nikon/CANopenNode
1
0
Fork 0
Code Activity Actions

added CO_CANident_t to missing files

Browse source
This commit is contained in:
rgruening 2025-04-03 16:49:07 +02:00
parent 7f86ce33ef
commit 723412d6d2
13 changed files with 39 additions and 34 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
301/CO_HBconsumer.c
View file

@ -204,7 +204,7 @@ CO_HBconsumer_initEntry(CO_HBconsumer_t* HBcons, uint8_t idx, uint8_t nodeId, ui
}
/* configure Heartbeat consumer (or disable) CAN reception */
ret = CO_CANrxBufferInit(HBcons->CANdevRx, HBcons->CANdevRxIdxStart + idx, COB_ID, 0x7FF, false,
ret = CO_CANrxBufferInit(HBcons->CANdevRx, HBcons->CANdevRxIdxStart + idx, COB_ID, CO_COB_STD_MASK, false,
(void*)&HBcons->monitoredNodes[idx], CO_HBcons_receive);
}
return ret;

8
301/CO_NMT_Heartbeat.c
View file

@ -71,11 +71,11 @@ OD_write_1017(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
CO_ReturnError_t
CO_NMT_init(CO_NMT_t* NMT, OD_entry_t* OD_1017_ProducerHbTime, CO_EM_t* em, uint8_t nodeId, uint16_t NMTcontrol,
uint16_t firstHBTime_ms, CO_CANmodule_t* NMT_CANdevRx, uint16_t NMT_rxIdx, uint16_t CANidRxNMT,
uint16_t firstHBTime_ms, CO_CANmodule_t* NMT_CANdevRx, uint16_t NMT_rxIdx, CO_CANident_t CANidRxNMT,
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT,
CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, CO_CANident_t CANidTxNMT,
#endif
CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB, uint32_t* errInfo) {
CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, CO_CANident_t CANidTxHB, uint32_t* errInfo) {
CO_ReturnError_t ret = CO_ERROR_NO;
/* verify arguments */
@ -126,7 +126,7 @@ CO_NMT_init(CO_NMT_t* NMT, OD_entry_t* OD_1017_ProducerHbTime, CO_EM_t* em, uint
}
/* configure NMT CAN reception */
ret = CO_CANrxBufferInit(NMT_CANdevRx, NMT_rxIdx, CANidRxNMT, 0x7FF, false, (void*)NMT, CO_NMT_receive);
ret = CO_CANrxBufferInit(NMT_CANdevRx, NMT_rxIdx & CO_COB_STD_MASK, CANidRxNMT, CO_COB_STD_MASK, false, (void*)NMT, CO_NMT_receive);
if (ret != CO_ERROR_NO) {
return ret;
}

7
301/CO_NMT_Heartbeat.h
View file

@ -189,11 +189,12 @@ typedef struct {
*/
CO_ReturnError_t CO_NMT_init(CO_NMT_t* NMT, OD_entry_t* OD_1017_ProducerHbTime, CO_EM_t* em, uint8_t nodeId,
uint16_t NMTcontrol, uint16_t firstHBTime_ms, CO_CANmodule_t* NMT_CANdevRx,
uint16_t NMT_rxIdx, uint16_t CANidRxNMT,
uint16_t NMT_rxIdx, CO_CANident_t CANidRxNMT,
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT,
CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, CO_CANident_t CANidTxNMT,
#endif
CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB, uint32_t* errInfo);
CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, CO_CANident_t CANidTxHB,
uint32_t* errInfo);
#if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**

6
301/CO_Node_Guarding.c
View file

@ -92,7 +92,7 @@ OD_write_100D(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
CO_ReturnError_t
CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t* ngs, OD_entry_t* OD_100C_GuardTime,
OD_entry_t* OD_100D_LifeTimeFactor, CO_EM_t* em, uint16_t CANidNodeGuarding,
OD_entry_t* OD_100D_LifeTimeFactor, CO_EM_t* em, CO_CANident_t CANidNodeGuarding,
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx,
uint16_t CANdevTxIdx, uint32_t* errInfo) {
CO_ReturnError_t ret = CO_ERROR_NO;
@ -155,7 +155,7 @@ CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t* ngs, OD_entry_t* OD_100C_Guard
}
/* configure CAN reception */
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidNodeGuarding, 0x7FF, true, (void*)ngs, CO_ngs_receive);
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidNodeGuarding & CO_COB_STD_MASK, CO_COB_STD_MASK, true, (void*)ngs, CO_ngs_receive);
if (ret != CO_ERROR_NO) {
return ret;
}
@ -282,7 +282,7 @@ CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t* ngm, CO_EM_t* em, CO_CANmodu
ngm->em = em;
/* configure CAN reception. One buffer will receive all messages from CAN-id 0x700 to 0x7FF. */
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CO_CAN_ID_HEARTBEAT, 0x780, false, (void*)ngm, CO_ngm_receive);
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CO_CAN_ID_HEARTBEAT, CO_COB_STD_MASK ^ 0x7FU, false, (void*)ngm, CO_ngm_receive);
if (ret != CO_ERROR_NO) {
return ret;
}

