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Format the .h files using clang-format v15.

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This commit is contained in:
Janez 2024-07-06 21:54:59 +02:00
parent 82c95a2bc9
commit b87fad2195
27 changed files with 1426 additions and 1941 deletions
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364
301/CO_Emergency.h
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@ -26,24 +26,21 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_EM
#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | \
CO_CONFIG_EM_HISTORY | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#define CO_CONFIG_EM \
(CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#ifndef CO_CONFIG_EM_ERR_STATUS_BITS_COUNT
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10U*8U)
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10U * 8U)
#endif
#ifndef CO_CONFIG_ERR_CONDITION_GENERIC
#define CO_CONFIG_ERR_CONDITION_GENERIC (em->errorStatusBits[5] != 0U)
#endif
#ifndef CO_CONFIG_ERR_CONDITION_COMMUNICATION
#define CO_CONFIG_ERR_CONDITION_COMMUNICATION ((em->errorStatusBits[2] != 0U) \
|| (em->errorStatusBits[3] != 0U))
#define CO_CONFIG_ERR_CONDITION_COMMUNICATION ((em->errorStatusBits[2] != 0U) || (em->errorStatusBits[3] != 0U))
#endif
#ifndef CO_CONFIG_ERR_CONDITION_MANUFACTURER
#define CO_CONFIG_ERR_CONDITION_MANUFACTURER (( em->errorStatusBits[8] != 0U) \
|| (em->errorStatusBits[9] != 0U))
#define CO_CONFIG_ERR_CONDITION_MANUFACTURER ((em->errorStatusBits[8] != 0U) || (em->errorStatusBits[9] != 0U))
#endif
#ifdef __cplusplus
@ -96,7 +93,6 @@ extern "C" {
* registered by @ref CO_EM_initCallbackRx() function.
*/
/**
* @defgroup CO_errorRegister_t CANopen Error register
* @{
@ -110,14 +106,14 @@ extern "C" {
* Internal errors may prevent device to stay in NMT Operational state and
* changes may switch between the states. See @ref CO_NMT_control_t for details.
*/
#define CO_ERR_REG_GENERIC_ERR 0x01U /**< bit 0, generic error */
#define CO_ERR_REG_CURRENT 0x02U /**< bit 1, current */
#define CO_ERR_REG_VOLTAGE 0x04U /**< bit 2, voltage */
#define CO_ERR_REG_TEMPERATURE 0x08U /**< bit 3, temperature */
#define CO_ERR_REG_COMMUNICATION 0x10U /**< bit 4, communication error */
#define CO_ERR_REG_DEV_PROFILE 0x20U /**< bit 5, device profile specific */
#define CO_ERR_REG_RESERVED 0x40U /**< bit 6, reserved (always 0) */
#define CO_ERR_REG_MANUFACTURER 0x80U /**< bit 7, manufacturer specific */
#define CO_ERR_REG_GENERIC_ERR 0x01U /**< bit 0, generic error */
#define CO_ERR_REG_CURRENT 0x02U /**< bit 1, current */
#define CO_ERR_REG_VOLTAGE 0x04U /**< bit 2, voltage */
#define CO_ERR_REG_TEMPERATURE 0x08U /**< bit 3, temperature */
#define CO_ERR_REG_COMMUNICATION 0x10U /**< bit 4, communication error */
#define CO_ERR_REG_DEV_PROFILE 0x20U /**< bit 5, device profile specific */
#define CO_ERR_REG_RESERVED 0x40U /**< bit 6, reserved (always 0) */
#define CO_ERR_REG_MANUFACTURER 0x80U /**< bit 7, manufacturer specific */
/** @} */ /* CO_errorRegister_t */
@ -127,55 +123,54 @@ extern "C" {
*
* Standard error codes according to CiA DS-301 and DS-401.
*/
#define CO_EMC_NO_ERROR 0x0000U /**< 0x00xx error Reset or No Error */
#define CO_EMC_GENERIC 0x1000U /**< 0x10xx Generic Error */
#define CO_EMC_CURRENT 0x2000U /**< 0x20xx Current */
#define CO_EMC_CURRENT_INPUT 0x2100U /**< 0x21xx Current device input side */
#define CO_EMC_CURRENT_INSIDE 0x2200U /**< 0x22xx Current inside the device */
#define CO_EMC_CURRENT_OUTPUT 0x2300U /**< 0x23xx Current device output side */
#define CO_EMC_VOLTAGE 0x3000U /**< 0x30xx Voltage */
#define CO_EMC_VOLTAGE_MAINS 0x3100U /**< 0x31xx Mains Voltage */
#define CO_EMC_VOLTAGE_INSIDE 0x3200U /**< 0x32xx Voltage inside the device */
#define CO_EMC_VOLTAGE_OUTPUT 0x3300U /**< 0x33xx Output Voltage */
#define CO_EMC_TEMPERATURE 0x4000U /**< 0x40xx Temperature */
#define CO_EMC_TEMP_AMBIENT 0x4100U /**< 0x41xx Ambient Temperature */
#define CO_EMC_TEMP_DEVICE 0x4200U /**< 0x42xx Device Temperature */
#define CO_EMC_HARDWARE 0x5000U /**< 0x50xx Device Hardware */
#define CO_EMC_SOFTWARE_DEVICE 0x6000U /**< 0x60xx Device Software */
#define CO_EMC_SOFTWARE_INTERNAL 0x6100U /**< 0x61xx Internal Software */
#define CO_EMC_SOFTWARE_USER 0x6200U /**< 0x62xx User Software */
#define CO_EMC_DATA_SET 0x6300U /**< 0x63xx Data Set */
#define CO_EMC_ADDITIONAL_MODUL 0x7000U /**< 0x70xx Additional Modules */
#define CO_EMC_MONITORING 0x8000U /**< 0x80xx Monitoring */
#define CO_EMC_COMMUNICATION 0x8100U /**< 0x81xx Communication */
#define CO_EMC_CAN_OVERRUN 0x8110U /**< 0x8110 CAN Overrun (Objects lost) */
#define CO_EMC_CAN_PASSIVE 0x8120U /**< 0x8120 CAN in Error Passive Mode */
#define CO_EMC_HEARTBEAT 0x8130U /**< 0x8130 Life Guard Error or Heartbeat Error */
#define CO_EMC_BUS_OFF_RECOVERED 0x8140U /**< 0x8140 recovered from bus off */
#define CO_EMC_CAN_ID_COLLISION 0x8150U /**< 0x8150 CAN-ID collision */
#define CO_EMC_PROTOCOL_ERROR 0x8200U /**< 0x82xx Protocol Error */
#define CO_EMC_PDO_LENGTH 0x8210U /**< 0x8210 PDO not processed due to length error */
#define CO_EMC_PDO_LENGTH_EXC 0x8220U /**< 0x8220 PDO length exceeded */
#define CO_EMC_DAM_MPDO 0x8230U /**< 0x8230 DAM MPDO not processed destination object not available */
#define CO_EMC_SYNC_DATA_LENGTH 0x8240U /**< 0x8240 Unexpected SYNC data length */
#define CO_EMC_RPDO_TIMEOUT 0x8250U /**< 0x8250 RPDO timeout */
#define CO_EMC_EXTERNAL_ERROR 0x9000U /**< 0x90xx External Error */
#define CO_EMC_ADDITIONAL_FUNC 0xF000U /**< 0xF0xx Additional Functions */
#define CO_EMC_DEVICE_SPECIFIC 0xFF00U /**< 0xFFxx Device specific */
#define CO_EMC_NO_ERROR 0x0000U /**< 0x00xx error Reset or No Error */
#define CO_EMC_GENERIC 0x1000U /**< 0x10xx Generic Error */
#define CO_EMC_CURRENT 0x2000U /**< 0x20xx Current */
#define CO_EMC_CURRENT_INPUT 0x2100U /**< 0x21xx Current device input side */
#define CO_EMC_CURRENT_INSIDE 0x2200U /**< 0x22xx Current inside the device */
#define CO_EMC_CURRENT_OUTPUT 0x2300U /**< 0x23xx Current device output side */
#define CO_EMC_VOLTAGE 0x3000U /**< 0x30xx Voltage */
#define CO_EMC_VOLTAGE_MAINS 0x3100U /**< 0x31xx Mains Voltage */
#define CO_EMC_VOLTAGE_INSIDE 0x3200U /**< 0x32xx Voltage inside the device */
#define CO_EMC_VOLTAGE_OUTPUT 0x3300U /**< 0x33xx Output Voltage */
#define CO_EMC_TEMPERATURE 0x4000U /**< 0x40xx Temperature */
#define CO_EMC_TEMP_AMBIENT 0x4100U /**< 0x41xx Ambient Temperature */
#define CO_EMC_TEMP_DEVICE 0x4200U /**< 0x42xx Device Temperature */
#define CO_EMC_HARDWARE 0x5000U /**< 0x50xx Device Hardware */
#define CO_EMC_SOFTWARE_DEVICE 0x6000U /**< 0x60xx Device Software */
#define CO_EMC_SOFTWARE_INTERNAL 0x6100U /**< 0x61xx Internal Software */
#define CO_EMC_SOFTWARE_USER 0x6200U /**< 0x62xx User Software */
#define CO_EMC_DATA_SET 0x6300U /**< 0x63xx Data Set */
#define CO_EMC_ADDITIONAL_MODUL 0x7000U /**< 0x70xx Additional Modules */
#define CO_EMC_MONITORING 0x8000U /**< 0x80xx Monitoring */
#define CO_EMC_COMMUNICATION 0x8100U /**< 0x81xx Communication */
#define CO_EMC_CAN_OVERRUN 0x8110U /**< 0x8110 CAN Overrun (Objects lost) */
#define CO_EMC_CAN_PASSIVE 0x8120U /**< 0x8120 CAN in Error Passive Mode */
#define CO_EMC_HEARTBEAT 0x8130U /**< 0x8130 Life Guard Error or Heartbeat Error */
#define CO_EMC_BUS_OFF_RECOVERED 0x8140U /**< 0x8140 recovered from bus off */
#define CO_EMC_CAN_ID_COLLISION 0x8150U /**< 0x8150 CAN-ID collision */
#define CO_EMC_PROTOCOL_ERROR 0x8200U /**< 0x82xx Protocol Error */
#define CO_EMC_PDO_LENGTH 0x8210U /**< 0x8210 PDO not processed due to length error */
#define CO_EMC_PDO_LENGTH_EXC 0x8220U /**< 0x8220 PDO length exceeded */
#define CO_EMC_DAM_MPDO 0x8230U /**< 0x8230 DAM MPDO not processed destination object not available */
#define CO_EMC_SYNC_DATA_LENGTH 0x8240U /**< 0x8240 Unexpected SYNC data length */
#define CO_EMC_RPDO_TIMEOUT 0x8250U /**< 0x8250 RPDO timeout */
#define CO_EMC_EXTERNAL_ERROR 0x9000U /**< 0x90xx External Error */
#define CO_EMC_ADDITIONAL_FUNC 0xF000U /**< 0xF0xx Additional Functions */
#define CO_EMC_DEVICE_SPECIFIC 0xFF00U /**< 0xFFxx Device specific */
#define CO_EMC401_OUT_CUR_HI 0x2310U /**< 0x2310 DS401 Current at outputs too high (overload) */
#define CO_EMC401_OUT_SHORTED 0x2320U /**< 0x2320 DS401 Short circuit at outputs */
#define CO_EMC401_OUT_LOAD_DUMP 0x2330U /**< 0x2330 DS401 Load dump at outputs */
#define CO_EMC401_IN_VOLT_HI 0x3110U /**< 0x3110 DS401 Input voltage too high */
#define CO_EMC401_IN_VOLT_LOW 0x3120U /**< 0x3120 DS401 Input voltage too low */
#define CO_EMC401_INTERN_VOLT_HI 0x3210U /**< 0x3210 DS401 Internal voltage too high */
#define CO_EMC401_INTERN_VOLT_LO 0x3220U /**< 0x3220 DS401 Internal voltage too low */
#define CO_EMC401_OUT_VOLT_HIGH 0x3310U /**< 0x3310 DS401 Output voltage too high */
#define CO_EMC401_OUT_VOLT_LOW 0x3320U /**< 0x3320 DS401 Output voltage too low */
#define CO_EMC401_OUT_CUR_HI 0x2310U /**< 0x2310 DS401 Current at outputs too high (overload) */
#define CO_EMC401_OUT_SHORTED 0x2320U /**< 0x2320 DS401 Short circuit at outputs */
#define CO_EMC401_OUT_LOAD_DUMP 0x2330U /**< 0x2330 DS401 Load dump at outputs */
#define CO_EMC401_IN_VOLT_HI 0x3110U /**< 0x3110 DS401 Input voltage too high */
#define CO_EMC401_IN_VOLT_LOW 0x3120U /**< 0x3120 DS401 Input voltage too low */
#define CO_EMC401_INTERN_VOLT_HI 0x3210U /**< 0x3210 DS401 Internal voltage too high */
#define CO_EMC401_INTERN_VOLT_LO 0x3220U /**< 0x3220 DS401 Internal voltage too low */
#define CO_EMC401_OUT_VOLT_HIGH 0x3310U /**< 0x3310 DS401 Output voltage too high */
#define CO_EMC401_OUT_VOLT_LOW 0x3320U /**< 0x3320 DS401 Output voltage too low */
/** @} */ /* CO_EM_errorCode_t */
/**
* @defgroup CO_EM_errorStatusBits_t Error status bits
* @{
@ -193,85 +188,88 @@ extern "C" {
* uses first 6 bytes. Additional 4 bytes are pre-defined for manufacturer
* or device specific error indications, by default.
*/
#define CO_EM_NO_ERROR 0x00U /**< 0x00 Error Reset or No Error */
#define CO_EM_CAN_BUS_WARNING 0x01U /**< 0x01 communication info CAN bus warning limit reached */
#define CO_EM_RXMSG_WRONG_LENGTH 0x02U /**< 0x02 communication info Wrong data length of the received CAN message */
#define CO_EM_RXMSG_OVERFLOW 0x03U /**< 0x03 communication info Previous received CAN message wasn't processed yet */
#define CO_EM_RPDO_WRONG_LENGTH 0x04U /**< 0x04 communication info Wrong data length of received PDO */
#define CO_EM_RPDO_OVERFLOW 0x05U /**< 0x05 communication info Previous received PDO wasn't processed yet */
#define CO_EM_CAN_RX_BUS_PASSIVE 0x06U /**< 0x06 communication info CAN receive bus is passive */
#define CO_EM_CAN_TX_BUS_PASSIVE 0x07U /**< 0x07 communication info CAN transmit bus is passive */
#define CO_EM_NMT_WRONG_COMMAND 0x08U /**< 0x08 communication info Wrong NMT command received */
#define CO_EM_TIME_TIMEOUT 0x09U /**< 0x09 communication info TIME message timeout */
#define CO_EM_0A_unused 0x0AU /**< 0x0A communication info (unused) */
#define CO_EM_0B_unused 0x0BU /**< 0x0B communication info (unused) */
#define CO_EM_0C_unused 0x0CU /**< 0x0C communication info (unused) */
#define CO_EM_0D_unused 0x0DU /**< 0x0D communication info (unused) */
#define CO_EM_0E_unused 0x0EU /**< 0x0E communication info (unused) */
#define CO_EM_0F_unused 0x0FU /**< 0x0F communication info (unused) */
#define CO_EM_NO_ERROR 0x00U /**< 0x00 Error Reset or No Error */
#define CO_EM_CAN_BUS_WARNING 0x01U /**< 0x01 communication info CAN bus warning limit reached */
#define CO_EM_RXMSG_WRONG_LENGTH \
0x02U /**< 0x02 communication info Wrong data length of the received CAN message */
#define CO_EM_RXMSG_OVERFLOW \
0x03U /**< 0x03 communication info Previous received CAN message wasn't processed yet */
#define CO_EM_RPDO_WRONG_LENGTH 0x04U /**< 0x04 communication info Wrong data length of received PDO */
#define CO_EM_RPDO_OVERFLOW 0x05U /**< 0x05 communication info Previous received PDO wasn't processed yet */
#define CO_EM_CAN_RX_BUS_PASSIVE 0x06U /**< 0x06 communication info CAN receive bus is passive */
#define CO_EM_CAN_TX_BUS_PASSIVE 0x07U /**< 0x07 communication info CAN transmit bus is passive */
#define CO_EM_NMT_WRONG_COMMAND 0x08U /**< 0x08 communication info Wrong NMT command received */
#define CO_EM_TIME_TIMEOUT 0x09U /**< 0x09 communication info TIME message timeout */
#define CO_EM_0A_unused 0x0AU /**< 0x0A communication info (unused) */
#define CO_EM_0B_unused 0x0BU /**< 0x0B communication info (unused) */
#define CO_EM_0C_unused 0x0CU /**< 0x0C communication info (unused) */
#define CO_EM_0D_unused 0x0DU /**< 0x0D communication info (unused) */
#define CO_EM_0E_unused 0x0EU /**< 0x0E communication info (unused) */
#define CO_EM_0F_unused 0x0FU /**< 0x0F communication info (unused) */
#define CO_EM_10_unused 0x10U /**< 0x10 communication critical (unused) */
#define CO_EM_11_unused 0x11U /**< 0x11 communication critical (unused) */
#define CO_EM_CAN_TX_BUS_OFF 0x12U /**< 0x12 communication critical CAN transmit bus is off */
#define CO_EM_CAN_RXB_OVERFLOW 0x13U /**< 0x13 communication critical CAN module receive buffer has overflowed */
#define CO_EM_CAN_TX_OVERFLOW 0x14U /**< 0x14 communication critical CAN transmit buffer has overflowed */
#define CO_EM_TPDO_OUTSIDE_WINDOW 0x15U /**< 0x15 communication critical TPDO is outside SYNC window */
#define CO_EM_16_unused 0x16U /**< 0x16 communication critical (unused) */
