Gateway - command interface: update help strings, add status LED indication
This commit is contained in:
Janez
parent
bd3326fed9
commit
ae1b66e6ea
3 changed files with 189 additions and 49 deletions
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@ -45,6 +45,9 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
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#endif
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#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
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CO_LSSmaster_t *LSSmaster,
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#endif
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#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
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CO_LEDs_t *LEDs,
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#endif
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uint8_t dummy)
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{
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@ -59,14 +62,18 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
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|| LSSmaster == NULL
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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|| LEDs == NULL
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#endif
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) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* clear the object */
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memset(gtwa, 0, sizeof(CO_GTWA_t));
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/* initialize variables */
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gtwa->readCallback = NULL;
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gtwa->readCallbackObject = NULL;
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
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gtwa->SDO_C = SDO_C;
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gtwa->SDOtimeoutTime = SDOtimeoutTimeDefault;
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@ -77,13 +84,13 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
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gtwa->LSSmaster = LSSmaster;
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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gtwa->LEDs = LEDs;
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#endif
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gtwa->net_default = -1;
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gtwa->node_default = -1;
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gtwa->state = CO_GTWA_ST_IDLE;
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gtwa->timeDifference_us_cumulative = 0;
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gtwa->respBufOffset = 0;
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gtwa->respBufCount = 0;
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gtwa->respHold = false;
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CO_fifo_init(>wa->commFifo,
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@ -132,9 +139,9 @@ void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message) {
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* HELPER FUNCTIONS
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******************************************************************************/
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP
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/* help string */
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static const char *CO_GTWA_helpString =
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"Command strings start with '\"[\"<sequence>\"]\"' followed by:\n" \
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/* help strings */
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static const char CO_GTWA_helpString[] =
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"\nCommand strings start with '\"[\"<sequence>\"]\"' followed by:\n" \
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"[[<net>] <node>] r[ead] <index> <subindex> [<datatype>] # SDO upload.\n" \
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"[[<net>] <node>] w[rite] <index> <subindex> <datatype> <value> # SDO download.\n" \
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"\n" \
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@ -149,10 +156,25 @@ static const char *CO_GTWA_helpString =
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"[<net>] set sdo_timeout <value> # Configure SDO time-out.\n" \
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"[<net>] set sdo_block <value> # Enable/disable SDO block transfer.\n" \
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"\n" \
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"help # Print this help.\n" \
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"help [datatype|lss] # Print this or datatype or lss help.\n" \
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"led # Print status LED diodes.\n" \
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"log # Print message log.\n" \
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"\n" \
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"Datatypes:\n" \
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"Response:\n" \
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"\"[\"<sequence>\"]\" OK | <value> |\n" \
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" ERROR:<SDO-abort-code> | ERROR:<internal-error-code>\n" \
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"\n" \
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"* Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same\n" \
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" is response. String is not null terminated, <CR> is optional in command.\n" \
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"* Comments started with '#' are ignored. They may be on the beginning of the\n" \
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" line or after the command string.\n" \
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"* 'sdo_timeout' is in milliseconds, 500 by default. Block transfer is\n" \
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" disabled by default.\n" \
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"* If '<net>' or '<node>' is not specified within commands, then value defined\n" \
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" by 'set network' or 'set node' command is used.\r\n";
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static const char CO_GTWA_helpStringDatatypes[] =
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"\nDatatypes:\n" \
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"b # Boolean.\n" \
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"i8, i16, i32, i64 # Signed integers.\n" \
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"u8, u16, u32, u64 # Unsigned integers.\n" \
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@ -160,27 +182,45 @@ static const char *CO_GTWA_helpString =
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"r32, r64 # Real numbers.\n" \
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"t, td # Time of day, time difference.\n" \
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"vs # Visible string (between double quotes if multi-word).\n" \
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"os, us, d # Octet string, unicode string, domain (mime-base64\n" \
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" # (RFC2045) based, one line).\n" \
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"hex # Hexagonal data, optionally space separated, non-standard.\n" \
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"os, us # Octet, unicode string, (mime-base64 (RFC2045) based, line).\n" \
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"d # domain (mime-base64 (RFC2045) based, one line).\n" \
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"hex # Hexagonal data, optionally space separated, non-standard.\r\n";
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static const char CO_GTWA_helpStringLss[] =
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"\nLSS commands:\n" \