7
301/CO_Node_Guarding.h
View file

@ -106,9 +106,10 @@ typedef struct {
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t* ngs, OD_entry_t* OD_100C_GuardTime,
OD_entry_t* OD_100D_LifeTimeFactor, CO_EM_t* em, uint16_t CANidNodeGuarding,
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx,
uint16_t CANdevTxIdx, uint32_t* errInfo);
OD_entry_t* OD_100D_LifeTimeFactor, CO_EM_t* em,
CO_CANident_t CANidNodeGuarding, CO_CANmodule_t* CANdevRx,
uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
uint32_t* errInfo);
/**
* Process Node Guarding slave.

4
301/CO_TIME.c
View file

@ -74,8 +74,8 @@ OD_write_1012(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
/* verify written value */
uint32_t cobIdTimeStamp = CO_getUint32(buf);
CO_CANident_t CAN_ID = (CO_CANident_t)(cobIdTimeStamp & 0x7FFU);
if (((cobIdTimeStamp & 0x3FFFF800U) != 0U) || CO_IS_RESTRICTED_CAN_ID(CAN_ID)) {
CO_CANident_t CAN_ID = (CO_CANident_t)(cobIdTimeStamp & COB_CAN_ID_MASK);
if (!CO_IS_VALID_CAN_ID(cobIdTimeStamp) || CO_IS_RESTRICTED_CAN_ID(CAN_ID)) {
return ODR_INVALID_VALUE;
}

6
304/CO_GFC.c
View file

@ -75,7 +75,7 @@ CO_GFC_initCallbackEnterSafeState(CO_GFC_t* GFC, void* object, void (*pFunctSign
CO_ReturnError_t
CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC_CANdevRx, uint16_t GFC_rxIdx,
uint16_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx, uint16_t CANidTxGFC) {
CO_CANident_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx, CO_CANident_t CANidTxGFC) {
if ((GFC == NULL) || (OD_1300_gfcParameter == NULL) || (GFC_CANdevRx == NULL) || (GFC_CANdevTx == NULL)) {
return CO_ERROR_ILLEGAL_ARGUMENT;
}
@ -107,8 +107,8 @@ CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC
#if ((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0
GFC->functSignalObjectSafe = NULL;
GFC->pFunctSignalSafe = NULL;
const CO_ReturnError_t r = CO_CANrxBufferInit(GFC_CANdevRx, GFC_rxIdx, CANidRxGFC, 0x7FF, false, (void*)GFC,
CO_GFC_receive);
const CO_ReturnError_t r = CO_CANrxBufferInit(GFC_CANdevRx, GFC_rxIdx, CANidRxGFC & CO_COB_STD_MASK, CO_COB_STD_MASK, false,
(void*)GFC, CO_GFC_receive);
if (r != CO_ERROR_NO) {
return r;
}

4
304/CO_GFC.h
View file

@ -81,8 +81,8 @@ typedef struct {
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC_CANdevRx,
uint16_t GFC_rxIdx, uint16_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx,
uint16_t CANidTxGFC);
uint16_t GFC_rxIdx, CO_CANident_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx,
CO_CANident_t CANidTxGFC);
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
/**