#define CO_EM_RPDO_TIME_OUT 0x17U /**< 0x17 communication critical RPDO message timeout */
#define CO_EM_SYNC_TIME_OUT 0x18U /**< 0x18 communication critical SYNC message timeout */
#define CO_EM_SYNC_LENGTH 0x19U /**< 0x19 communication critical Unexpected SYNC data length */
#define CO_EM_PDO_WRONG_MAPPING 0x1AU /**< 0x1A communication critical Error with PDO mapping */
#define CO_EM_HEARTBEAT_CONSUMER 0x1BU /**< 0x1B communication critical Heartbeat consumer timeout */
#define CO_EM_HB_CONSUMER_REMOTE_RESET 0x1CU /**< 0x1C communication critical Heartbeat consumer detected remote node reset */
#define CO_EM_SRDO_CONFIGURATION 0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters. */
#define CO_EM_1E_unused 0x1EU /**< 0x1E communication critical (unused) */
#define CO_EM_1F_unused 0x1FU /**< 0x1F communication critical (unused) */
#define CO_EM_10_unused 0x10U /**< 0x10 communication critical (unused) */
#define CO_EM_11_unused 0x11U /**< 0x11 communication critical (unused) */
#define CO_EM_CAN_TX_BUS_OFF 0x12U /**< 0x12 communication critical CAN transmit bus is off */
#define CO_EM_CAN_RXB_OVERFLOW 0x13U /**< 0x13 communication critical CAN module receive buffer has overflowed */
#define CO_EM_CAN_TX_OVERFLOW 0x14U /**< 0x14 communication critical CAN transmit buffer has overflowed */
#define CO_EM_TPDO_OUTSIDE_WINDOW 0x15U /**< 0x15 communication critical TPDO is outside SYNC window */
#define CO_EM_16_unused 0x16U /**< 0x16 communication critical (unused) */
#define CO_EM_RPDO_TIME_OUT 0x17U /**< 0x17 communication critical RPDO message timeout */
#define CO_EM_SYNC_TIME_OUT 0x18U /**< 0x18 communication critical SYNC message timeout */
#define CO_EM_SYNC_LENGTH 0x19U /**< 0x19 communication critical Unexpected SYNC data length */
#define CO_EM_PDO_WRONG_MAPPING 0x1AU /**< 0x1A communication critical Error with PDO mapping */
#define CO_EM_HEARTBEAT_CONSUMER 0x1BU /**< 0x1B communication critical Heartbeat consumer timeout */
#define CO_EM_HB_CONSUMER_REMOTE_RESET \
0x1CU /**< 0x1C communication critical Heartbeat consumer detected remote node reset */
#define CO_EM_SRDO_CONFIGURATION 0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters. */
#define CO_EM_1E_unused 0x1EU /**< 0x1E communication critical (unused) */
#define CO_EM_1F_unused 0x1FU /**< 0x1F communication critical (unused) */
#define CO_EM_EMERGENCY_BUFFER_FULL 0x20U /**< 0x20 generic info Emergency buffer is full Emergency message wasn't sent */
#define CO_EM_21_unused 0x21U /**< 0x21 generic info (unused) */
#define CO_EM_MICROCONTROLLER_RESET 0x22U /**< 0x22 generic info Microcontroller has just started */
#define CO_EM_23_unused 0x23U /**< 0x23 generic info (unused) */
#define CO_EM_24_unused 0x24U /**< 0x24 generic info (unused) */
#define CO_EM_25_unused 0x25U /**< 0x25 generic info (unused) */
#define CO_EM_26_unused 0x26U /**< 0x26 generic info (unused) */
#define CO_EM_NON_VOLATILE_AUTO_SAVE 0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed */
#define CO_EM_EMERGENCY_BUFFER_FULL \
0x20U /**< 0x20 generic info Emergency buffer is full Emergency message wasn't sent */
#define CO_EM_21_unused 0x21U /**< 0x21 generic info (unused) */
#define CO_EM_MICROCONTROLLER_RESET 0x22U /**< 0x22 generic info Microcontroller has just started */
#define CO_EM_23_unused 0x23U /**< 0x23 generic info (unused) */
#define CO_EM_24_unused 0x24U /**< 0x24 generic info (unused) */
#define CO_EM_25_unused 0x25U /**< 0x25 generic info (unused) */
#define CO_EM_26_unused 0x26U /**< 0x26 generic info (unused) */
#define CO_EM_NON_VOLATILE_AUTO_SAVE 0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed */
#define CO_EM_WRONG_ERROR_REPORT 0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() function*/
#define CO_EM_ISR_TIMER_OVERFLOW 0x29U /**< 0x29 generic critical Timer task has overflowed */
#define CO_EM_MEMORY_ALLOCATION_ERROR 0x2AU /**< 0x2A generic critical Unable to allocate memory for objects */
#define CO_EM_GENERIC_ERROR 0x2BU /**< 0x2B generic critical Generic error test usage */
#define CO_EM_GENERIC_SOFTWARE_ERROR 0x2CU /**< 0x2C generic critical Software error */
#define CO_EM_INCONSISTENT_OBJECT_DICT 0x2DU /**< 0x2D generic critical Object dictionary does not match the software*/
#define CO_EM_CALCULATION_OF_PARAMETERS 0x2EU /**< 0x2E generic critical Error in calculation of device parameters */
#define CO_EM_NON_VOLATILE_MEMORY 0x2FU /**< 0x2F generic critical Error with access to non volatile device memory */
#define CO_EM_WRONG_ERROR_REPORT 0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() function*/
#define CO_EM_ISR_TIMER_OVERFLOW 0x29U /**< 0x29 generic critical Timer task has overflowed */
#define CO_EM_MEMORY_ALLOCATION_ERROR 0x2AU /**< 0x2A generic critical Unable to allocate memory for objects */
#define CO_EM_GENERIC_ERROR 0x2BU /**< 0x2B generic critical Generic error test usage */
#define CO_EM_GENERIC_SOFTWARE_ERROR 0x2CU /**< 0x2C generic critical Software error */
#define CO_EM_INCONSISTENT_OBJECT_DICT \
0x2DU /**< 0x2D generic critical Object dictionary does not match the software*/
#define CO_EM_CALCULATION_OF_PARAMETERS \
0x2EU /**< 0x2E generic critical Error in calculation of device parameters */
#define CO_EM_NON_VOLATILE_MEMORY \
0x2FU /**< 0x2F generic critical Error with access to non volatile device memory */
/** 0x30+ manufacturer info or critical Error status buts free to use by
* manufacturer. By default bits 0x30..0x3F are set as informational and
* bits 0x40..0x4F are set as critical. Manufacturer critical bits sets the
* error register as specified by @ref CO_CONFIG_ERR_CONDITION_MANUFACTURER
*/
#define CO_EM_MANUFACTURER_START 0x30U
#define CO_EM_MANUFACTURER_START 0x30U
/** (@ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1) largest value of the Error status bit. */
#define CO_EM_MANUFACTURER_END (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1U)
#define CO_EM_MANUFACTURER_END (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1U)
/** @} */ /* CO_EM_errorStatusBits_t */
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
/**
* Fifo buffer for emergency producer and error history
*/
typedef struct {
uint32_t msg;
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
uint32_t info;
#endif
} CO_EM_fifo_t;
#endif
/**
* Emergency object.
*/
@ -279,21 +277,20 @@ typedef struct {
/** Bitfield for the internal indication of the error condition. */
uint8_t errorStatusBits[CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8U];
/** Pointer to error register in object dictionary at 0x1001,00. */
uint8_t *errorRegister;
uint8_t* errorRegister;
/** Old CAN error status bitfield */
uint16_t CANerrorStatusOld;
/** From CO_EM_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
/** Internal circular FIFO buffer for storing pre-processed emergency
* messages. Messages are added by @ref CO_error() function. All messages
* are later post-processed by @ref CO_EM_process() function. In case of
* overflow, error is indicated but emergency message is not sent. Fifo is
* also used for error history, OD object 0x1003, "Pre-defined error field".
* Buffer is defined by @ref CO_EM_init(). */
CO_EM_fifo_t *fifo;
CO_EM_fifo_t* fifo;
/** Size of the above buffer, specified by @ref CO_EM_init(). */
uint8_t fifoSize;
/** Pointer for the fifo buffer, where next emergency message will be
@ -309,59 +306,55 @@ typedef struct {
uint8_t fifoCount;
#endif /* (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) */
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
/** True, if emergency producer is enabled, from Object dictionary */
bool_t producerEnabled;
/** Copy of CANopen node ID, from CO_EM_init() */
uint8_t nodeId;
/** CAN transmit buffer */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
/** Extension for OD object */
OD_extension_t OD_1014_extension;
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_CONFIGURABLE) != 0) || defined CO_DOXYGEN
/** COB ID of emergency message, from Object dictionary */
uint16_t producerCanId;
/** From CO_EM_init() */
uint16_t CANdevTxIdx;
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
/** Inhibit time for emergency message, from Object dictionary */
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
/** Inhibit time for emergency message, from Object dictionary */
uint32_t inhibitEmTime_us;
/**< Internal timer for inhibit time */
uint32_t inhibitEmTimer;
/** Extension for OD object */
OD_extension_t OD_1015_extension;
#endif
#endif
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1003_extension;
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_statusBits_extension;
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
/** From CO_EM_initCallbackRx() or NULL */
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode);
void (*pFunctSignalRx)(const uint16_t ident, const uint16_t errorCode, const uint8_t errorRegister,
const uint8_t errorBit, const uint32_t infoCode);
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_EM_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_EM_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
} CO_EM_t;
/**
* Initialize Emergency object.
*
@ -396,36 +389,28 @@ 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 | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
CO_EM_fifo_t *fifo,
uint8_t fifoSize,
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 | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
CO_EM_fifo_t* fifo, uint8_t fifoSize,
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1014_cobIdEm,
uint16_t CANdevTxIdx,
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1015_InhTime,
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1014_cobIdEm, uint16_t CANdevTxIdx,
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1015_InhTime,
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1003_preDefErr,
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_statusBits,
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1003_preDefErr,
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_statusBits,
#endif
const uint8_t nodeId,
uint32_t *errInfo);
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
#endif
const uint8_t nodeId, uint32_t* errInfo);
#if (((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency callback function.
*
@ -440,13 +425,10 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
* be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallbackPre(CO_EM_t *em,
void *object,
void (*pFunctSignal)(void *object));
void CO_EM_initCallbackPre(CO_EM_t* em, void* object, void (*pFunctSignal)(void* object));
#endif
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency received callback function.
*
@ -462,15 +444,11 @@ void CO_EM_initCallbackPre(CO_EM_t *em,
* @param em This object.
* @param pFunctSignalRx Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallbackRx(CO_EM_t *em,
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode));
void CO_EM_initCallbackRx(CO_EM_t* em, void (*pFunctSignalRx)(const uint16_t ident, const uint16_t errorCode,
const uint8_t errorRegister, const uint8_t errorBit,
const uint32_t infoCode));
#endif
/**
* Process Error control and Emergency object.
*
@ -485,11 +463,7 @@ void CO_EM_initCallbackRx(CO_EM_t *em,
* [microseconds].
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_EM_process(CO_EM_t *em,
bool_t NMTisPreOrOperational,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_EM_process(CO_EM_t* em, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t* timerNext_us);
/**
* Set or reset error condition.
@ -509,23 +483,17 @@ void CO_EM_process(CO_EM_t *em,
* @param infoCode 32 bit value is passed to bytes 4...7 of the Emergency
* message. It contains optional additional information.
*/
void CO_error(CO_EM_t *em, bool_t setError, const uint8_t errorBit,
uint16_t errorCode, uint32_t infoCode);
void CO_error(CO_EM_t* em, bool_t setError, const uint8_t errorBit, uint16_t errorCode, uint32_t infoCode);
/**
* Report error condition, for description of parameters see @ref CO_error.
*/
#define CO_errorReport(em, errorBit, errorCode, infoCode) \
CO_error(em, true, errorBit, errorCode, infoCode)
#define CO_errorReport(em, errorBit, errorCode, infoCode) CO_error(em, true, errorBit, errorCode, infoCode)
/**
* Reset error condition, for description of parameters see @ref CO_error.
*/
#define CO_errorReset(em, errorBit, infoCode) \
CO_error(em, false, errorBit, CO_EMC_NO_ERROR, infoCode)
#define CO_errorReset(em, errorBit, infoCode) CO_error(em, false, errorBit, CO_EMC_NO_ERROR, infoCode)
/**
* Check specific error condition.
@ -537,12 +505,15 @@ void CO_error(CO_EM_t *em, bool_t setError, const uint8_t errorBit,
*
* @return true if Error is present.
*/
static inline bool_t CO_isError(CO_EM_t *em, const uint8_t errorBit) {
static inline bool_t
CO_isError(CO_EM_t* em, const uint8_t errorBit) {
uint8_t index = errorBit >> 3;
uint8_t bitmask = 1 << (errorBit & 0x7);
return (em == NULL || index >= (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8U)
|| (em->errorStatusBits[index] & bitmask) != 0) ? true : false;
|| (em->errorStatusBits[index] & bitmask) != 0)
? true
: false;
}
/**
@ -552,7 +523,8 @@ static inline bool_t CO_isError(CO_EM_t *em, const uint8_t errorBit) {
*
* @return Error register or 0 if doesn't exist.
*/
static inline uint8_t CO_getErrorRegister(CO_EM_t *em) {
static inline uint8_t
CO_getErrorRegister(CO_EM_t* em) {
return (em == NULL || em->errorRegister == NULL) ? 0 : *em->errorRegister;
}

