
* bit 0-15: Error code as transmitted in the Emergency object</description>
<q1:dataTypeIDRef uniqueIDRef="UID_ARR_1003" />
</q1:parameter>
<q1:parameter uniqueID="UID_SUB_100300" access="readWrite">

2
storage/CO_eeprom.h
View file

@ -51,7 +51,7 @@ bool_t CO_eeprom_init(void* storageModule);
* @param len Length of data, which will be stored to that location
* @param [out] overflow set to true, if not enough eeprom memory
*
* @return Asigned eeprom address
* @return Assigned eeprom address
*/
size_t CO_eeprom_getAddr(void* storageModule, bool_t isAuto, size_t len, bool_t* overflow);