Add heapMemoryUsed info from CO_new()

CANopen.c

@@ -35,7 +35,6 @@
 extern const CO_OD_entry_t CO_OD[CO_OD_NoOfElements];   /* Object Dictionary */
 static CO_t COO;                    /* Pointers to CANopen objects */
 CO_t *CO = NULL;                    /* Pointer to COO */
-static uint32_t CO_memoryUsed = 0;  /* informative */
 
 static CO_CANrx_t          *CO_CANmodule_rxArray0;
 static CO_CANtx_t          *CO_CANmodule_txArray0;
@@ -109,9 +108,10 @@ static uint32_t             CO_traceBufferSize[CO_NO_TRACE];
 
 
 /******************************************************************************/
-CO_ReturnError_t CO_new(void) {
+CO_ReturnError_t CO_new(uint32_t *heapMemoryUsed) {
     int16_t i;
     uint16_t errCnt = 0;
+    uint32_t CO_memoryUsed = 0;
 
     /* If CANopen was initialized before, return. */
     if (CO != NULL) {
@@ -134,7 +134,6 @@ CO_ReturnError_t CO_new(void) {
 
     /* globals */
     CO = &COO;
-    CO_memoryUsed = 0;
 
     /* CANmodule */
     CO->CANmodule[0] = (CO_CANmodule_t *)calloc(1, sizeof(CO_CANmodule_t));
@@ -259,6 +258,10 @@ CO_ReturnError_t CO_new(void) {
     }
 #endif
 
+    if(heapMemoryUsed != NULL) {
+        *heapMemoryUsed = CO_memoryUsed;
+    }
+
     return (errCnt == 0) ? CO_ERROR_NO : CO_ERROR_OUT_OF_MEMORY;
 }
 
@@ -346,7 +349,6 @@ void CO_delete(void *CANptr) {
 
     /* globals */
     CO = NULL;
-    CO_memoryUsed = 0;
 }
 
 

CANopen.h

@@ -216,10 +216,17 @@ extern CO_t *CO;
  *
  * Function must be called the first time, after program starts.
  *
+ * @remark
+ * With some microcontrollers it is necessary to specify Heap size within
+ * linker configuration.
+ *
+ * @param [out] heapMemoryUsed Information about heap memory used. Ignored if
+ * NULL.
+ *
  * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
  * CO_ERROR_OUT_OF_MEMORY
  */
-CO_ReturnError_t CO_new(void);
+CO_ReturnError_t CO_new(uint32_t *heapMemoryUsed);
 
 
 /**

example/main_blank.c

@@ -25,12 +25,17 @@
  */
 
 
+#include <stdio.h>
+
 #include "CANopen.h"
 
 
 #define TMR_TASK_INTERVAL   (1000)          /* Interval of tmrTask thread in microseconds */
 #define INCREMENT_1MS(var)  (var++)         /* Increment 1ms variable in tmrTask */
 
+#define log_printf(macropar_message, ...) \
+        printf(macropar_message, ##__VA_ARGS__)
+
 
 /* Global variables and objects */
     volatile uint16_t   CO_timer1ms = 0U;   /* variable increments each millisecond */
@@ -40,14 +45,19 @@
 int main (void){
     CO_ReturnError_t err;
     CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
+    uint32_t heapMemoryUsed;
 
     /* Configure microcontroller. */
 
 
     /* Allocate memory */
-    err = CO_new();
+    err = CO_new(&heapMemoryUsed);
     if (err != CO_ERROR_NO) {
-        while(1);
+        log_printf("Error: Can't allocate memory\n");
+        return 0;
+    }
+    else {
+        log_printf("Allocated %d bytes for CANopen objects\n", heapMemoryUsed);
     }
 
     /* initialize EEPROM */
@@ -56,20 +66,27 @@ int main (void){
     /* increase variable each startup. Variable is stored in EEPROM. */
     OD_powerOnCounter++;
 
+    log_printf("CANopenNode - Reset application, count = %d\n", OD_powerOnCounter);
+
 
     while(reset != CO_RESET_APP){
 /* CANopen communication reset - initialize CANopen objects *******************/
         uint16_t timer1msPrevious;
 
+        log_printf("CANopenNode - Reset communication\n");
+
         /* disable CAN and CAN interrupts */
 
         /* initialize CANopen */
         err = CO_CANinit(NULL /* CAN module address */, 125 /* bit rate */);
-        if (err == CO_ERROR_NO) {
+        if (err != CO_ERROR_NO) {
-            err = CO_CANopenInit(10 /* NodeID */);
+            log_printf("Error: CAN initialization failed: %d\n", err);
+            return 0;
         }
-        if(err != CO_ERROR_NO){
+        err = CO_CANopenInit(10 /* NodeID */);
-            while(1);
+        if(err != CO_ERROR_NO) {
+            log_printf("Error: CANopen initialization failed: %d\n", err);
+            return 0;
             /* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
         }
 
@@ -85,6 +102,9 @@ int main (void){
         reset = CO_RESET_NOT;
         timer1msPrevious = CO_timer1ms;
 
+        log_printf("CANopenNode - Running...\n");
+        fflush(stdout);
+
         while(reset == CO_RESET_NOT){
 /* loop for normal program execution ******************************************/
             uint16_t timer1msCopy, timer1msDiff;
@@ -100,6 +120,8 @@ int main (void){
             /* Nonblocking application code may go here. */
 
             /* Process EEPROM */
+
+            /* optional sleep for short time */
         }
     }
 
@@ -111,6 +133,7 @@ int main (void){
     /* delete objects from memory */
     CO_delete((void*) 0/* CAN module address */);
 
+    log_printf("CANopenNode finished\n");
 
     /* reset */
     return 0;