149
301/CO_HBconsumer.h
View file

@ -28,13 +28,12 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_HB_CONS \
(CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -63,13 +62,12 @@ extern "C" {
* Heartbeat state of a node
*/
typedef enum {
CO_HBconsumer_UNCONFIGURED = 0x00U, /**< Consumer entry inactive */
CO_HBconsumer_UNKNOWN = 0x01U, /**< Consumer enabled, but no heartbeat received yet */
CO_HBconsumer_ACTIVE = 0x02U, /**< Heartbeat received within set time */
CO_HBconsumer_TIMEOUT = 0x03U, /**< No heatbeat received for set time */
CO_HBconsumer_UNCONFIGURED = 0x00U, /**< Consumer entry inactive */
CO_HBconsumer_UNKNOWN = 0x01U, /**< Consumer enabled, but no heartbeat received yet */
CO_HBconsumer_ACTIVE = 0x02U, /**< Heartbeat received within set time */
CO_HBconsumer_TIMEOUT = 0x03U, /**< No heatbeat received for set time */
} CO_HBconsumer_state_t;
/**
* One monitored node inside CO_HBconsumer_t.
*/
@ -85,46 +83,42 @@ typedef struct {
/** Consumer heartbeat time from OD */
uint32_t time_us;
/** Indication if new Heartbeat message received from the CAN bus */
volatile void *CANrxNew;
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
volatile void* CANrxNew;
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_HBconsumer_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_HBconsumer_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) \
|| defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/** Previous value of the remote node (Heartbeat payload) */
CO_NMT_internalState_t NMTstatePrev;
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate,
void *object);
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void* object);
/** Pointer to object */
void *pFunctSignalObjectNmtChanged;
void* pFunctSignalObjectNmtChanged;
/** Callback for heartbeat state change to active event.
* From CO_HBconsumer_initCallbackHeartbeatStarted() or NULL. */
void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void *object);
void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void* object);
/** Pointer to object */
void *functSignalObjectHbStarted;
void* functSignalObjectHbStarted;
/** Callback for consumer timeout event.
* From CO_HBconsumer_initCallbackTimeout() or NULL. */
void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void *object);
void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void* object);
/** Pointer to object */
void *functSignalObjectTimeout;
void* functSignalObjectTimeout;
/** Callback for remote reset event.
* From CO_HBconsumer_initCallbackRemoteReset() or NULL. */
void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void *object);
void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void* object);
/** Pointer to object */
void *functSignalObjectRemoteReset;
void* functSignalObjectRemoteReset;
#endif
} CO_HBconsNode_t;
/**
* Heartbeat consumer object.
*
@ -133,9 +127,9 @@ typedef struct {
*/
typedef struct {
/** From CO_HBconsumer_init() */
CO_EM_t *em;
CO_EM_t* em;
/** Array of monitored nodes, from CO_HBconsumer_init() */
CO_HBconsNode_t *monitoredNodes;
CO_HBconsNode_t* monitoredNodes;
/** Actual number of monitored nodes, size-of-the-above-array or
* number-of-array-elements-in-OD-0x1016, whichever is smaller. */
uint8_t numberOfMonitoredNodes;
@ -148,25 +142,22 @@ typedef struct {
/** previous state of the variable */
bool_t NMTisPreOrOperationalPrev;
/** From CO_HBconsumer_init() */
CO_CANmodule_t *CANdevRx;
CO_CANmodule_t* CANdevRx;
/** From CO_HBconsumer_init() */
uint16_t CANdevRxIdxStart;
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1016_extension;
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate,
void *object);
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void* object);
/** Pointer to object */
void *pFunctSignalObjectNmtChanged;
void* pFunctSignalObjectNmtChanged;
#endif
} CO_HBconsumer_t;
/**
* Initialize Heartbeat consumer object.
*
@ -186,17 +177,11 @@ typedef struct {
*
* @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t *HBcons,
CO_EM_t *em,
CO_HBconsNode_t *monitoredNodes,
uint8_t monitoredNodesCount,
OD_entry_t *OD_1016_HBcons,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdxStart,
uint32_t *errInfo);
CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t* HBcons, CO_EM_t* em, CO_HBconsNode_t* monitoredNodes,
uint8_t monitoredNodesCount, OD_entry_t* OD_1016_HBcons, CO_CANmodule_t* CANdevRx,
uint16_t CANdevRxIdxStart, uint32_t* errInfo);
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer callback function.
*
@ -208,15 +193,11 @@ CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t *HBcons,
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackPre(
CO_HBconsumer_t *HBcons,
void *object,
void (*pFunctSignal)(void *object));
void CO_HBconsumer_initCallbackPre(CO_HBconsumer_t* HBcons, void* object, void (*pFunctSignal)(void* object));
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) \
|| defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer NMT changed callback function.
*
@ -230,16 +211,12 @@ void CO_HBconsumer_initCallbackPre(
* Can be NULL.
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
uint8_t idx,
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate,
void *object));
void CO_HBconsumer_initCallbackNmtChanged(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate, void* object));
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer started callback function.
*
@ -252,11 +229,8 @@ void CO_HBconsumer_initCallbackNmtChanged(
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackHeartbeatStarted(
CO_HBconsumer_t *HBcons,
uint8_t idx,
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
void CO_HBconsumer_initCallbackHeartbeatStarted(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
/**
* Initialize Heartbeat consumer timeout callback function.
@ -270,11 +244,8 @@ void CO_HBconsumer_initCallbackHeartbeatStarted(
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackTimeout(
CO_HBconsumer_t *HBcons,
uint8_t idx,
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
void CO_HBconsumer_initCallbackTimeout(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
/**
* Initialize Heartbeat consumer remote reset detected callback function.
@ -288,11 +259,8 @@ void CO_HBconsumer_initCallbackTimeout(
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackRemoteReset(
CO_HBconsumer_t *HBcons,
uint8_t idx,
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
void CO_HBconsumer_initCallbackRemoteReset(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
/**
@ -305,14 +273,10 @@ void CO_HBconsumer_initCallbackRemoteReset(
* @param timeDifference_us Time difference from previous function call in [microseconds].
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_HBconsumer_process(
CO_HBconsumer_t *HBcons,
bool_t NMTisPreOrOperational,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_HBconsumer_process(CO_HBconsumer_t* HBcons, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
uint32_t* timerNext_us);
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0) || defined CO_DOXYGEN
/**
* Get the heartbeat producer object index by node ID
*
@ -320,9 +284,7 @@ void CO_HBconsumer_process(
* @param nodeId producer node ID
* @return index. -1 if not found
*/
int8_t CO_HBconsumer_getIdxByNodeId(
CO_HBconsumer_t *HBcons,
uint8_t nodeId);
int8_t CO_HBconsumer_getIdxByNodeId(CO_HBconsumer_t* HBcons, uint8_t nodeId);
/**
* Get the current state of a heartbeat producer by the index in OD 0x1016
@ -331,9 +293,7 @@ int8_t CO_HBconsumer_getIdxByNodeId(
* @param idx object sub index
* @return #CO_HBconsumer_state_t
*/
CO_HBconsumer_state_t CO_HBconsumer_getState(
CO_HBconsumer_t *HBcons,
uint8_t idx);
CO_HBconsumer_state_t CO_HBconsumer_getState(CO_HBconsumer_t* HBcons, uint8_t idx);
/**
* Get the current NMT state of a heartbeat producer by the index in OD 0x1016
@ -346,10 +306,7 @@ CO_HBconsumer_state_t CO_HBconsumer_getState(
* @retval 0 NMT state has been received and is valid
* @retval -1 not valid
*/
int8_t CO_HBconsumer_getNmtState(
CO_HBconsumer_t *HBcons,
uint8_t idx,
CO_NMT_internalState_t *nmtState);
int8_t CO_HBconsumer_getNmtState(CO_HBconsumer_t* HBcons, uint8_t idx, CO_NMT_internalState_t* nmtState);
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */

102
301/CO_NMT_Heartbeat.h
View file

@ -27,8 +27,7 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_NMT
#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#ifdef __cplusplus
@ -82,7 +81,6 @@ typedef enum {
CO_NMT_STOPPED = 4
} CO_NMT_internalState_t;
/**
* Commands from NMT master.
*/
@ -101,7 +99,6 @@ typedef enum {
CO_NMT_RESET_COMMUNICATION = 130
} CO_NMT_command_t;
/**
* Return code from CO_NMT_process() that tells application code what to
* reset.
@ -118,7 +115,6 @@ typedef enum {
CO_RESET_QUIT = 3
} CO_NMT_reset_cmd_t;
/**
* @defgroup CO_NMT_control_t NMT control bitfield for NMT internal state.
* @{
@ -134,28 +130,27 @@ typedef enum {
/** First 8 bits can be used to specify bitmask for the
* @ref CO_errorRegister_t to get relevant bits for the calculation. */
#define CO_NMT_ERR_REG_MASK 0x00FFU
#define CO_NMT_ERR_REG_MASK 0x00FFU
/** If bit is set then device enters NMT operational state after the
* initialization phase otherwise it enters NMT pre-operational state. */
#define CO_NMT_STARTUP_TO_OPERATIONAL 0x0100U
/** If bit is set and device is operational it enters NMT pre-operational
* or stopped state if CAN bus is off or heartbeat consumer timeout is
* detected. */
#define CO_NMT_ERR_ON_BUSOFF_HB 0x1000U
#define CO_NMT_ERR_ON_BUSOFF_HB 0x1000U
/** If bit is set and device is operational it enters NMT pre-operational
* or stopped state if masked CANopen error register is different than
* zero. */
#define CO_NMT_ERR_ON_ERR_REG 0x2000U
#define CO_NMT_ERR_ON_ERR_REG 0x2000U
/** If bit is set and CO_NMT_ERR_ON_xx condition is met then device will
* enter NMT stopped state otherwise it will enter NMT pre-op state. */
#define CO_NMT_ERR_TO_STOPPED 0x4000U
#define CO_NMT_ERR_TO_STOPPED 0x4000U
/** If bit is set and device is pre-operational it enters NMT operational
* state automatically if conditions from CO_NMT_ERR_ON_xx are all false.*/
#define CO_NMT_ERR_FREE_TO_OPERATIONAL 0x8000U
#define CO_NMT_ERR_FREE_TO_OPERATIONAL 0x8000U
/** @} */ /* CO_NMT_control_t */
/**
* NMT consumer and Heartbeat producer object
*/
@ -178,30 +173,29 @@ typedef struct {
/** Extension for OD object */
OD_extension_t OD_1017_extension;
/** From CO_NMT_init() */
CO_EM_t *em;
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
CO_EM_t* em;
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
/** From CO_NMT_init() */
CO_CANmodule_t *NMT_CANdevTx;
CO_CANmodule_t* NMT_CANdevTx;
/** CAN transmit buffer for NMT master message */
CO_CANtx_t *NMT_TXbuff;
CO_CANtx_t* NMT_TXbuff;
#endif
/** From CO_NMT_init() */
CO_CANmodule_t *HB_CANdevTx;
CO_CANmodule_t* HB_CANdevTx;
/** CAN transmit buffer for heartbeat message */
CO_CANtx_t *HB_TXbuff;
#if (((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
CO_CANtx_t* HB_TXbuff;
#if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_NMT_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_NMT_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/** From CO_NMT_initCallbackChanged() or NULL */
void (*pFunctNMT)(CO_NMT_internalState_t state);
#endif
} CO_NMT_t;
/**
* Initialize NMT and Heartbeat producer object.
*
@ -231,27 +225,15 @@ typedef struct {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
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,
#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_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,
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, uint16_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, uint16_t CANidTxHB, uint32_t* errInfo);
#if (((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize NMT callback function after message preprocessed.
*
@ -264,13 +246,10 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
* Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
void *object,
void (*pFunctSignal)(void *object));
void CO_NMT_initCallbackPre(CO_NMT_t* NMT, void* object, void (*pFunctSignal)(void* object));
#endif
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/**
* Initialize NMT callback function.
*
@ -282,11 +261,9 @@ void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
* @param NMT This object.
* @param pFunctNMT Pointer to the callback function. Not called if NULL.
*/
void CO_NMT_initCallbackChanged(CO_NMT_t *NMT,
void (*pFunctNMT)(CO_NMT_internalState_t state));
void CO_NMT_initCallbackChanged(CO_NMT_t* NMT, void (*pFunctNMT)(CO_NMT_internalState_t state));
#endif
/**
* Process received NMT and produce Heartbeat messages.
*
@ -300,11 +277,8 @@ void CO_NMT_initCallbackChanged(CO_NMT_t *NMT,
*
* @return #CO_NMT_reset_cmd_t
*/
CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
CO_NMT_internalState_t *NMTstate,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t* NMT, CO_NMT_internalState_t* NMTstate, uint32_t timeDifference_us,
uint32_t* timerNext_us);
/**
* Query current NMT state
@ -313,11 +287,11 @@ CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
*
* @return @ref CO_NMT_internalState_t
*/
static inline CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t *NMT) {
static inline CO_NMT_internalState_t
CO_NMT_getInternalState(CO_NMT_t* NMT) {
return (NMT == NULL) ? CO_NMT_INITIALIZING : NMT->operatingState;
}
/**
* Send NMT command to self, without sending NMT message
*
@ -326,14 +300,14 @@ static inline CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t *NMT) {
* @param NMT This object.
* @param command NMT command
*/
static inline void CO_NMT_sendInternalCommand(CO_NMT_t *NMT,
CO_NMT_command_t command)
{
if (NMT != NULL) { NMT->internalCommand = command; }
static inline void
CO_NMT_sendInternalCommand(CO_NMT_t* NMT, CO_NMT_command_t command) {
if (NMT != NULL) {
NMT->internalCommand = command;
}
}
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
/**
* Send NMT master command.
*
@ -349,9 +323,7 @@ static inline void CO_NMT_sendInternalCommand(CO_NMT_t *NMT,
*
* @return CO_ERROR_NO on success or CO_ReturnError_t from CO_CANsend().
*/
CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t *NMT,
CO_NMT_command_t command,
uint8_t nodeID);
CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t* NMT, CO_NMT_command_t command, uint8_t nodeID);
#endif /* (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER */

