From 9f8819176786869907d0a47e3ecc1c15a53c1a9f Mon Sep 17 00:00:00 2001 From: Koen Dergent Date: Mon, 15 Feb 2021 14:24:38 +0100 Subject: [PATCH 1/4] only use SDO segmented fields when enabled --- 301/CO_SDOserver.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/301/CO_SDOserver.c b/301/CO_SDOserver.c index 3409d62..ec353df 100644 --- a/301/CO_SDOserver.c +++ b/301/CO_SDOserver.c @@ -333,7 +333,9 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO, /* Configure object variables */ SDO->OD = OD; SDO->nodeId = nodeId; +#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) SDO->SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 1000; +#endif #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK SDO->block_SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 700; #endif @@ -1137,7 +1139,9 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO, SDO->state = CO_SDO_ST_ABORT; } } /* switch (SDO->state) */ +#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED SDO->timeoutTimer = 0; +#endif timeDifference_us = 0; CO_FLAG_CLEAR(SDO->CANrxNew); } /* if (isNew) */ @@ -1206,7 +1210,9 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO, SDO->CANtxBuff->data[3] = SDO->subIndex; /* reset timeout timer and send message */ +#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED SDO->timeoutTimer = 0; +#endif CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED if (SDO->finished) { From d00ddf5a597e3b9a8408660df635cdc0221f36a1 Mon Sep 17 00:00:00 2001 From: Koen Dergent Date: Mon, 15 Feb 2021 14:31:53 +0100 Subject: [PATCH 2/4] only use optional emergency fields when enabled --- 301/CO_Emergency.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/301/CO_Emergency.c b/301/CO_Emergency.c index 148feab..1badfab 100644 --- a/301/CO_Emergency.c +++ b/301/CO_Emergency.c @@ -554,6 +554,7 @@ void CO_EM_process(CO_EM_t *em, (void)timerNext_us; /* may be unused */ /* verify errors from driver */ +#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) uint16_t CANerrSt = em->CANdevTx->CANerrorStatus; if (CANerrSt != em->CANerrorStatusOld) { uint16_t CANerrStChanged = CANerrSt ^ em->CANerrorStatusOld; @@ -588,6 +589,7 @@ void CO_EM_process(CO_EM_t *em, CO_error(em, (CANerrSt & CO_CAN_ERRRX_OVERFLOW) != 0, CO_EM_CAN_RXB_OVERFLOW, CO_EM_CAN_RXB_OVERFLOW, 0); } +#endif /* calculate Error register */ uint8_t errorRegister = 0U; From a3606672d15bc16667efa0058761d07b28c46741 Mon Sep 17 00:00:00 2001 From: Koen Dergent Date: Tue, 16 Feb 2021 10:01:16 +0100 Subject: [PATCH 3/4] only use time producer fields when enabled --- 301/CO_TIME.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/301/CO_TIME.h b/301/CO_TIME.h index 97176be..a68c032 100644 --- a/301/CO_TIME.h +++ b/301/CO_TIME.h @@ -181,7 +181,9 @@ static inline void CO_TIME_set(CO_TIME_t *TIME, TIME->residual_us = 0; TIME->ms = ms; TIME->days = days; +#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) TIME->producerTimer_ms = TIME->producerInterval_ms =producerInterval_ms; +#endif } } From bc54b697f45809f69020f0b42e44cd821db1e80d Mon Sep 17 00:00:00 2001 From: Janez Date: Thu, 25 Feb 2021 08:35:55 +0100 Subject: [PATCH 4/4] CO_Emergency fix: CANdevTx is not optional field. CO_EM_init() arguments changed. --- 301/CO_Emergency.c | 8 ++++---- 301/CO_Emergency.h | 8 ++++---- CANopen.c | 2 +- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/301/CO_Emergency.c b/301/CO_Emergency.c index 0d013a4..b4967da 100644 --- a/301/CO_Emergency.c +++ b/301/CO_Emergency.c @@ -351,10 +351,10 @@ static void CO_EM_receive(void *object, void *msg) { /******************************************************************************/ CO_ReturnError_t CO_EM_init(CO_EM_t *em, + CO_CANmodule_t *CANdevTx, const OD_entry_t *OD_1001_errReg, #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER