Merge branch 'dergentk-newOD_fixes' into newOD

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 */

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,

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) {

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
     }
 }
 

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),