66
301/CO_Node_Guarding.h
View file

@ -34,7 +34,7 @@
#define CO_CONFIG_NODE_GUARDING_MASTER_COUNT 0x7F
#endif
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -77,9 +77,9 @@ extern "C" {
*/
typedef struct {
/** From CO_nodeGuardingSlave_init() */
CO_EM_t *em;
CO_EM_t* em;
/** Indicates, if new rtr message received from CAN bus */
volatile void *CANrxNew;
volatile void* CANrxNew;
/** Guard time in microseconds, calculated from OD_0x100C */
uint32_t guardTime_us;
/** Life time in microseconds, calculated from guardTime_us * lifeTimeFactor */
@ -97,12 +97,11 @@ typedef struct {
/** Extension for OD object */
OD_extension_t OD_100D_extension;
/** From CO_nodeGuardingSlave_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** CAN transmit buffer for the message */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
} CO_nodeGuardingSlave_t;
/**
* Initialize Node Guarding slave object.
*
@ -124,17 +123,10 @@ 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);
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);
/**
* Process Node Guarding slave.
@ -148,12 +140,8 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
CO_NMT_internalState_t NMTstate,
bool_t slaveDisable,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t* ngs, CO_NMT_internalState_t NMTstate, bool_t slaveDisable,
uint32_t timeDifference_us, uint32_t* timerNext_us);
/**
* Inquire, if Node guarding slave detected life time timeout
@ -164,12 +152,11 @@ void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
*
* @return true, if life time timeout was detected.
*/
static inline bool_t CO_nodeGuardingSlave_isTimeout(CO_nodeGuardingSlave_t *ngs)
{
static inline bool_t
CO_nodeGuardingSlave_isTimeout(CO_nodeGuardingSlave_t* ngs) {
return (ngs == NULL) || ngs->lifeTimeTimeout;
}
/** @} */ /* CO_Node_Guarding */
#ifdef __cplusplus
@ -178,10 +165,7 @@ static inline bool_t CO_nodeGuardingSlave_isTimeout(CO_nodeGuardingSlave_t *ngs)
#endif /* (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE */
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
#if CO_CONFIG_NODE_GUARDING_MASTER_COUNT < 1 || CO_CONFIG_NODE_GUARDING_MASTER_COUNT > 127
#error CO_CONFIG_NODE_GUARDING_MASTER_COUNT value is wrong!
@ -223,13 +207,13 @@ typedef struct {
*/
typedef struct {
/** From CO_nodeGuardingMaster_init() */
CO_EM_t *em;
CO_EM_t* em;
/** From CO_nodeGuardingMaster_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** From CO_nodeGuardingMaster_init() */
uint16_t CANdevTxIdx;
/** CAN transmit buffer for the message */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
/** True, if all monitored nodes are active or no node is monitored. Can be
* read by the application */
bool_t allMonitoredActive;
@ -254,12 +238,8 @@ typedef struct {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t *ngm,
CO_EM_t *em,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx);
CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t* ngm, CO_EM_t* em, CO_CANmodule_t* CANdevRx,
uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx);
/**
* Initialize node inside Node Guarding master object.
@ -275,9 +255,7 @@ CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t *ngm,
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_nodeGuardingMaster_initNode(CO_nodeGuardingMaster_t *ngm,
uint8_t index,
uint8_t nodeId,
CO_ReturnError_t CO_nodeGuardingMaster_initNode(CO_nodeGuardingMaster_t* ngm, uint8_t index, uint8_t nodeId,
uint16_t guardTime_ms);
/**
@ -290,9 +268,7 @@ CO_ReturnError_t CO_nodeGuardingMaster_initNode(CO_nodeGuardingMaster_t *ngm,
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_nodeGuardingMaster_process(CO_nodeGuardingMaster_t *ngm,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_nodeGuardingMaster_process(CO_nodeGuardingMaster_t* ngm, uint32_t timeDifference_us, uint32_t* timerNext_us);
/** @} */ /* @addtogroup CO_Node_Guarding */