8
304/CO_SRDO.c
View file

@ -620,15 +620,17 @@ CO_SRDO_config(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, u
/* Configure CAN rx buffers */
if ((err == 0U) && configurationInProgress && (informationDirection == CO_SRDO_RX)) {
/* Normal Configuration */
ret = CO_CANrxBufferInit(SRDO->CANdevRx[0], SRDO->CANdevRxIdx[0], (uint16_t)COB_ID1_normal, 0x7FF, false,
(void*)SRDO, CO_SRDO_receive_normal);
ret = CO_CANrxBufferInit(SRDO->CANdevRx[0], SRDO->CANdevRxIdx[0],
(CO_CANident_t)(COB_ID1_normal & CO_COB_STD_MASK), CO_COB_STD_MASK, false, (void*)SRDO,
CO_SRDO_receive_normal);
if (ret != CO_ERROR_NO) {
err = ERR_INFO(0x1301UL + SRDO_Index, 5, 11);
}
/* Inverted Configuration */
ret = CO_CANrxBufferInit(SRDO->CANdevRx[1], SRDO->CANdevRxIdx[1], (uint16_t)COB_ID2_inverted, 0x7FF, false,
ret = CO_CANrxBufferInit(SRDO->CANdevRx[1], SRDO->CANdevRxIdx[1],
(CO_CANident_t)(COB_ID2_inverted & CO_COB_STD_MASK), CO_COB_STD_MASK, false,
(void*)SRDO, CO_SRDO_receive_inverted);
if (ret != CO_ERROR_NO) {

7
305/CO_LSSmaster.c
View file

@ -115,7 +115,8 @@ CO_LSSmaster_check_timeout(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us
CO_ReturnError_t
CO_LSSmaster_init(CO_LSSmaster_t* LSSmaster, uint16_t timeout_ms, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
uint16_t CANidLssSlave, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint16_t CANidLssMaster) {
CO_CANident_t CANidLssSlave, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
CO_CANident_t CANidLssMaster) {
CO_ReturnError_t ret = CO_ERROR_NO;
/* verify arguments */
@ -135,8 +136,8 @@ CO_LSSmaster_init(CO_LSSmaster_t* LSSmaster, uint16_t timeout_ms, CO_CANmodule_t
#endif
/* configure LSS CAN Slave response message reception */
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidLssSlave, 0x7FF, false, (void*)LSSmaster,
CO_LSSmaster_receive);
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidLssSlave & CO_COB_STD_MASK, CO_COB_STD_MASK, false,
(void*)LSSmaster, CO_LSSmaster_receive);
/* configure LSS CAN Master message transmission */
LSSmaster->CANdevTx = CANdevTx;

4
305/CO_LSSmaster.h
View file

@ -136,8 +136,8 @@ typedef struct {
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_LSSmaster_init(CO_LSSmaster_t* LSSmaster, uint16_t timeout_ms, CO_CANmodule_t* CANdevRx,
uint16_t CANdevRxIdx, uint16_t CANidLssSlave, CO_CANmodule_t* CANdevTx,
uint16_t CANdevTxIdx, uint16_t CANidLssMaster);
uint16_t CANdevRxIdx, CO_CANident_t CANidLssSlave, CO_CANmodule_t* CANdevTx,
uint16_t CANdevTxIdx, CO_CANident_t CANidLssMaster);
/**
* Change LSS master timeout

6
305/CO_LSSslave.c
View file

@ -180,8 +180,8 @@ CO_LSSslave_receive(void* object, void* msg) {
CO_ReturnError_t
CO_LSSslave_init(CO_LSSslave_t* LSSslave, CO_LSS_address_t* lssAddress, uint16_t* pendingBitRate,
uint8_t* pendingNodeID, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, uint16_t CANidLssMaster,
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint16_t CANidLssSlave) {
uint8_t* pendingNodeID, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANident_t CANidLssMaster,
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, CO_CANident_t CANidLssSlave) {
CO_ReturnError_t ret = CO_ERROR_NO;
/* verify arguments */
@ -206,7 +206,7 @@ CO_LSSslave_init(CO_LSSslave_t* LSSslave, CO_LSS_address_t* lssAddress, uint16_t
CO_FLAG_CLEAR(LSSslave->sendResponse);
/* configure LSS CAN Master message reception */
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidLssMaster, 0x7FF, false, (void*)LSSslave, CO_LSSslave_receive);
ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CANidLssMaster & CO_COB_STD_MASK, CO_COB_STD_MASK, false, (void*)LSSslave, CO_LSSslave_receive);
/* configure LSS CAN Slave response message transmission */
LSSslave->CANdevTx = CANdevTx;

4
305/CO_LSSslave.h
View file

@ -140,8 +140,8 @@ typedef struct {
*/
CO_ReturnError_t CO_LSSslave_init(CO_LSSslave_t* LSSslave, CO_LSS_address_t* lssAddress, uint16_t* pendingBitRate,
uint8_t* pendingNodeID, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
uint16_t CANidLssMaster, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
uint16_t CANidLssSlave);
CO_CANident_t CANidLssMaster, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
CO_CANident_t CANidLssSlave);
/**
* Process LSS communication