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Storage update

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This commit is contained in:
Janez 2021-05-04 11:34:11 +02:00
parent 5e089ea025
commit 67a1ed7512
6 changed files with 57 additions and 43 deletions
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4
301/CO_storage.c
View file

@ -43,7 +43,7 @@ static ODR_t OD_write_1010(OD_stream_t *stream, const void *buf,
CO_storage_t *storage = stream->object;
if (stream->subIndex == 0 || storage->store == NULL) {
if (stream->subIndex == 0 || storage->store == NULL || !storage->enabled) {
return ODR_READONLY;
}
@ -93,7 +93,7 @@ static ODR_t OD_write_1011(OD_stream_t *stream, const void *buf,
CO_storage_t *storage = stream->object;
if (stream->subIndex == 0 || storage->restore == NULL) {
if (stream->subIndex == 0 || storage->restore == NULL || !storage->enabled){
return ODR_READONLY;
}

2
301/CO_storage.h
View file

@ -111,6 +111,8 @@ typedef struct {
CO_CANmodule_t *CANmodule); /**< From CO_storage_init() */
CO_storage_entry_t *entries; /**< From CO_storage_init() */
uint8_t entriesCount; /**< From CO_storage_init() */
bool_t enabled; /**< true, if storage is enabled. Setting of this variable
is implementation specific. */
} CO_storage_t;

12
socketCAN/CO_driver_target.h
View file

@ -352,12 +352,12 @@ typedef struct {
#ifdef CO_SINGLE_THREAD
#define CO_LOCK_CAN_SEND(CAN_MODULE)
#define CO_UNLOCK_CAN_SEND(CAN_MODULE)
#define CO_LOCK_EMCY(CAN_MODULE)
#define CO_UNLOCK_EMCY(CAN_MODULE)
#define CO_LOCK_OD(CAN_MODULE)
#define CO_UNLOCK_OD(CAN_MODULE)
#define CO_LOCK_CAN_SEND(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_CAN_SEND(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_LOCK_EMCY(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_EMCY(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_LOCK_OD(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_UNLOCK_OD(CAN_MODULE) {(void) CAN_MODULE;}
#define CO_MemoryBarrier()
#else