332
301/CO_ODinterface.h
View file

@ -54,88 +54,85 @@ typedef uint8_t OD_attr_t;
#define CO_PROGMEM const
#endif
/**
* Common DS301 object dictionary entries.
*/
typedef enum {
OD_H1000_DEV_TYPE = 0x1000U,/**< Device type */
OD_H1001_ERR_REG = 0x1001U,/**< Error register */
OD_H1002_MANUF_STATUS_REG = 0x1002U,/**< Manufacturer status register */
OD_H1003_PREDEF_ERR_FIELD = 0x1003U,/**< Predefined error field */
OD_H1004_RSV = 0x1004U,/**< Reserved */
OD_H1005_COBID_SYNC = 0x1005U,/**< Sync message cob-id */
OD_H1006_COMM_CYCL_PERIOD = 0x1006U,/**< Communication cycle period */
OD_H1007_SYNC_WINDOW_LEN = 0x1007U,/**< Sync windows length */
OD_H1008_MANUF_DEV_NAME = 0x1008U,/**< Manufacturer device name */
OD_H1009_MANUF_HW_VERSION = 0x1009U,/**< Manufacturer hardware version */
OD_H100A_MANUF_SW_VERSION = 0x100AU,/**< Manufacturer software version */
OD_H100B_RSV = 0x100BU,/**< Reserved */
OD_H100C_GUARD_TIME = 0x100CU,/**< Guard time */
OD_H100D_LIFETIME_FACTOR = 0x100DU,/**< Life time factor */
OD_H100E_RSV = 0x100EU,/**< Reserved */
OD_H100F_RSV = 0x100FU,/**< Reserved */
OD_H1010_STORE_PARAMETERS = 0x1010U,/**< Store params in persistent mem.*/
OD_H1011_RESTORE_DEFAULT = 0x1011U,/**< Restore default parameters */
OD_H1012_COBID_TIME = 0x1012U,/**< Timestamp message cob-id */
OD_H1013_HIGH_RES_TIMESTAMP = 0x1013U,/**< High resolution timestamp */
OD_H1014_COBID_EMERGENCY = 0x1014U,/**< Emergency message cob-id */
OD_H1015_INHIBIT_TIME_EMCY = 0x1015U,/**< Inhibit time emergency message */
OD_H1016_CONSUMER_HB_TIME = 0x1016U,/**< Consumer heartbeat time */
OD_H1017_PRODUCER_HB_TIME = 0x1017U,/**< Producer heartbeat time */
OD_H1018_IDENTITY_OBJECT = 0x1018U,/**< Identity object */
OD_H1019_SYNC_CNT_OVERFLOW = 0x1019U,/**< Sync counter overflow value */
OD_H1020_VERIFY_CONFIG = 0x1020U,/**< Verify configuration */
OD_H1021_STORE_EDS = 0x1021U,/**< Store EDS */
OD_H1022_STORE_FORMAT = 0x1022U,/**< Store format */
OD_H1023_OS_CMD = 0x1023U,/**< OS command */
OD_H1024_OS_CMD_MODE = 0x1024U,/**< OS command mode */
OD_H1025_OS_DBG_INTERFACE = 0x1025U,/**< OS debug interface */
OD_H1026_OS_PROMPT = 0x1026U,/**< OS prompt */
OD_H1027_MODULE_LIST = 0x1027U,/**< Module list */
OD_H1028_EMCY_CONSUMER = 0x1028U,/**< Emergency consumer object */
OD_H1029_ERR_BEHAVIOR = 0x1029U,/**< Error behaviour */
OD_H1200_SDO_SERVER_1_PARAM = 0x1200U,/**< SDO server parameter */
OD_H1280_SDO_CLIENT_1_PARAM = 0x1280U,/**< SDO client parameter */
OD_H1300_GFC_PARAM = 0x1300U,/**< Global fail-safe command param */
OD_H1301_SRDO_1_PARAM = 0x1301U,/**< SRDO communication parameter */
OD_H1381_SRDO_1_MAPPING = 0x1381U,/**< SRDO mapping parameter */
OD_H13FE_SRDO_VALID = 0x13FEU,/**< SRDO Configuration valid */
OD_H13FF_SRDO_CHECKSUM = 0x13FFU,/**< SRDO configuration checksum */
OD_H1400_RXPDO_1_PARAM = 0x1400U,/**< RXPDO communication parameter */
OD_H1600_RXPDO_1_MAPPING = 0x1600U,/**< RXPDO mapping parameters */
OD_H1800_TXPDO_1_PARAM = 0x1800U,/**< TXPDO communication parameter */
OD_H1A00_TXPDO_1_MAPPING = 0x1A00U,/**< TXPDO mapping parameters */
OD_H1000_DEV_TYPE = 0x1000U, /**< Device type */
OD_H1001_ERR_REG = 0x1001U, /**< Error register */
OD_H1002_MANUF_STATUS_REG = 0x1002U, /**< Manufacturer status register */
OD_H1003_PREDEF_ERR_FIELD = 0x1003U, /**< Predefined error field */
OD_H1004_RSV = 0x1004U, /**< Reserved */
OD_H1005_COBID_SYNC = 0x1005U, /**< Sync message cob-id */
OD_H1006_COMM_CYCL_PERIOD = 0x1006U, /**< Communication cycle period */
OD_H1007_SYNC_WINDOW_LEN = 0x1007U, /**< Sync windows length */
OD_H1008_MANUF_DEV_NAME = 0x1008U, /**< Manufacturer device name */
OD_H1009_MANUF_HW_VERSION = 0x1009U, /**< Manufacturer hardware version */
OD_H100A_MANUF_SW_VERSION = 0x100AU, /**< Manufacturer software version */
OD_H100B_RSV = 0x100BU, /**< Reserved */
OD_H100C_GUARD_TIME = 0x100CU, /**< Guard time */
OD_H100D_LIFETIME_FACTOR = 0x100DU, /**< Life time factor */
OD_H100E_RSV = 0x100EU, /**< Reserved */
OD_H100F_RSV = 0x100FU, /**< Reserved */
OD_H1010_STORE_PARAMETERS = 0x1010U, /**< Store params in persistent mem.*/
OD_H1011_RESTORE_DEFAULT = 0x1011U, /**< Restore default parameters */
OD_H1012_COBID_TIME = 0x1012U, /**< Timestamp message cob-id */
OD_H1013_HIGH_RES_TIMESTAMP = 0x1013U, /**< High resolution timestamp */
OD_H1014_COBID_EMERGENCY = 0x1014U, /**< Emergency message cob-id */
OD_H1015_INHIBIT_TIME_EMCY = 0x1015U, /**< Inhibit time emergency message */
OD_H1016_CONSUMER_HB_TIME = 0x1016U, /**< Consumer heartbeat time */
OD_H1017_PRODUCER_HB_TIME = 0x1017U, /**< Producer heartbeat time */
OD_H1018_IDENTITY_OBJECT = 0x1018U, /**< Identity object */
OD_H1019_SYNC_CNT_OVERFLOW = 0x1019U, /**< Sync counter overflow value */
OD_H1020_VERIFY_CONFIG = 0x1020U, /**< Verify configuration */
OD_H1021_STORE_EDS = 0x1021U, /**< Store EDS */
OD_H1022_STORE_FORMAT = 0x1022U, /**< Store format */
OD_H1023_OS_CMD = 0x1023U, /**< OS command */
OD_H1024_OS_CMD_MODE = 0x1024U, /**< OS command mode */
OD_H1025_OS_DBG_INTERFACE = 0x1025U, /**< OS debug interface */
OD_H1026_OS_PROMPT = 0x1026U, /**< OS prompt */
OD_H1027_MODULE_LIST = 0x1027U, /**< Module list */
OD_H1028_EMCY_CONSUMER = 0x1028U, /**< Emergency consumer object */
OD_H1029_ERR_BEHAVIOR = 0x1029U, /**< Error behaviour */
OD_H1200_SDO_SERVER_1_PARAM = 0x1200U, /**< SDO server parameter */
OD_H1280_SDO_CLIENT_1_PARAM = 0x1280U, /**< SDO client parameter */
OD_H1300_GFC_PARAM = 0x1300U, /**< Global fail-safe command param */
OD_H1301_SRDO_1_PARAM = 0x1301U, /**< SRDO communication parameter */
OD_H1381_SRDO_1_MAPPING = 0x1381U, /**< SRDO mapping parameter */
OD_H13FE_SRDO_VALID = 0x13FEU, /**< SRDO Configuration valid */
OD_H13FF_SRDO_CHECKSUM = 0x13FFU, /**< SRDO configuration checksum */
OD_H1400_RXPDO_1_PARAM = 0x1400U, /**< RXPDO communication parameter */
OD_H1600_RXPDO_1_MAPPING = 0x1600U, /**< RXPDO mapping parameters */
OD_H1800_TXPDO_1_PARAM = 0x1800U, /**< TXPDO communication parameter */
OD_H1A00_TXPDO_1_MAPPING = 0x1A00U, /**< TXPDO mapping parameters */
} OD_ObjDicId_30x_t;
/**
* Attributes (bit masks) for OD sub-object.
*/
typedef enum {
ODA_SDO_R = 0x01U, /**< SDO server may read from the variable */
ODA_SDO_W = 0x02U, /**< SDO server may write to the variable */
ODA_SDO_R = 0x01U, /**< SDO server may read from the variable */
ODA_SDO_W = 0x02U, /**< SDO server may write to the variable */
ODA_SDO_RW = 0x03U, /**< SDO server may read from or write to the variable */
ODA_TPDO = 0x04U, /**< Variable is mappable into TPDO (can be read) */
ODA_RPDO = 0x08U, /**< Variable is mappable into RPDO (can be written) */
ODA_TRPDO = 0x0CU, /**< Variable is mappable into TPDO or RPDO */
ODA_TSRDO = 0x10U, /**< Variable is mappable into transmitting SRDO */
ODA_RSRDO = 0x20U, /**< Variable is mappable into receiving SRDO */
ODA_TPDO = 0x04U, /**< Variable is mappable into TPDO (can be read) */
ODA_RPDO = 0x08U, /**< Variable is mappable into RPDO (can be written) */
ODA_TRPDO = 0x0CU, /**< Variable is mappable into TPDO or RPDO */
ODA_TSRDO = 0x10U, /**< Variable is mappable into transmitting SRDO */
ODA_RSRDO = 0x20U, /**< Variable is mappable into receiving SRDO */
ODA_TRSRDO = 0x30U, /**< Variable is mappable into tx or rx SRDO */
ODA_MB = 0x40U, /**< Variable is multi-byte ((u)int16_t to (u)int64_t) */
ODA_STR = 0x80U /**< Shorter value, than specified variable size, may be
ODA_MB = 0x40U, /**< Variable is multi-byte ((u)int16_t to (u)int64_t) */
ODA_STR = 0x80U /**< Shorter value, than specified variable size, may be
written to the variable. SDO write will fill remaining memory with zeroes.
Attribute is used for VISIBLE_STRING and UNICODE_STRING. */
} OD_attributes_t;
/**
* Return codes from OD access functions.
*
* @ref OD_getSDOabCode() can be used to retrieve corresponding SDO abort code.
*/
typedef enum {
/* !!!! WARNING !!!!
/* !!!! WARNING !!!!
* If changing these values, change also OD_getSDOabCode() function!
*/
/** Read/write is only partial, make more calls */
@ -196,7 +193,6 @@ typedef enum {
ODR_COUNT = 26
} ODR_t;
/**
* IO stream structure, used for read/write access to OD variable, part of
* @ref OD_IO_t.
@ -206,11 +202,11 @@ typedef struct {
* read/write functions operate on it. If memory for data object is not
* specified by Object Dictionary, then dataOrig is NULL.
*/
void *dataOrig;
void* dataOrig;
/** Pointer to object, passed by @ref OD_extension_init(). Can be used
* inside read / write functions from IO extension.
*/
void *object;
void* object;
/** Data length in bytes or 0, if length is not specified */
OD_size_t dataLength;
/** In case of large data, dataOffset indicates position of already
@ -224,7 +220,6 @@ typedef struct {
uint8_t subIndex;
} OD_stream_t;
/**
* Structure for input / output on the OD variable. It is initialized with
* @ref OD_getSub() function. Access principle to OD variable is via read/write
@ -265,8 +260,7 @@ typedef struct {
*
* @return Value from @ref ODR_t, "ODR_OK" in case of success.
*/
ODR_t (*read)(OD_stream_t *stream, void *buf,
OD_size_t count, OD_size_t *countRead);
ODR_t (*read)(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
/**
* Function pointer for writing value into specified variable inside Object
* Dictionary. If OD variable is larger than buf, then this function must
@ -295,28 +289,24 @@ typedef struct {
*
* @return Value from @ref ODR_t, "ODR_OK" in case of success.
*/
ODR_t (*write)(OD_stream_t *stream, const void *buf,
OD_size_t count, OD_size_t *countWritten);
ODR_t (*write)(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
} OD_IO_t;
/**
* Extension of OD object, which can optionally be specified by application in
* initialization phase with @ref OD_extension_init() function.
*/
typedef struct {
/** Object on which read and write will operate, part of @ref OD_stream_t */
void *object;
void* object;
/** Application specified read function pointer. If NULL, then read will be
* disabled. @ref OD_readOriginal can be used here to keep the original read
* function. For function description see @ref OD_IO_t. */
ODR_t (*read)(OD_stream_t *stream, void *buf,
OD_size_t count, OD_size_t *countRead);
ODR_t (*read)(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
/** Application specified write function pointer. If NULL, then write will
* be disabled. @ref OD_writeOriginal can be used here to keep the original
* write function. For function description see @ref OD_IO_t. */
ODR_t (*write)(OD_stream_t *stream, const void *buf,
OD_size_t count, OD_size_t *countWritten);
ODR_t (*write)(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
#if OD_FLAGS_PDO_SIZE > 0
/**PDO flags bit-field provides one bit for each OD variable, which exist
* inside OD object at specific sub index. If application clears that bit,
@ -332,7 +322,6 @@ typedef struct {
#endif
} OD_extension_t;
/**
* Object Dictionary entry for one OD object.
*
@ -350,12 +339,11 @@ typedef struct {
uint8_t odObjectType;
/** OD object of type indicated by odObjectType, from which @ref OD_getSub()
* fetches the information */
CO_PROGMEM void *odObject;
CO_PROGMEM void* odObject;
/** Extension to OD, specified by application */
OD_extension_t *extension;
OD_extension_t* extension;
} OD_entry_t;
/**
* Object Dictionary
*/
@ -363,10 +351,9 @@ typedef struct {
/** Number of elements in the list, without last element, which is blank */
uint16_t size;
/** List OD entries (table of contents), ordered by index */
OD_entry_t *list;
OD_entry_t* list;
} OD_t;
/**
* Read value from original OD location
*
@ -376,9 +363,7 @@ typedef struct {
* io->read returned by @ref OD_getSub() equals to this function. See
* also @ref OD_IO_t.
*/
ODR_t OD_readOriginal(OD_stream_t *stream, void *buf,
OD_size_t count, OD_size_t *countRead);
ODR_t OD_readOriginal(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
/**
* Write value to original OD location
@ -389,9 +374,7 @@ ODR_t OD_readOriginal(OD_stream_t *stream, void *buf,
* io->write returned by @ref OD_getSub() equals to this function. See
* also @ref OD_IO_t.
*/
ODR_t OD_writeOriginal(OD_stream_t *stream, const void *buf,
OD_size_t count, OD_size_t *countWritten);
ODR_t OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
/**
* Find OD entry in Object Dictionary
@ -401,8 +384,7 @@ ODR_t OD_writeOriginal(OD_stream_t *stream, const void *buf,
*
* @return Pointer to OD entry or NULL if not found
*/
OD_entry_t *OD_find(OD_t *od, uint16_t index);
OD_entry_t* OD_find(OD_t* od, uint16_t index);
/**
* Find sub-object with specified sub-index on OD entry returned by OD_find.
@ -420,9 +402,7 @@ OD_entry_t *OD_find(OD_t *od, uint16_t index);
*
* @return Value from @ref ODR_t, "ODR_OK" in case of success.
*/
ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
OD_IO_t *io, bool_t odOrig);
ODR_t OD_getSub(const OD_entry_t* entry, uint8_t subIndex, OD_IO_t* io, bool_t odOrig);
/**
* Return index from OD entry
@ -431,11 +411,11 @@ ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
*
* @return OD index
*/
static inline uint16_t OD_getIndex(const OD_entry_t *entry) {
static inline uint16_t
OD_getIndex(const OD_entry_t* entry) {
return (entry != NULL) ? entry->index : 0U;
}
/**
* Check, if OD variable is mappable to PDO or SRDO.
*
@ -446,12 +426,11 @@ static inline uint16_t OD_getIndex(const OD_entry_t *entry) {
*
* @return true, if OD variable is mappable.
*/
static inline bool_t OD_mappable(OD_stream_t *stream) {
return (stream != NULL)
? ((stream->attribute & ((OD_attr_t)ODA_TRPDO | (OD_attr_t)ODA_TRSRDO)) != 0U) : false;
static inline bool_t
OD_mappable(OD_stream_t* stream) {
return (stream != NULL) ? ((stream->attribute & ((OD_attr_t)ODA_TRPDO | (OD_attr_t)ODA_TRSRDO)) != 0U) : false;
}
/**
* Restart read or write operation on OD variable
*
@ -461,11 +440,13 @@ static inline bool_t OD_mappable(OD_stream_t *stream) {
*
* @param stream Object Dictionary stream object.
*/
static inline void OD_rwRestart(OD_stream_t *stream) {
if (stream != NULL) { stream->dataOffset = 0U; }
static inline void
OD_rwRestart(OD_stream_t* stream) {
if (stream != NULL) {
stream->dataOffset = 0U;
}
}
/**
* Get TPDO request flags for OD entry.
*
@ -475,7 +456,8 @@ static inline void OD_rwRestart(OD_stream_t *stream) {
*
* @return pointer to flagsPDO
*/
static inline uint8_t *OD_getFlagsPDO(OD_entry_t *entry) {
static inline uint8_t*
OD_getFlagsPDO(OD_entry_t* entry) {
#if OD_FLAGS_PDO_SIZE > 0
if ((entry != NULL) && (entry->extension != NULL)) {
return &entry->extension->flagsPDO[0];
@ -484,7 +466,6 @@ static inline uint8_t *OD_getFlagsPDO(OD_entry_t *entry) {
return NULL;
}
/**
* Request TPDO, to which OD variable is mapped
*
@ -502,7 +483,8 @@ static inline uint8_t *OD_getFlagsPDO(OD_entry_t *entry) {
* @param flagsPDO TPDO request flags returned by @ref OD_getFlagsPDO.
* @param subIndex subIndex of the OD variable.
*/
static inline void OD_requestTPDO(uint8_t *flagsPDO, uint8_t subIndex) {
static inline void
OD_requestTPDO(uint8_t* flagsPDO, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
/* clear subIndex-th bit */
@ -512,7 +494,6 @@ static inline void OD_requestTPDO(uint8_t *flagsPDO, uint8_t subIndex) {
#endif
}
/**
* Check if requested TPDO was transmitted
*
@ -524,7 +505,8 @@ static inline void OD_requestTPDO(uint8_t *flagsPDO, uint8_t subIndex) {
* @ref OD_requestTPDO call. If there was no @ref OD_requestTPDO call yet and
* TPDO was transmitted by other event, function also returns true.
*/
static inline bool_t OD_TPDOtransmitted(uint8_t *flagsPDO, uint8_t subIndex) {
static inline bool_t
OD_TPDOtransmitted(uint8_t* flagsPDO, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
/* return true, if subIndex-th bit is set */
@ -537,7 +519,6 @@ static inline bool_t OD_TPDOtransmitted(uint8_t *flagsPDO, uint8_t subIndex) {
return false;
}
/**
* Get SDO abort code from returnCode
*
@ -547,7 +528,6 @@ static inline bool_t OD_TPDOtransmitted(uint8_t *flagsPDO, uint8_t subIndex) {
*/
uint32_t OD_getSDOabCode(ODR_t returnCode);
/**
* Extend OD object with own read/write functions and/or flagsPDO
*
@ -580,15 +560,15 @@ uint32_t OD_getSDOabCode(ODR_t returnCode);
*
* @return "ODR_OK" on success, "ODR_IDX_NOT_EXIST" if OD object doesn't exist.
*/
static inline ODR_t OD_extension_init(OD_entry_t *entry,
OD_extension_t *extension)
{
if (entry == NULL) { return ODR_IDX_NOT_EXIST; }
static inline ODR_t
OD_extension_init(OD_entry_t* entry, OD_extension_t* extension) {
if (entry == NULL) {
return ODR_IDX_NOT_EXIST;
}
entry->extension = extension;
return ODR_OK;
}
/**
* @defgroup CO_ODgetSetters Getters and setters
* @{
@ -610,76 +590,65 @@ static inline ODR_t OD_extension_init(OD_entry_t *entry,
* variable does not exist in object dictionary or it does not have the correct
* length or other reason.
*/
ODR_t OD_get_value(const OD_entry_t *entry, uint8_t subIndex,
void *val, OD_size_t len, bool_t odOrig);
ODR_t OD_get_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig);
/** Get int8_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_i8(const OD_entry_t *entry, uint8_t subIndex,
int8_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_i8(const OD_entry_t* entry, uint8_t subIndex, int8_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get int16_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_i16(const OD_entry_t *entry, uint8_t subIndex,
int16_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_i16(const OD_entry_t* entry, uint8_t subIndex, int16_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get int32_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_i32(const OD_entry_t *entry, uint8_t subIndex,
int32_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_i32(const OD_entry_t* entry, uint8_t subIndex, int32_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get int64_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_i64(const OD_entry_t *entry, uint8_t subIndex,
int64_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_i64(const OD_entry_t* entry, uint8_t subIndex, int64_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get uint8_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_u8(const OD_entry_t *entry, uint8_t subIndex,
uint8_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_u8(const OD_entry_t* entry, uint8_t subIndex, uint8_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get uint16_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_u16(const OD_entry_t *entry, uint8_t subIndex,
uint16_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_u16(const OD_entry_t* entry, uint8_t subIndex, uint16_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get uint32_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_u32(const OD_entry_t *entry, uint8_t subIndex,
uint32_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_u32(const OD_entry_t* entry, uint8_t subIndex, uint32_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get uint64_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_u64(const OD_entry_t *entry, uint8_t subIndex,
uint64_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_u64(const OD_entry_t* entry, uint8_t subIndex, uint64_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get float32_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_f32(const OD_entry_t *entry, uint8_t subIndex,
float32_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_f32(const OD_entry_t* entry, uint8_t subIndex, float32_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
/** Get float64_t variable from Object Dictionary, see @ref OD_get_value */
static inline ODR_t OD_get_f64(const OD_entry_t *entry, uint8_t subIndex,
float64_t *val, bool_t odOrig)
{
static inline ODR_t
OD_get_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t* val, bool_t odOrig) {
return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
@ -697,76 +666,65 @@ static inline ODR_t OD_get_f64(const OD_entry_t *entry, uint8_t subIndex,
* variable does not exist in object dictionary or it does not have the correct
* length or other reason.
*/
ODR_t OD_set_value(const OD_entry_t *entry, uint8_t subIndex, void *val,
OD_size_t len, bool_t odOrig);
ODR_t OD_set_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig);
/** Set int8_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_i8(const OD_entry_t *entry, uint8_t subIndex,
int8_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_i8(const OD_entry_t* entry, uint8_t subIndex, int8_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set int16_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_i16(const OD_entry_t *entry, uint8_t subIndex,
int16_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_i16(const OD_entry_t* entry, uint8_t subIndex, int16_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set int32_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_i32(const OD_entry_t *entry, uint8_t subIndex,
int32_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_i32(const OD_entry_t* entry, uint8_t subIndex, int32_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set int32_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_i64(const OD_entry_t *entry, uint8_t subIndex,
int64_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_i64(const OD_entry_t* entry, uint8_t subIndex, int64_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set uint8_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_u8(const OD_entry_t *entry, uint8_t subIndex,
uint8_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_u8(const OD_entry_t* entry, uint8_t subIndex, uint8_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set uint16_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_u16(const OD_entry_t *entry, uint8_t subIndex,
uint16_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_u16(const OD_entry_t* entry, uint8_t subIndex, uint16_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set uint32_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_u32(const OD_entry_t *entry, uint8_t subIndex,
uint32_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_u32(const OD_entry_t* entry, uint8_t subIndex, uint32_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set uint64_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_u64(const OD_entry_t *entry, uint8_t subIndex,
uint64_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_u64(const OD_entry_t* entry, uint8_t subIndex, uint64_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set float32_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_f32(const OD_entry_t *entry, uint8_t subIndex,
float32_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_f32(const OD_entry_t* entry, uint8_t subIndex, float32_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
/** Set float64_t variable in Object Dictionary, see @ref OD_set_value */
static inline ODR_t OD_set_f64(const OD_entry_t *entry, uint8_t subIndex,
float64_t val, bool_t odOrig)
{
static inline ODR_t
OD_set_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t val, bool_t odOrig) {
return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
@ -785,11 +743,9 @@ static inline ODR_t OD_set_f64(const OD_entry_t *entry, uint8_t subIndex,
*
* @return Pointer to variable in Object Dictionary or NULL in case of error.
*/
void *OD_getPtr(const OD_entry_t *entry, uint8_t subIndex, OD_size_t len,
ODR_t *err);
void* OD_getPtr(const OD_entry_t* entry, uint8_t subIndex, OD_size_t len, ODR_t* err);
/** @} */ /* CO_ODgetSetters */
#if defined OD_DEFINITION || defined CO_DOXYGEN
/**
* @defgroup CO_ODdefinition OD definition objects
@ -827,8 +783,8 @@ typedef enum {
* Object for single OD variable, used for "VAR" type OD objects
*/
typedef struct {
void *dataOrig; /**< Pointer to data */
OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */
void* dataOrig; /**< Pointer to data */
OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */
OD_size_t dataLength; /**< Data length in bytes */
} OD_obj_var_t;
@ -836,11 +792,11 @@ typedef struct {
* Object for OD array of variables, used for "ARRAY" type OD objects
*/
typedef struct {
uint8_t *dataOrig0; /**< Pointer to data for sub-index 0 */
void *dataOrig; /**< Pointer to array of data */
OD_attr_t attribute0; /**< Attribute bitfield for sub-index 0, see
uint8_t* dataOrig0; /**< Pointer to data for sub-index 0 */
void* dataOrig; /**< Pointer to array of data */
OD_attr_t attribute0; /**< Attribute bitfield for sub-index 0, see
@ref OD_attributes_t */
OD_attr_t attribute; /**< Attribute bitfield for array elements */
OD_attr_t attribute; /**< Attribute bitfield for array elements */
OD_size_t dataElementLength; /**< Data length of array elements in bytes */
OD_size_t dataElementSizeof; /**< Sizeof one array element in bytes */
} OD_obj_array_t;
@ -849,9 +805,9 @@ typedef struct {
* Object for OD sub-elements, used in "RECORD" type OD objects
*/
typedef struct {
void *dataOrig; /**< Pointer to data */
uint8_t subIndex; /**< Sub index of element. */
OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */
void* dataOrig; /**< Pointer to data */
uint8_t subIndex; /**< Sub index of element. */
OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */
OD_size_t dataLength; /**< Data length in bytes */
} OD_obj_record_t;