OD_entry_t *OD_1014_cobIdEm, - CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx, #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT OD_entry_t *OD_1015_InhTime, @@ -396,6 +396,9 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em, /* clear the object */ memset(em, 0, sizeof(CO_EM_t)); + /* set object variables */ + em->CANdevTx = CANdevTx; + /* get and verify "Error register" from Object Dictionary */ em->errorRegister = OD_getPtr(OD_1001_errReg, 0, sizeof(uint8_t), NULL); if (em->errorRegister == NULL) { @@ -451,7 +454,6 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em, /* configure parameters and emergency message CAN transmission */ em->nodeId = nodeId; - em->CANdevTx = CANdevTx; em->CANtxBuff = CO_CANtxBufferInit( CANdevTx, /* CAN device */ @@ -555,7 +557,6 @@ void CO_EM_process(CO_EM_t *em, (void)timerNext_us; /* may be unused */ /* verify errors from driver */ -#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) uint16_t CANerrSt = em->CANdevTx->CANerrorStatus; if (CANerrSt != em->CANerrorStatusOld) { uint16_t CANerrStChanged = CANerrSt ^ em->CANerrorStatusOld; @@ -590,7 +591,6 @@ void CO_EM_process(CO_EM_t *em, CO_error(em, (CANerrSt & CO_CAN_ERRRX_OVERFLOW) != 0, CO_EM_CAN_RXB_OVERFLOW, CO_EM_CAN_RXB_OVERFLOW, 0); } -#endif /* calculate Error register */ uint8_t errorRegister = 0U; diff --git a/301/CO_Emergency.h b/301/CO_Emergency.h index 41c740f..7b8ea45 100644 --- a/301/CO_Emergency.h +++ b/301/CO_Emergency.h @@ -373,6 +373,8 @@ typedef struct { uint8_t *errorRegister; /** Old CAN error status bitfield */ uint16_t CANerrorStatusOld; + /** From CO_EM_init() */ + CO_CANmodule_t *CANdevTx; #if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) \ || defined CO_DOXYGEN @@ -403,8 +405,6 @@ typedef struct { bool_t producerEnabled; /** Copy of CANopen node ID, from CO_EM_init() */ uint8_t nodeId; - /** From CO_EM_init() */ - CO_CANmodule_t *CANdevTx; /** CAN transmit buffer */ CO_CANtx_t *CANtxBuff; /** Extension for OD object */ @@ -459,11 +459,11 @@ typedef struct { * Function must be called in the communication reset section. * * @param em This object will be initialized. + * @param CANdevTx CAN device for Emergency transmission. * @param OD_1001_errReg OD entry for 0x1001 - "Error register", entry is * required, without IO extension. * @param OD_1014_cobIdEm OD entry for 0x1014 - "COB-ID EMCY", entry is * required, IO extension is required. - * @param CANdevTx CAN device for Emergency transmission. * @param CANdevTxIdx Index of transmit buffer in the above CAN device. * @param OD_1015_InhTime OD entry for 0x1015 - "Inhibit time EMCY", entry is * optional (can be NULL), IO extension is optional for runtime configuration. @@ -483,10 +483,10 @@ typedef struct { * @return @ref CO_ReturnError_t CO_ERROR_NO in case of success. */ CO_ReturnError_t CO_EM_init(CO_EM_t *em, + CO_CANmodule_t *CANdevTx, const OD_entry_t *OD_1001_errReg, #if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) || defined CO_DOXYGEN OD_entry_t *OD_1014_cobIdEm, - CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx, #if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) || defined CO_DOXYGEN OD_entry_t *OD_1015_InhTime, diff --git a/CANopen.c b/CANopen.c index fcdf91f..be524f3 100644 --- a/CANopen.c +++ b/CANopen.c @@ -960,10 +960,10 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co, /* Emergency */ if (CO_GET_CNT(EM) == 1) { err = CO_EM_init(co->em, + co->CANmodule, OD_GET(H1001, OD_H1001_ERR_REG), #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER OD_GET(H1014, OD_H1014_COBID_EMERGENCY), - co->CANmodule, CO_GET_CO(TX_IDX_EM_PROD), #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT OD_GET(H1015, OD_H1015_INHIBIT_TIME_EMCY),