75
socketCAN/CO_main_basic.c
View file

@ -106,13 +106,22 @@
/* CANopen object */
CO_t *CO = NULL;
/* Configurable CAN bit-rate and CANopen node-id, store-able to non-volatile
* memory. Can be set by argument and changed by LSS slave. */
typedef struct { uint16_t bitRate; uint8_t nodeId; } CO_pending_t;
CO_pending_t CO_pending = { .bitRate = 0, .nodeId = CO_LSS_NODE_ID_ASSIGNMENT };
/* Active node-id, copied from CO_pending.nodeId in the communication reset */
/* Active node-id, copied from pendingNodeId in the communication reset */
static uint8_t CO_activeNodeId = CO_LSS_NODE_ID_ASSIGNMENT;
/* Data block for mainline data, which can be stored to non-volatile memory */
typedef struct {
/* Pending CAN bit rate, can be set by argument or LSS slave. */
uint16_t pendingBitRate;
/* Pending CANopen NodeId, can be set by argument or LSS slave. */
uint8_t pendingNodeId;
} mainlineStorage_t;
mainlineStorage_t mlStorage = {
.pendingBitRate = 0,
.pendingNodeId = CO_LSS_NODE_ID_ASSIGNMENT
};
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
static CO_time_t CO_time; /* Object for current time */
#endif
@ -212,9 +221,9 @@ static void HeartbeatNmtChangedCallback(uint8_t nodeId, uint8_t idx,
/* callback for storing node id and bitrate */
static bool_t LSScfgStoreCallback(void *object, uint8_t id, uint16_t bitRate) {
(void)object;
CO_pending.nodeId = id;
CO_pending.bitRate = bitRate;
mainlineStorage_t *mainlineStorage = object;
mainlineStorage->pendingNodeId = id;
mainlineStorage->pendingBitRate = bitRate;
return true;
}
@ -276,7 +285,7 @@ int main (int argc, char *argv[]) {
bool_t firstRun = true;
char* CANdevice = NULL; /* CAN device, configurable by arguments. */
bool_t nodeIdFromArgs = false; /* True, if program arguments are used for CANopen Node Id */
int16_t nodeIdFromArgs = -1; /* May be set by arguments */
bool_t rebootEnable = false; /* Configurable by arguments */
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
@ -291,11 +300,12 @@ int main (int argc, char *argv[]) {
'.','p','e','r','s','i','s','t','\0'}
},
{
.addr = &CO_pending,
.len = sizeof(CO_pending),
.addr = &mlStorage,
.len = sizeof(mlStorage),
.subIndexOD = 4,
.attr = CO_storage_cmd | CO_storage_auto | CO_storage_restore,
.filename = {'l','s','s','.','p','e','r','s','i','s','t','\0'}
.filename = {'m','a','i','n','l','i','n','e',
'.','p','e','r','s','i','s','t','\0'}
},
CO_STORAGE_APPLICATION
};
@ -328,10 +338,12 @@ int main (int argc, char *argv[]) {
}
while((opt = getopt(argc, argv, "i:p:rc:T:s:")) != -1) {
switch (opt) {
case 'i':
nodeIdFromArgs = true;
CO_pending.nodeId = (uint8_t)strtol(optarg, NULL, 0);
case 'i': {
long int nodeIdLong = strtol(optarg, NULL, 0);
nodeIdFromArgs = (nodeIdLong < 0 || nodeIdLong > 0xFF)
? 0 : (uint8_t)strtol(optarg, NULL, 0);
break;
}
#ifndef CO_SINGLE_THREAD
case 'p': rtPriority = strtol(optarg, NULL, 0);
break;
@ -398,11 +410,11 @@ int main (int argc, char *argv[]) {
}
/* Valid NodeId is 1..127 or 0xFF(unconfigured) in case of LSSslaveEnabled*/
if((CO_pending.nodeId < 1 || CO_pending.nodeId > 127)
if ((nodeIdFromArgs == 0 || nodeIdFromArgs > 127)
&& (!CO_isLSSslaveEnabled(CO)
|| CO_pending.nodeId != CO_LSS_NODE_ID_ASSIGNMENT)
|| nodeIdFromArgs != CO_LSS_NODE_ID_ASSIGNMENT)
) {
log_printf(LOG_CRIT, DBG_WRONG_NODE_ID, CO_pending.nodeId);
log_printf(LOG_CRIT, DBG_WRONG_NODE_ID, nodeIdFromArgs);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
@ -422,7 +434,7 @@ int main (int argc, char *argv[]) {
}
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_pending.nodeId, "starting");
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, mlStorage.pendingNodeId,"starting");
/* Allocate memory for CANopen objects */
@ -436,7 +448,6 @@ int main (int argc, char *argv[]) {
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
uint8_t pendingNodeIdOriginal = CO_pending.nodeId;
err = CO_storageLinux_init(&storage,
CO->CANmodule,
OD_ENTRY_H1010_storeParameters,
@ -451,12 +462,12 @@ int main (int argc, char *argv[]) {
log_printf(LOG_CRIT, DBG_STORAGE, filename);
exit(EXIT_FAILURE);
}
#endif
/* Overwrite stored node-id, if specified by program arguments */
if (nodeIdFromArgs) {
CO_pending.nodeId = pendingNodeIdOriginal;
if (nodeIdFromArgs > 0) {
mlStorage.pendingNodeId = (uint8_t)nodeIdFromArgs;
}
#endif
/* Catch signals SIGINT and SIGTERM */
if(signal(SIGINT, sigHandler) == SIG_ERR) {
@ -508,8 +519,8 @@ int main (int argc, char *argv[]) {
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
uint32_t errInfo;
/* CANopen communication reset - initialize CANopen objects *******************/
uint32_t errInfo;
/* Wait rt_thread. */
if(!firstRun) {
@ -539,7 +550,7 @@ int main (int argc, char *argv[]) {
.serialNumber = OD_PERSIST_COMM.x1018_identity.serialNumber
}};
err = CO_LSSinit(CO, &lssAddress,
&CO_pending.nodeId, &CO_pending.bitRate);
&mlStorage.pendingNodeId, &mlStorage.pendingBitRate);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_LSSinit()", err);
programExit = EXIT_FAILURE;
@ -547,7 +558,7 @@ int main (int argc, char *argv[]) {
continue;
}
CO_activeNodeId = CO_pending.nodeId;
CO_activeNodeId = mlStorage.pendingNodeId;
errInfo = 0;
err = CO_CANopenInit(CO, /* CANopen object */
@ -579,7 +590,7 @@ int main (int argc, char *argv[]) {
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_epoll_initCANopenGtw(&epGtw, CO);
#endif
CO_LSSslave_initCfgStoreCallback(CO->LSSslave, NULL,
CO_LSSslave_initCfgStoreCallback(CO->LSSslave, &mlStorage,
LSScfgStoreCallback);
if(!CO->nodeIdUnconfigured) {
if(errInfo != 0) {
@ -647,15 +658,15 @@ int main (int argc, char *argv[]) {
}
else {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "app_programStart()", err);
if(errInfo != 0 && !CO->nodeIdUnconfigured) {
CO_errorReport(CO->em, CO_EM_INCONSISTENT_OBJECT_DICT,
CO_EMC_DATA_SET, errInfo);
}
}
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
if(errInfo != 0 && !CO->nodeIdUnconfigured) {
CO_errorReport(CO->em, CO_EM_INCONSISTENT_OBJECT_DICT,
CO_EMC_DATA_SET, errInfo);
}
#endif
} /* if(firstRun) */
@ -798,7 +809,7 @@ static void* rt_thread(void* arg) {
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_program1ms(!CO->nodeIdUnconfigured, epRT.timeDifference_us);
app_programRt(!CO->nodeIdUnconfigured, epRT.timeDifference_us);
#endif
}

6
socketCAN/CO_storageLinux.c
View file

@ -1,5 +1,5 @@
/*
* CANopen Object Dictionary storage object for Linux SocketCAN.
* CANopen data storage object for Linux
*
* @file CO_storageLinux.c
* @author Janez Paternoster
@ -38,7 +38,6 @@
* For more information see file CO_storage.h, CO_storage_entry_t.
*/
static ODR_t storeLinux(CO_storage_entry_t *entry, CO_CANmodule_t *CANmodule) {
(void) CANmodule;
ODR_t ret = ODR_OK;
uint16_t crc_store;
@ -179,6 +178,8 @@ CO_ReturnError_t CO_storageLinux_init(CO_storage_t *storage,
return CO_ERROR_ILLEGAL_ARGUMENT;
}
storage->enabled = false;
/* initialize storage and OD extensions */
ret = CO_storage_init(storage,
CANmodule,
@ -266,6 +267,7 @@ CO_ReturnError_t CO_storageLinux_init(CO_storage_t *storage,
}
} /* for (entries) */
storage->enabled = true;
return ret;
}

1
socketCAN/CO_storageLinux.h
View file

@ -27,7 +27,6 @@
#define CO_STORAGE_LINUX_H
#include "301/CO_storage.h"
#include <stdio.h>
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) || defined CO_DOXYGEN