147
301/CO_PDO.h
View file

@ -27,15 +27,10 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | \
CO_CONFIG_TPDO_ENABLE | \
CO_CONFIG_RPDO_TIMERS_ENABLE | \
CO_CONFIG_TPDO_TIMERS_ENABLE | \
CO_CONFIG_PDO_SYNC_ENABLE | \
CO_CONFIG_PDO_OD_IO_ACCESS | \
CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_PDO \
(CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE \
| CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if (((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) != 0) || defined CO_DOXYGEN
@ -168,13 +163,13 @@ typedef uint8_t CO_PDO_size_t;
* PDO transmission Types
*/
typedef enum {
CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC = 0U, /**< synchronous (acyclic) */
CO_PDO_TRANSM_TYPE_SYNC_1 = 1U, /**< synchronous (cyclic every sync) */
CO_PDO_TRANSM_TYPE_SYNC_240 = 0xF0U, /**< synchronous (cyclic every 240-th
CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC = 0U, /**< synchronous (acyclic) */
CO_PDO_TRANSM_TYPE_SYNC_1 = 1U, /**< synchronous (cyclic every sync) */
CO_PDO_TRANSM_TYPE_SYNC_240 = 0xF0U, /**< synchronous (cyclic every 240-th
sync) */
CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO = 0xFEU, /**< event-driven, lower value
(manufacturer specific), */
CO_PDO_TRANSM_TYPE_SYNC_EVENT_HI = 0xFFU /**< event-driven, higher value
CO_PDO_TRANSM_TYPE_SYNC_EVENT_HI = 0xFFU /**< event-driven, higher value
(device profile and application profile specific) */
} CO_PDO_transmissionTypes_t;
@ -183,16 +178,16 @@ typedef enum {
*/
typedef struct {
/** From CO_xPDO_init() */
CO_EM_t *em;
CO_EM_t* em;
/** From CO_xPDO_init() */
CO_CANmodule_t *CANdev;
CO_CANmodule_t* CANdev;
/** True, if PDO is enabled and valid */
bool_t valid;
/** Data length of the received PDO message. Calculated from mapping */
CO_PDO_size_t dataLength;
/** Number of mapped objects in PDO */
uint8_t mappedObjectsCount;
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_OD_IO_ACCESS) != 0) || defined CO_DOXYGEN
/** Object dictionary interface for all mapped entries. OD_IO.dataOffset has
* special usage with PDO. It stores information about mappedLength of
* the variable. mappedLength can be less or equal to the OD_IO.dataLength.
@ -200,25 +195,25 @@ typedef struct {
* OD_IO.dataOffset is set to 0 before read/write function call and after
* the call OD_IO.dataOffset is set back to mappedLength. */
OD_IO_t OD_IO[CO_PDO_MAX_MAPPED_ENTRIES];
#if OD_FLAGS_PDO_SIZE > 0
#if OD_FLAGS_PDO_SIZE > 0
/** Pointer to byte, which contains PDO flag bit from @ref OD_extension_t */
uint8_t *flagPDObyte[CO_PDO_MAX_MAPPED_ENTRIES];
uint8_t* flagPDObyte[CO_PDO_MAX_MAPPED_ENTRIES];
/** Bitmask for the flagPDObyte */
uint8_t flagPDObitmask[CO_PDO_MAX_MAPPED_ENTRIES];
#endif
#endif
#else
/* Pointers to data objects inside OD, where PDO will be copied */
uint8_t *mapPointer[CO_PDO_MAX_SIZE];
#if OD_FLAGS_PDO_SIZE > 0
uint8_t *flagPDObyte[CO_PDO_MAX_SIZE];
uint8_t* mapPointer[CO_PDO_MAX_SIZE];
#if OD_FLAGS_PDO_SIZE > 0
uint8_t* flagPDObyte[CO_PDO_MAX_SIZE];
uint8_t flagPDObitmask[CO_PDO_MAX_SIZE];
#endif
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** True for RPDO, false for TPDO */
bool_t isRPDO;
/** From CO_xPDO_init() */
OD_t *OD;
OD_t* OD;
/** From CO_xPDO_init() */
uint16_t CANdevIdx;
/** From CO_xPDO_init() */
@ -232,21 +227,19 @@ typedef struct {
#endif
} CO_PDO_common_t;
/*******************************************************************************
* R P D O
******************************************************************************/
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Number of buffers for received CAN message for RPDO
*/
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#define CO_RPDO_CAN_BUFFERS_COUNT 2
#else
#define CO_RPDO_CAN_BUFFERS_COUNT 1
#endif
/**
* RPDO object.
*/
@ -254,33 +247,32 @@ typedef struct {
/** PDO common properties, must be first element in this object */
CO_PDO_common_t PDO_common;
/** Variable indicates, if new PDO message received from CAN bus. */
volatile void *CANrxNew[CO_RPDO_CAN_BUFFERS_COUNT];
volatile void* CANrxNew[CO_RPDO_CAN_BUFFERS_COUNT];
/** CO_PDO_MAX_SIZE data bytes of the received message. */
uint8_t CANrxData[CO_RPDO_CAN_BUFFERS_COUNT][CO_PDO_MAX_SIZE];
/** Indication of RPDO length errors, use with CO_PDO_receiveErrors_t */
uint8_t receiveError;
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** From CO_RPDO_init() */
CO_SYNC_t *SYNC;
CO_SYNC_t* SYNC;
/** True if transmissionType <= 240 */
bool_t synchronous;
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
/** Maximum timeout time between received PDOs in microseconds. Configurable
* by OD variable RPDO communication parameter, event-timer. */
uint32_t timeoutTime_us;
/** Timeout timer variable in microseconds */
uint32_t timeoutTimer;
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_RPDO_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_RPDO_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
} CO_RPDO_t;
/**
* Initialize RPDO object.
*
@ -304,21 +296,14 @@ typedef struct {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
OD_t *OD,
CO_EM_t *em,
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t *SYNC,
CO_ReturnError_t CO_RPDO_init(CO_RPDO_t* RPDO, OD_t* OD, CO_EM_t* em,
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t* SYNC,
#endif
uint16_t preDefinedCanId,
OD_entry_t *OD_14xx_RPDOCommPar,
OD_entry_t *OD_16xx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
uint32_t *errInfo);
uint16_t preDefinedCanId, OD_entry_t* OD_14xx_RPDOCommPar, OD_entry_t* OD_16xx_RPDOMapPar,
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, uint32_t* errInfo);
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize RPDO callback function.
*
@ -330,12 +315,9 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
* @param object Pointer to object, which will be passed to pFunctSignalPre().
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
*/
void CO_RPDO_initCallbackPre(CO_RPDO_t *RPDO,
void *object,
void (*pFunctSignalPre)(void *object));
void CO_RPDO_initCallbackPre(CO_RPDO_t* RPDO, void* object, void (*pFunctSignalPre)(void* object));
#endif
/**
* Process received PDO messages.
*
@ -351,20 +333,17 @@ void CO_RPDO_initCallbackPre(CO_RPDO_t *RPDO,
* @param syncWas True, if CANopen SYNC message was just received or
* transmitted.
*/
void CO_RPDO_process(CO_RPDO_t *RPDO,
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us,
uint32_t *timerNext_us,
void CO_RPDO_process(CO_RPDO_t* RPDO,
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us, uint32_t* timerNext_us,
#endif
bool_t NMTisOperational,
bool_t syncWas);
bool_t NMTisOperational, bool_t syncWas);
#endif /* (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE */
/*******************************************************************************
* T P D O
******************************************************************************/
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* TPDO object.
*/
@ -372,21 +351,21 @@ typedef struct {
/** PDO common properties, must be first element in this object */
CO_PDO_common_t PDO_common;
/** CAN transmit buffer inside CANdev */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
/** Copy of the variable from object dictionary */
uint8_t transmissionType;
/** If this flag is set and TPDO is event driven (transmission type is 0,
* 254 or 255), then PDO will be sent by CO_TPDO_process(). */
bool_t sendRequest;
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** From CO_TPDO_init() */
CO_SYNC_t *SYNC;
CO_SYNC_t* SYNC;
/** Copy of the variable from object dictionary */
uint8_t syncStartValue;
/** SYNC counter used for PDO sending */
uint8_t syncCounter;
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
/** Inhibit time from object dictionary translated to microseconds */
uint32_t inhibitTime_us;
/** Event time from object dictionary translated to microseconds */
@ -398,7 +377,6 @@ typedef struct {
#endif
} CO_TPDO_t;
/**
* Initialize TPDO object.
*
@ -422,19 +400,12 @@ typedef struct {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
OD_t *OD,
CO_EM_t *em,
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t *SYNC,
CO_ReturnError_t CO_TPDO_init(CO_TPDO_t* TPDO, OD_t* OD, CO_EM_t* em,
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t* SYNC,
#endif
uint16_t preDefinedCanId,
OD_entry_t *OD_18xx_TPDOCommPar,
OD_entry_t *OD_1Axx_TPDOMapPar,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
uint32_t *errInfo);
uint16_t preDefinedCanId, OD_entry_t* OD_18xx_TPDOCommPar, OD_entry_t* OD_1Axx_TPDOMapPar,
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint32_t* errInfo);
/**
* Request transmission of TPDO message.
@ -445,11 +416,13 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
*
* @param TPDO TPDO object.
*/
static inline void CO_TPDOsendRequest(CO_TPDO_t *TPDO) {
if (TPDO != NULL) { TPDO->sendRequest = true; }
static inline void
CO_TPDOsendRequest(CO_TPDO_t* TPDO) {
if (TPDO != NULL) {
TPDO->sendRequest = true;
}
}
/**
* Process transmitting PDO messages.
*
@ -463,13 +436,11 @@ static inline void CO_TPDOsendRequest(CO_TPDO_t *TPDO) {
* @param syncWas True, if CANopen SYNC message was just received or
* transmitted.
*/
void CO_TPDO_process(CO_TPDO_t *TPDO,
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us,
uint32_t *timerNext_us,
void CO_TPDO_process(CO_TPDO_t* TPDO,
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us, uint32_t* timerNext_us,
#endif
bool_t NMTisOperational,
bool_t syncWas);
bool_t NMTisOperational, bool_t syncWas);
#endif /* (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE */
/** @} */ /* CO_PDO */