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"lss_switch_glob <0|1> # Switch state global command.\n" \
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"lss_switch_sel <vendorID> <product code> \\\n" \
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" <revisionNo> <serialNo> #Switch state selective.\n" \
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"lss_set_node <node> # Configure node-ID.\n" \
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"lss_conf_bitrate <table_selector=0> \\\n" \
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" <table_index> # Configure bit-rate.\n" \
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"lss_activate_bitrate <switch_delay_ms> # Activate new bit-rate.\n" \
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"lss_store # LSS store configuration.\n" \
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"lss_inquire_addr [<LSSSUB=0..3>] # Inquire LSS address.\n" \
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"lss_get_node # Inquire node-ID.\n" \
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"_lss_fastscan [<timeout_ms>] # Identify fastscan, non-standard.\n" \
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"lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\\n" \
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" <scanType0=0..2> <vendorId> <scanType1=0..2> <productCode>\\\n" \
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" <scanType2=0..2> <revisionNo> <scanType3=0..2> <serialNo>]]\n" \
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" # Node-ID configuration of all nodes.\n" \
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"\n" \
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"Response:\n" \
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"\"[\"<sequence>\"]\" OK | <value> |\n" \
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" ERROR:<SDO-abort-code> | ERROR:<internal-error-code>\n" \
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"<table_index>: 0=1000 kbit/s, 1=800 kbit/s, 2=500 kbit/s, 3=250 kbit/s,\n" \
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" 4=125 kbit/s, 6=50 kbit/s, 7=20 kbit/s, 8=10 kbit/s, 9=auto\n" \
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"\n" \
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"Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same is\n" \
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"response. String is not null terminated, <CR> is optional in command.\n" \
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"\n" \
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"Comments started with '#' are ignored. They may be on the beginning of the\n" \
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"line or after the command string.\n" \
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"\n" \
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"'sdo_timeout' is in milliseconds, 500 by default. Block transfer is disabled\n" \
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"by default.\n" \
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"\n" \
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"If '<net>' or '<node>' is not specified within commands, then value defined by\n" \
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"'set network' or 'set node' command is used.\r\n";
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"All LSS commands start with '\"[\"<sequence>\"]\" [<net>]'.\r\n";
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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#define CO_GTWA_LED_PRINTOUTS_SIZE 5
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static const char *CO_GTWA_LED_PRINTOUTS[CO_GTWA_LED_PRINTOUTS_SIZE] = {
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" CANopen status LEDs: R G \r",
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" CANopen status LEDs: R G* \r",
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" CANopen status LEDs: R* G \r",
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" CANopen status LEDs: R* G* \r",
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" \r"
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};
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS */
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/* Get uint32 number from token, verify limits and set *err if necessary */
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static inline uint32_t getU32(char *token, uint32_t min,
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@ -1260,7 +1300,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
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/* continue with state machine */
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gtwa->state = CO_GTWA_ST__LSS_FASTSCAN;
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}
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/* LSS complete node-ID configuration command - 'lss_allnodes
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/* LSS complete node-ID configuration command - 'lss_allnodes
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* [<timeout_ms> [<nodeStart=1..127> <store=0|1>
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* <scanType0=0..2> <vendorId> <scanType1=0..2> <productCode>
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* <scanType2=0..2> <revisionNo> <scanType3=0..2> <serialNo>]]' */
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@ -1361,6 +1401,10 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
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/* Print message log */
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else if (strcmp(tok, "log") == 0) {
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if (closed == 0) {
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err = true;
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break;
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}
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gtwa->state = CO_GTWA_ST_LOG;
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}
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
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@ -1368,11 +1412,45 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP
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/* Print help */
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else if (strcmp(tok, "help") == 0) {
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if (closed == 1) {
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gtwa->helpString = CO_GTWA_helpString;
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}
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else {
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/* get second token */
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closed = 1;
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CO_fifo_readToken(>wa->commFifo,tok,sizeof(tok),&closed,&err);
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if (err) break;
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convertToLower(tok, sizeof(tok));
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if (strcmp(tok, "datatype") == 0) {
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gtwa->helpString = CO_GTWA_helpStringDatatypes;
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}
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else if (strcmp(tok, "lss") == 0) {
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gtwa->helpString = CO_GTWA_helpStringLss;
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}
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else {
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err = true;
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break;
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}
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}
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/* continue with state machine */
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gtwa->helpStringOffset = 0;
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gtwa->state = CO_GTWA_ST_HELP;
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}
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP */
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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/* Print status led diodes */
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else if (strcmp(tok, "led") == 0) {
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if (closed == 0) {
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err = true;
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break;
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}
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gtwa->ledStringPreviousIndex = 0xFF;
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gtwa->state = CO_GTWA_ST_LED;
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}
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS */
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/* Unrecognized command */
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else {
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respErrorCode = CO_GTWA_respErrorReqNotSupported;
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@ -1817,15 +1895,15 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
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/* Print help string (in multiple segments if necessary) */
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else if (gtwa->state == CO_GTWA_ST_HELP) {
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size_t lenBuf = CO_GTWA_RESP_BUF_SIZE;
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size_t lenHelp = strlen(CO_GTWA_helpString);
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size_t lenHelp = strlen(gtwa->helpString);
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do {
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size_t lenHelpRemain = lenHelp - gtwa->helpStringOffset;
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size_t lenCopied = lenBuf < lenHelpRemain ? lenBuf : lenHelpRemain;
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memcpy(gtwa->respBuf,
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&CO_GTWA_helpString[gtwa->helpStringOffset],
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lenCopied);
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>wa->helpString[gtwa->helpStringOffset],
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lenCopied);
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gtwa->respBufCount = lenCopied;
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gtwa->helpStringOffset += lenCopied;
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@ -1839,6 +1917,31 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
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}
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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/* print CANopen status LED diodes */
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else if (gtwa->state == CO_GTWA_ST_LED) {
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uint8_t i;
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if (CO_fifo_CommSearch(>wa->commFifo, false)) {
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gtwa->state = CO_GTWA_ST_IDLE;
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i = 4;
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}
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else {
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i = CO_LED_RED(gtwa->LEDs, CO_LED_CANopen) * 2 +
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CO_LED_GREEN(gtwa->LEDs, CO_LED_CANopen);
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}
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if (i > (CO_GTWA_LED_PRINTOUTS_SIZE - 1))
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i = CO_GTWA_LED_PRINTOUTS_SIZE - 1;
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if (i != gtwa->ledStringPreviousIndex) {
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gtwa->respBufCount = snprintf(gtwa->respBuf, CO_GTWA_RESP_BUF_SIZE,
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"%s", CO_GTWA_LED_PRINTOUTS[i]);
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respBufTransfer(gtwa);
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gtwa->ledStringPreviousIndex = i;
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}
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}
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS */
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/* illegal state */
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else if (gtwa->state != CO_GTWA_ST_IDLE) {
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respErrorCode = CO_GTWA_respErrorInternalState;
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@ -40,6 +40,9 @@
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
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#include "305/CO_LSSmaster.h"
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#endif
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#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
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#include "303/CO_LEDs.h"
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#endif
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#ifdef __cplusplus
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extern "C" {
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@ -88,9 +91,23 @@ Command strings start with '"["<sequence>"]"' followed by:
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[<net>] set sdo_timeout <value> # Configure SDO time-out.
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[<net>] set sdo_block <value> # Enable/disable SDO block transfer.
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help # Print this help.
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help [datatype|lss] # Print this or datatype or lss help.
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led # Print status LED diodes.
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log # Print message log.
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Response:
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"["<sequence>"]" OK | <value> |
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ERROR:<SDO-abort-code> | ERROR:<internal-error-code>
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* Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same
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is response. String is not null terminated, <CR> is optional in command.
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* Comments started with '#' are ignored. They may be on the beginning of the
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line or after the command string.
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* 'sdo_timeout' is in milliseconds, 500 by default. Block transfer is
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disabled by default.
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* If '<net>' or '<node>' is not specified within commands, then value defined
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by 'set network' or 'set node' command is used.
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Datatypes:
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b # Boolean.
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i8, i16, i32, i64 # Signed integers.
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@ -99,25 +116,31 @@ x8, x16, x32, x64 # Unsigned integers, displayed as hexadecimal, non-standard.
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r32, r64 # Real numbers.
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t, td # Time of day, time difference.
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vs # Visible string (between double quotes if multi-word).
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os, us, d # Octet string, unicode string, domain (mime-base64
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# (RFC2045) based, one line).
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os, us # Octet, unicode string, (mime-base64 (RFC2045) based, line).
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d # domain (mime-base64 (RFC2045) based, one line).
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hex # Hexagonal data, optionally space separated, non-standard.
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Response:
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"["<sequence>"]" OK | <value> |
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ERROR:<SDO-abort-code> | ERROR:<internal-error-code>
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LSS commands:
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lss_switch_glob <0|1> # Switch state global command.
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lss_switch_sel <vendorID> <product code> \\
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<revisionNo> <serialNo> #Switch state selective.
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lss_set_node <node> # Configure node-ID.
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lss_conf_bitrate <table_selector=0> \\
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<table_index> # Configure bit-rate.
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lss_activate_bitrate <switch_delay_ms> # Activate new bit-rate.
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lss_store # LSS store configuration.
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lss_inquire_addr [<LSSSUB=0..3>] # Inquire LSS address.
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lss_get_node # Inquire node-ID.
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_lss_fastscan [<timeout_ms>] # Identify fastscan, non-standard.
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lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\
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<scanType0=0..2> <vendorId> <scanType1=0..2> <productCode>\\
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<scanType2=0..2> <revisionNo> <scanType3=0..2> <serialNo>]]
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# Node-ID configuration of all nodes.
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Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same is
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response. String is not null terminated, <CR> is optional in command.
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<table_index>: 0=1000 kbit/s, 1=800 kbit/s, 2=500 kbit/s, 3=250 kbit/s,
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4=125 kbit/s, 6=50 kbit/s, 7=20 kbit/s, 8=10 kbit/s, 9=auto
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Comments started with '#' are ignored. They may be on the beginning of the
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line or after the command string.
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'sdo_timeout' is in milliseconds, 500 by default. Block transfer is disabled
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by default.
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If '<net>' or '<node>' is not specified within commands, then value defined by
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'set network' or 'set node' command is used.
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All LSS commands start with '"["<sequence>"]" [<net>]'.
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* @endcode
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*
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* This help text is the same as variable contents in CO_GTWA_helpString.
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@ -231,10 +254,12 @@ typedef enum {
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CO_GTWA_ST__LSS_FASTSCAN = 0x30U,
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/** LSS 'lss_allnodes' */
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CO_GTWA_ST_LSS_ALLNODES = 0x31U,
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/** print message log */
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/** print message 'log' */
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CO_GTWA_ST_LOG = 0x80U,
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/** print 'help' text */
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CO_GTWA_ST_HELP = 0x90U
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CO_GTWA_ST_HELP = 0x81U,
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/** print 'status' of the node */
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CO_GTWA_ST_LED = 0x82U
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} CO_GTWA_state_t;
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@ -360,8 +385,14 @@ typedef struct {
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#endif
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#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) || defined CO_DOXYGEN
|
||||
/** Offset, when printing help text */
|
||||
const char *helpString;
|
||||
size_t helpStringOffset;
|
||||
#endif
|
||||
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
|
||||
/** CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init()*/
|
||||
CO_LEDs_t *LEDs;
|
||||
uint8_t ledStringPreviousIndex;
|
||||
#endif
|
||||
} CO_GTWA_t;
|
||||
|
||||
|
||||
|
|
@ -374,6 +405,8 @@ typedef struct {
|
|||
* @param SDOblockTransferEnableDefault true or false
|
||||
* @param NMT NMT object
|
||||
* @param LSSmaster LSS master object
|
||||
* @param LEDs LEDs object
|
||||
* @param dummy dummy argument, set to 0
|
||||
*
|
||||
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT
|
||||
*/
|
||||
|
|
@ -388,6 +421,9 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
|
|||
#endif
|
||||
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
|
||||
CO_LSSmaster_t *LSSmaster,
|
||||
#endif
|
||||
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
|
||||
CO_LEDs_t *LEDs,
|
||||
#endif
|
||||
uint8_t dummy);
|
||||
|
||||
|
|
|
|||
|
|
@ -91,6 +91,7 @@ Now you should see in second terminal (_candump_) two CANopen devices sending he
|
|||
Second instance of _canopend_ was started with command interface enabled. This is CANopen gateway interface with ascii mapping, as specified in standard CiA309-3. This enables usage of CANopen master functionalities via basic terminal. Go to third terminal, type "help" and press enter to see its functionalities.
|
||||
|
||||
help
|
||||
help datatype
|
||||
|
||||
#### SDO client
|
||||
For example read Heartbeat producer parameter on CANopen device with ID=4. Parameter is located at index 0x1017, subindex 0, it is 16-bit unsigned integer.
|
||||
|
|
|
|||
Loading…
Reference in a new issue