118
301/CO_SDOclient.h
View file

@ -32,14 +32,14 @@
#define CO_CONFIG_SDO_CLI (0)
#endif
#ifndef CO_CONFIG_SDO_CLI_BUFFER_SIZE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000U
#else
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32U
#endif
#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_BLOCK) != 0
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000U
#else
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32U
#endif
#endif
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -164,30 +164,29 @@ CO_SDO_abortCode_t write_SDO(CO_SDOclient_t *SDO_C, uint8_t nodeId,
* @see @ref CO_SDOserver
*/
/**
* SDO client object
*/
typedef struct {
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0) || defined CO_DOXYGEN
/** From CO_SDOclient_init() */
OD_t *OD;
OD_t* OD;
/** From CO_SDOclient_init() */
uint8_t nodeId;
/** Object dictionary interface for locally transferred object */
OD_IO_t OD_IO;
#endif
/** From CO_SDOclient_init() */
CO_CANmodule_t *CANdevRx;
CO_CANmodule_t* CANdevRx;
/** From CO_SDOclient_init() */
uint16_t CANdevRxIdx;
/** From CO_SDOclient_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** From CO_SDOclient_init() */
uint16_t CANdevTxIdx;
/** CAN transmit buffer inside CANdevTx for CAN tx message */
CO_CANtx_t *CANtxBuff;
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
CO_CANtx_t* CANtxBuff;
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Copy of CANopen COB_ID Client -> Server, meaning of the specific bits:
- Bit 0...10: 11-bit CAN identifier.
- Bit 11..30: reserved, must be 0.
@ -226,20 +225,20 @@ typedef struct {
uint8_t buf[CO_CONFIG_SDO_CLI_BUFFER_SIZE + 1U];
/** Indicates, if new SDO message received from CAN bus. It is not cleared,
* until received message is completely processed. */
volatile void *CANrxNew;
volatile void* CANrxNew;
/** 8 data bytes of the received message */
uint8_t CANrxData[8];
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SDOclient_initCallbackPre() or NULL */
void (*pFunctSignal)(void *object);
void (*pFunctSignal)(void* object);
/** From CO_SDOclient_initCallbackPre() or NULL */
void *functSignalObject;
void* functSignalObject;
#endif
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_SEGMENTED) != 0) || defined CO_DOXYGEN
/** Toggle bit toggled in each segment in segmented transfer */
uint8_t toggle;
#endif
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_BLOCK) != 0) || defined CO_DOXYGEN
/** Timeout time for SDO sub-block upload, half of #SDOtimeoutTime_us */
uint32_t block_SDOtimeoutTime_us;
/** Timeout timer for SDO sub-block upload */
@ -259,7 +258,6 @@ typedef struct {
#endif
} CO_SDOclient_t;
/**
* Initialize SDO client object.
*
@ -281,18 +279,11 @@ typedef struct {
*
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
OD_t *OD,
OD_entry_t *OD_1280_SDOcliPar,
uint8_t nodeId,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
uint32_t *errInfo);
CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t* SDO_C, OD_t* OD, OD_entry_t* OD_1280_SDOcliPar, uint8_t nodeId,
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx,
uint16_t CANdevTxIdx, uint32_t* errInfo);
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SDOclient callback function.
*
@ -307,12 +298,9 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
* be NULL.
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_SDOclient_initCallbackPre(CO_SDOclient_t *SDOclient,
void *object,
void (*pFunctSignal)(void *object));
void CO_SDOclient_initCallbackPre(CO_SDOclient_t* SDOclient, void* object, void (*pFunctSignal)(void* object));
#endif
/**
* Setup SDO client object.
*
@ -331,12 +319,9 @@ void CO_SDOclient_initCallbackPre(CO_SDOclient_t *SDOclient,
* @return #CO_SDO_return_t, CO_SDO_RT_ok_communicationEnd or
* CO_SDO_RT_wrongArguments
*/
CO_SDO_return_t CO_SDOclient_setup(CO_SDOclient_t *SDO_C,
uint32_t COB_IDClientToServer,
uint32_t COB_IDServerToClient,
CO_SDO_return_t CO_SDOclient_setup(CO_SDOclient_t* SDO_C, uint32_t COB_IDClientToServer, uint32_t COB_IDServerToClient,
uint8_t nodeIDOfTheSDOServer);
/**
* Initiate SDO download communication.
*
@ -361,13 +346,8 @@ CO_SDO_return_t CO_SDOclient_setup(CO_SDOclient_t *SDO_C,
*
* @return #CO_SDO_return_t
*/
CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t *SDO_C,
uint16_t index,
uint8_t subIndex,
size_t sizeIndicated,
uint16_t SDOtimeoutTime_ms,
bool_t blockEnable);
CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subIndex,
size_t sizeIndicated, uint16_t SDOtimeoutTime_ms, bool_t blockEnable);
/**
* Initiate SDO download communication - update size.
@ -380,9 +360,7 @@ CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t *SDO_C,
* @param SDO_C This object.
* @param sizeIndicated Same as in CO_SDOclientDownloadInitiate().
*/
void CO_SDOclientDownloadInitSize(CO_SDOclient_t *SDO_C,
size_t sizeIndicated);
void CO_SDOclientDownloadInitSize(CO_SDOclient_t* SDO_C, size_t sizeIndicated);
/**
* Write data into SDO client buffer
@ -403,10 +381,7 @@ void CO_SDOclientDownloadInitSize(CO_SDOclient_t *SDO_C,
*
* @return number of bytes actually written.
*/
size_t CO_SDOclientDownloadBufWrite(CO_SDOclient_t *SDO_C,
const uint8_t *buf,
size_t count);
size_t CO_SDOclientDownloadBufWrite(CO_SDOclient_t* SDO_C, const uint8_t* buf, size_t count);
/**
* Process SDO download communication.
@ -436,14 +411,9 @@ size_t CO_SDOclientDownloadBufWrite(CO_SDOclient_t *SDO_C,
* ends successfully and state becomes idle. If greater than 0, then
* communication is in progress.
*/
CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
uint32_t timeDifference_us,
bool_t send_abort,
bool_t bufferPartial,
CO_SDO_abortCode_t *SDOabortCode,
size_t *sizeTransferred,
uint32_t *timerNext_us);
CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t send_abort,
bool_t bufferPartial, CO_SDO_abortCode_t* SDOabortCode, size_t* sizeTransferred,
uint32_t* timerNext_us);
/**
* Initiate SDO upload communication.
@ -460,12 +430,8 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
*
* @return #CO_SDO_return_t
*/
CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t *SDO_C,
uint16_t index,
uint8_t subIndex,
uint16_t SDOtimeoutTime_ms,
bool_t blockEnable);
CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subIndex,
uint16_t SDOtimeoutTime_ms, bool_t blockEnable);
/**
* Process SDO upload communication.
@ -497,14 +463,9 @@ CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t *SDO_C,
* ends successfully and state becomes idle. If greater than 0, then
* communication is in progress.
*/
CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
uint32_t timeDifference_us,
bool_t send_abort,
CO_SDO_abortCode_t *SDOabortCode,
size_t *sizeIndicated,
size_t *sizeTransferred,
uint32_t *timerNext_us);
CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t send_abort,
CO_SDO_abortCode_t* SDOabortCode, size_t* sizeIndicated, size_t* sizeTransferred,
uint32_t* timerNext_us);
/**
* Read data from SDO client buffer.
@ -526,10 +487,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
*
* @return number of bytes actually read.
*/
size_t CO_SDOclientUploadBufRead(CO_SDOclient_t *SDO_C,
uint8_t *buf,
size_t count);
size_t CO_SDOclientUploadBufRead(CO_SDOclient_t* SDO_C, uint8_t* buf, size_t count);
/**
* Close SDO communication temporary.
@ -540,7 +498,7 @@ size_t CO_SDOclientUploadBufRead(CO_SDOclient_t *SDO_C,
*
* @param SDO_C This object.
*/
void CO_SDOclientClose(CO_SDOclient_t *SDO_C);
void CO_SDOclientClose(CO_SDOclient_t* SDO_C);
/** @} */ /* CO_SDOclient */

231
301/CO_SDOserver.h
View file

@ -26,10 +26,9 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SDO_SRV
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_SDO_SRV \
(CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32U
@ -76,16 +75,15 @@ extern "C" {
* Access to Object dictionary is specified in @ref CO_ODinterface.
*/
/**
* Internal state flags indicate type of transfer
*
* These flags correspond to the upper nibble of the SDO state machine states
* and can be used to determine the type of state an SDO object is in.
*/
#define CO_SDO_ST_FLAG_DOWNLOAD 0x10U
#define CO_SDO_ST_FLAG_UPLOAD 0x20U
#define CO_SDO_ST_FLAG_BLOCK 0x40U
#define CO_SDO_ST_FLAG_DOWNLOAD 0x10U
#define CO_SDO_ST_FLAG_UPLOAD 0x20U
#define CO_SDO_ST_FLAG_BLOCK 0x40U
/**
* Internal states of the SDO state machine.
@ -98,26 +96,26 @@ extern "C" {
* Note: CANopen has little endian byte order.
*/
typedef enum {
/**
/**
* - SDO client may start new download to or upload from specified node,
* specified index and specified subindex. It can start normal or block
* communication.
* - SDO server is waiting for client request. */
CO_SDO_ST_IDLE = 0x00U,
/**
CO_SDO_ST_IDLE = 0x00U,
/**
* - SDO client or server may send SDO abort message in case of error:
* - byte 0: @b 10000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: #CO_SDO_abortCode_t. */
CO_SDO_ST_ABORT = 0x01U,
CO_SDO_ST_ABORT = 0x01U,
/**
/**
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
/**
CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
/**
* - SDO client initiates SDO download:
* - byte 0: @b 0010nnes binary: (nn: if e=s=1, number of data bytes, that do
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
@ -126,45 +124,45 @@ CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_DOWNLOAD_INITIATE_REQ = 0x11U,
/**
CO_SDO_ST_DOWNLOAD_INITIATE_REQ = 0x11U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 01100000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - In case of expedited transfer communication ends here. */
CO_SDO_ST_DOWNLOAD_INITIATE_RSP = 0x12U,
/**
CO_SDO_ST_DOWNLOAD_INITIATE_RSP = 0x12U,
/**
* - SDO client sends SDO segment:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
* last segment).
* - byte 1..7: Data segment.
* - SDO server waits for segment. */
CO_SDO_ST_DOWNLOAD_SEGMENT_REQ = 0x13U,
/**
CO_SDO_ST_DOWNLOAD_SEGMENT_REQ = 0x13U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 001t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - If c was set to 1, then communication ends here. */
CO_SDO_ST_DOWNLOAD_SEGMENT_RSP = 0x14U,
CO_SDO_ST_DOWNLOAD_SEGMENT_RSP = 0x14U,
/**
/**
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
CO_SDO_ST_UPLOAD_LOCAL_TRANSFER = 0x20U,
/**
CO_SDO_ST_UPLOAD_LOCAL_TRANSFER = 0x20U,
/**
* - SDO client initiates SDO upload:
* - byte 0: @b 01000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
/**
CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 0100nnes binary: (nn: if e=s=1, number of data bytes, that do
@ -174,14 +172,14 @@ CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - In case of expedited transfer communication ends here. */
CO_SDO_ST_UPLOAD_INITIATE_RSP = 0x22U,
/**
CO_SDO_ST_UPLOAD_INITIATE_RSP = 0x22U,
/**
* - SDO client requests SDO segment:
* - byte 0: @b 011t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - SDO server waits for segment request. */
CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
/**
CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
/**
* - SDO client waits for response.
* - SDO server responses with data:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
@ -189,17 +187,17 @@ CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
* last segment).
* - byte 1..7: Data segment.
* - If c is set to 1, then communication ends here. */
CO_SDO_ST_UPLOAD_SEGMENT_RSP = 0x24U,
CO_SDO_ST_UPLOAD_SEGMENT_RSP = 0x24U,
/**
/**
* - SDO client initiates SDO block download:
* - byte 0: @b 11000rs0 binary: (r=1 if client supports generating CRC on
* data; s=1 if data size is indicated.)
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If s=1, then size of data for block download is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
/**
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100r00 binary: (r=1 if server supports generating CRC on
@ -208,16 +206,16 @@ CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
* - byte 4: blksize: Number of segments per block that shall be used by the
* client for the following block download with 0 < blksize < 128.
* - byte 5..7: Reserved. */
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP = 0x52U,
/**
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP = 0x52U,
/**
* - SDO client sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be downloaded,
* enter SDO block download end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be downloaded.
* - SDO server reads sequence of 'blksize' blocks. */
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
/**
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100010 binary.
@ -231,25 +229,25 @@ CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
* - byte 3..7: Reserved.
* - If c was set to 1, then communication enters SDO block download end phase.
*/
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP = 0x54U,
/**
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP = 0x54U,
/**
* - SDO client sends SDO block download end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved.
* - SDO server waits for client request. */
CO_SDO_ST_DOWNLOAD_BLK_END_REQ = 0x55U,
/**
CO_SDO_ST_DOWNLOAD_BLK_END_REQ = 0x55U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
* - Block download successfully ends here.
*/
CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
/**
/**
* - SDO client initiates SDO block upload:
* - byte 0: @b 10100r00 binary: (r=1 if client supports generating CRC on
* data.)
@ -260,8 +258,8 @@ CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
* upload protocol #CO_SDO_ST_UPLOAD_INITIATE_RSP.
* - byte 6..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
/**
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 11000rs0 binary: (r=1 if server supports generating CRC on
@ -270,22 +268,22 @@ CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
* - byte 4..7: If s=1, then size of data for block upload is indicated here.
* - If enabled by pst, then server may alternatively response with
* #CO_SDO_ST_UPLOAD_INITIATE_RSP */
CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP = 0x62U,
/**
CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP = 0x62U,
/**
* - SDO client sends second initiate for SDO block upload:
* - byte 0: @b 10100011 binary.
* - byte 1..7: Reserved.
* - SDO server waits for client request. */
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2 = 0x63U,
/**
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2 = 0x63U,
/**
* - SDO client reads sequence of 'blksize' blocks.
* - SDO server sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be uploaded,
* enter SDO block upload end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be uploaded. */
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
/**
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
/**
* - SDO client responses:
* - byte 0: @b 10100010 binary.
* - byte 1: ackseq: sequence number of last segment that was received
@ -299,16 +297,16 @@ CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
* - SDO server waits for response.
* - If c was set to 1 and all segments were successfull received, then
* communication enters SDO block upload end phase. */
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
/**
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
/**
* - SDO client waits for server request.
* - SDO server sends SDO block upload end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved. */
CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
/**
CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
/**
* - SDO client responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
@ -317,10 +315,9 @@ CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
* with client response. Client may then start next SDO communication
* immediately.
*/
CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
} CO_SDO_state_t;
/**
* SDO abort codes.
*
@ -330,78 +327,77 @@ CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
*/
typedef enum {
/** 0x00000000, No abort */
CO_SDO_AB_NONE = 0x00000000UL,
CO_SDO_AB_NONE = 0x00000000UL,
/** 0x05030000, Toggle bit not altered */
CO_SDO_AB_TOGGLE_BIT = 0x05030000UL,
CO_SDO_AB_TOGGLE_BIT = 0x05030000UL,
/** 0x05040000, SDO protocol timed out */
CO_SDO_AB_TIMEOUT = 0x05040000UL,
CO_SDO_AB_TIMEOUT = 0x05040000UL,
/** 0x05040001, Command specifier not valid or unknown */
CO_SDO_AB_CMD = 0x05040001UL,
CO_SDO_AB_CMD = 0x05040001UL,
/** 0x05040002, Invalid block size in block mode */
CO_SDO_AB_BLOCK_SIZE = 0x05040002UL,
CO_SDO_AB_BLOCK_SIZE = 0x05040002UL,
/** 0x05040003, Invalid sequence number in block mode */
CO_SDO_AB_SEQ_NUM = 0x05040003UL,
CO_SDO_AB_SEQ_NUM = 0x05040003UL,
/** 0x05040004, CRC error (block mode only) */
CO_SDO_AB_CRC = 0x05040004UL,
CO_SDO_AB_CRC = 0x05040004UL,
/** 0x05040005, Out of memory */
CO_SDO_AB_OUT_OF_MEM = 0x05040005UL,
CO_SDO_AB_OUT_OF_MEM = 0x05040005UL,
/** 0x06010000, Unsupported access to an object */
CO_SDO_AB_UNSUPPORTED_ACCESS = 0x06010000UL,
CO_SDO_AB_UNSUPPORTED_ACCESS = 0x06010000UL,
/** 0x06010001, Attempt to read a write only object */
CO_SDO_AB_WRITEONLY = 0x06010001UL,
CO_SDO_AB_WRITEONLY = 0x06010001UL,
/** 0x06010002, Attempt to write a read only object */
CO_SDO_AB_READONLY = 0x06010002UL,
CO_SDO_AB_READONLY = 0x06010002UL,
/** 0x06020000, Object does not exist in the object dictionary */
CO_SDO_AB_NOT_EXIST = 0x06020000UL,
CO_SDO_AB_NOT_EXIST = 0x06020000UL,
/** 0x06040041, Object cannot be mapped to the PDO */
CO_SDO_AB_NO_MAP = 0x06040041UL,
CO_SDO_AB_NO_MAP = 0x06040041UL,
/** 0x06040042, Number and length of object to be mapped exceeds PDO
* length */
CO_SDO_AB_MAP_LEN = 0x06040042UL,
CO_SDO_AB_MAP_LEN = 0x06040042UL,
/** 0x06040043, General parameter incompatibility reasons */
CO_SDO_AB_PRAM_INCOMPAT = 0x06040043UL,
CO_SDO_AB_PRAM_INCOMPAT = 0x06040043UL,
/** 0x06040047, General internal incompatibility in device */
CO_SDO_AB_DEVICE_INCOMPAT = 0x06040047UL,
CO_SDO_AB_DEVICE_INCOMPAT = 0x06040047UL,
/** 0x06060000, Access failed due to hardware error */
CO_SDO_AB_HW = 0x06060000UL,
CO_SDO_AB_HW = 0x06060000UL,
/** 0x06070010, Data type does not match, length of service parameter does
* not match */
CO_SDO_AB_TYPE_MISMATCH = 0x06070010UL,
CO_SDO_AB_TYPE_MISMATCH = 0x06070010UL,
/** 0x06070012, Data type does not match, length of service parameter too
* high */
CO_SDO_AB_DATA_LONG = 0x06070012UL,
CO_SDO_AB_DATA_LONG = 0x06070012UL,
/** 0x06070013, Data type does not match, length of service parameter too
* short */
CO_SDO_AB_DATA_SHORT = 0x06070013UL,
CO_SDO_AB_DATA_SHORT = 0x06070013UL,
/** 0x06090011, Sub index does not exist */
CO_SDO_AB_SUB_UNKNOWN = 0x06090011UL,
CO_SDO_AB_SUB_UNKNOWN = 0x06090011UL,
/** 0x06090030, Invalid value for parameter (download only). */
CO_SDO_AB_INVALID_VALUE = 0x06090030UL,
CO_SDO_AB_INVALID_VALUE = 0x06090030UL,
/** 0x06090031, Value range of parameter written too high */
CO_SDO_AB_VALUE_HIGH = 0x06090031UL,
CO_SDO_AB_VALUE_HIGH = 0x06090031UL,
/** 0x06090032, Value range of parameter written too low */
CO_SDO_AB_VALUE_LOW = 0x06090032UL,
CO_SDO_AB_VALUE_LOW = 0x06090032UL,
/** 0x06090036, Maximum value is less than minimum value. */
CO_SDO_AB_MAX_LESS_MIN = 0x06090036UL,
CO_SDO_AB_MAX_LESS_MIN = 0x06090036UL,
/** 0x060A0023, Resource not available: SDO connection */
CO_SDO_AB_NO_RESOURCE = 0x060A0023UL,
CO_SDO_AB_NO_RESOURCE = 0x060A0023UL,
/** 0x08000000, General error */
CO_SDO_AB_GENERAL = 0x08000000UL,
CO_SDO_AB_GENERAL = 0x08000000UL,
/** 0x08000020, Data cannot be transferred or stored to application */
CO_SDO_AB_DATA_TRANSF = 0x08000020UL,
CO_SDO_AB_DATA_TRANSF = 0x08000020UL,
/** 0x08000021, Data cannot be transferred or stored to application because
* of local control */
CO_SDO_AB_DATA_LOC_CTRL = 0x08000021UL,
CO_SDO_AB_DATA_LOC_CTRL = 0x08000021UL,
/** 0x08000022, Data cannot be transferred or stored to application because
* of present device state */
CO_SDO_AB_DATA_DEV_STATE = 0x08000022UL,
CO_SDO_AB_DATA_DEV_STATE = 0x08000022UL,
/** 0x08000023, Object dictionary not present or dynamic generation fails */
CO_SDO_AB_DATA_OD = 0x08000023UL,
CO_SDO_AB_DATA_OD = 0x08000023UL,
/** 0x08000024, No data available */
CO_SDO_AB_NO_DATA = 0x08000024UL
CO_SDO_AB_NO_DATA = 0x08000024UL
} CO_SDO_abortCode_t;
/**
* Return values from SDO server or client functions.
*/
@ -430,17 +426,16 @@ typedef enum {
CO_SDO_RT_endedWithServerAbort = -10,
} CO_SDO_return_t;
/**
* SDO server object.
*/
typedef struct {
/** From CO_SDOserver_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** CAN transmit buffer inside CANdevTx for CAN tx message */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
/** From CO_SDOserver_init() */
OD_t *OD;
OD_t* OD;
/** From CO_SDOserver_init() */
uint8_t nodeId;
/* If true, SDO channel is valid */
@ -455,12 +450,12 @@ typedef struct {
uint8_t subIndex;
/** Indicates, if new SDO message received from CAN bus. It is not cleared,
* until received message is completely processed. */
volatile void *CANrxNew;
volatile void* CANrxNew;
/** 8 data bytes of the received message */
uint8_t CANrxData[8];
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** From CO_SDOserver_init() */
CO_CANmodule_t *CANdevRx;
CO_CANmodule_t* CANdevRx;
/** From CO_SDOserver_init() */
uint16_t CANdevRxIdx;
/** From CO_SDOserver_init() */
@ -475,7 +470,7 @@ typedef struct {
/** Extension for OD object */
OD_extension_t OD_1200_extension;
#endif
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_SEGMENTED) != 0) || defined CO_DOXYGEN
/** Size of data, which will be transferred. It is optionally indicated by
* client in case of download or by server in case of upload. */
OD_size_t sizeInd;
@ -497,7 +492,7 @@ typedef struct {
/** Offset of first data available for read in the buffer */
OD_size_t bufOffsetRd;
#endif
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_BLOCK) != 0) || defined CO_DOXYGEN
/** Timeout time for SDO sub-block download, half of #SDOtimeoutTime_us */
uint32_t block_SDOtimeoutTime_us;
/** Timeout timer for SDO sub-block download */
@ -513,15 +508,14 @@ typedef struct {
/** Calculated CRC checksum */
uint16_t block_crc;
#endif
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SDOserver_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_SDOserver_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
} CO_SDOserver_t;
/**
* Initialize SDO object.
*
@ -544,19 +538,11 @@ typedef struct {
*
* @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
OD_t *OD,
OD_entry_t *OD_1200_SDOsrvPar,
uint8_t nodeId,
uint16_t SDOtimeoutTime_ms,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
uint32_t *errInfo);
CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t* SDO, OD_t* OD, OD_entry_t* OD_1200_SDOsrvPar, uint8_t nodeId,
uint16_t SDOtimeoutTime_ms, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint32_t* errInfo);
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SDOrx callback function.
*
@ -570,12 +556,9 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
* Can be NULL
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
*/
void CO_SDOserver_initCallbackPre(CO_SDOserver_t *SDO,
void *object,
void (*pFunctSignalPre)(void *object));
void CO_SDOserver_initCallbackPre(CO_SDOserver_t* SDO, void* object, void (*pFunctSignalPre)(void* object));
#endif
/**
* Process SDO communication.
*
@ -590,10 +573,8 @@ void CO_SDOserver_initCallbackPre(CO_SDOserver_t *SDO,
*
* @return #CO_SDO_return_t
*/
CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
bool_t NMTisPreOrOperational,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
uint32_t* timerNext_us);
/** @} */ /* CO_SDOserver */

84
301/CO_SYNC.h
View file

@ -25,17 +25,14 @@
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SYNC
#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | \
CO_CONFIG_SYNC_PRODUCER | \
CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_SYNC \
(CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -69,15 +66,14 @@ extern "C" {
* RPDO reception and which for RPDO processing.
*/
/**
* SYNC producer and consumer object.
*/
typedef struct {
/** From CO_SYNC_init() */
CO_EM_t *em;
CO_EM_t* em;
/** Indicates, if new SYNC message received from CAN bus */
volatile void *CANrxNew;
volatile void* CANrxNew;
/** Set to nonzero value, if SYNC with wrong data length is received */
uint8_t receiveError;
/** Variable toggles, if new SYNC message received from CAN bus */
@ -97,21 +93,21 @@ typedef struct {
Set to zero after received or transmitted SYNC message */
uint32_t timer;
/**Pointer to variable in OD, "Communication cycle period" in microseconds*/
uint32_t *OD_1006_period;
uint32_t* OD_1006_period;
/** Pointer to variable in OD, "Synchronous window length" in microseconds*/
uint32_t *OD_1007_window;
uint32_t* OD_1007_window;
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/** True, if device is SYNC producer. Calculated from _COB ID SYNC Message_
variable from Object dictionary (index 0x1005). */
bool_t isProducer;
/** CAN transmit buffer inside CANdevTx */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
#endif
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if ((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
/** From CO_SYNC_init() */
CO_CANmodule_t *CANdevRx;
CO_CANmodule_t* CANdevRx;
/** From CO_SYNC_init() */
uint16_t CANdevRxIdx;
/** Extension for OD object */
@ -119,25 +115,24 @@ typedef struct {
/** CAN ID of the SYNC message. Calculated from _COB ID SYNC Message_
variable from Object dictionary (index 0x1005). */
uint16_t CAN_ID;
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/** From CO_SYNC_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** From CO_SYNC_init() */
uint16_t CANdevTxIdx;
/** Extension for OD object */
OD_extension_t OD_1019_extension;
#endif
#endif
#endif
#if (((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SYNC_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_SYNC_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
} CO_SYNC_t;
/** Return value for @ref CO_SYNC_process */
typedef enum {
/** No SYNC event in last cycle */
@ -148,7 +143,6 @@ typedef enum {
CO_SYNC_PASSED_WINDOW = 2
} CO_SYNC_status_t;
/**
* Initialize SYNC object.
*
@ -172,22 +166,15 @@ typedef enum {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
CO_EM_t *em,
OD_entry_t *OD_1005_cobIdSync,
OD_entry_t *OD_1006_commCyclePeriod,
OD_entry_t *OD_1007_syncWindowLen,
OD_entry_t *OD_1019_syncCounterOvf,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
CO_ReturnError_t CO_SYNC_init(CO_SYNC_t* SYNC, CO_EM_t* em, OD_entry_t* OD_1005_cobIdSync,
OD_entry_t* OD_1006_commCyclePeriod, OD_entry_t* OD_1007_syncWindowLen,
OD_entry_t* OD_1019_syncCounterOvf, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
#endif
uint32_t *errInfo);
uint32_t* errInfo);
#if (((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SYNC callback function.
*
@ -199,13 +186,10 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
* @param object Pointer to object, which will be passed to pFunctSignalPre().
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
*/
void CO_SYNC_initCallbackPre(CO_SYNC_t *SYNC,
void *object,
void (*pFunctSignalPre)(void *object));
void CO_SYNC_initCallbackPre(CO_SYNC_t* SYNC, void* object, void (*pFunctSignalPre)(void* object));
#endif
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/**
* Send SYNC message.
*
@ -217,8 +201,11 @@ void CO_SYNC_initCallbackPre(CO_SYNC_t *SYNC,
*
* @return Same as CO_CANsend().
*/
static inline CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC) {
if (++SYNC->counter > SYNC->counterOverflowValue) { SYNC->counter = 1; }
static inline CO_ReturnError_t
CO_SYNCsend(CO_SYNC_t* SYNC) {
if (++SYNC->counter > SYNC->counterOverflowValue) {
SYNC->counter = 1;
}
SYNC->timer = 0;
SYNC->CANrxToggle = SYNC->CANrxToggle ? false : true;
SYNC->CANtxBuff->data[0] = SYNC->counter;
@ -226,7 +213,6 @@ static inline CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC) {
}
#endif
/**
* Process SYNC communication.
*
@ -241,10 +227,8 @@ static inline CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC) {
*
* @return @ref CO_SYNC_status_t
*/
CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t *SYNC,
bool_t NMTisPreOrOperational,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t* SYNC, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
uint32_t* timerNext_us);
/** @} */ /* CO_SYNC */

64
301/CO_TIME.h
View file

@ -25,15 +25,12 @@
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_TIME
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -65,11 +62,9 @@ extern "C" {
* send from @ref CO_TIME_process() in intervals specified by @ref CO_TIME_set()
*/
/** Length of the TIME message */
#define CO_TIME_MSG_LENGTH 6U
/**
* TIME producer and consumer object.
*/
@ -82,37 +77,36 @@ typedef struct {
uint16_t days;
/** Residual microseconds calculated inside CO_TIME_process() */
uint16_t residual_us;
/** True, if device is TIME consumer. Calculated from _COB ID TIME Message_
/** True, if device is TIME consumer. Calculated from _COB ID TIME Message_
variable from Object dictionary (index 0x1012). */
bool_t isConsumer;
/** True, if device is TIME producer. Calculated from _COB ID TIME Message_
variable from Object dictionary (index 0x1012). */
bool_t isProducer;
/** Variable indicates, if new TIME message received from CAN bus */
volatile void *CANrxNew;
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
volatile void* CANrxNew;
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
/** Interval for time producer in milli seconds */
uint32_t producerInterval_ms;
/** Sync producer timer */
uint32_t producerTimer_ms;
/** From CO_TIME_init() */
CO_CANmodule_t *CANdevTx;
CO_CANmodule_t* CANdevTx;
/** CAN transmit buffer */
CO_CANtx_t *CANtxBuff;
CO_CANtx_t* CANtxBuff;
#endif
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_TIME_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
void (*pFunctSignalPre)(void* object);
/** From CO_TIME_initCallbackPre() or NULL */
void *functSignalObjectPre;
void* functSignalObjectPre;
#endif
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1012_extension;
#endif
} CO_TIME_t;
/**
* Initialize TIME object.
*
@ -129,18 +123,14 @@ typedef struct {
*
* @return #CO_ReturnError_t CO_ERROR_NO on success.
*/
CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
OD_entry_t *OD_1012_cobIdTimeStamp,
CO_CANmodule_t *CANdevRx,
CO_ReturnError_t CO_TIME_init(CO_TIME_t* TIME, OD_entry_t* OD_1012_cobIdTimeStamp, CO_CANmodule_t* CANdevRx,
uint16_t CANdevRxIdx,
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
#endif
uint32_t *errInfo);
uint32_t* errInfo);
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize TIME callback function.
*
@ -152,12 +142,9 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
* @param object Pointer to object, which will be passed to pFunctSignalPre().
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
*/
void CO_TIME_initCallbackPre(CO_TIME_t *TIME,
void *object,
void (*pFunctSignalPre)(void *object));
void CO_TIME_initCallbackPre(CO_TIME_t* TIME, void* object, void (*pFunctSignalPre)(void* object));
#endif
/**
* Set current time
*
@ -166,24 +153,20 @@ void CO_TIME_initCallbackPre(CO_TIME_t *TIME,
* @param days Number of days since January 1, 1984
* @param producerInterval_ms Interval time for time producer in milliseconds
*/
static inline void CO_TIME_set(CO_TIME_t *TIME,
uint32_t ms,
uint16_t days,
uint32_t producerInterval_ms)
{
static inline void
CO_TIME_set(CO_TIME_t* TIME, uint32_t ms, uint16_t days, uint32_t producerInterval_ms) {
(void)producerInterval_ms; /* may be unused */
if (TIME != NULL) {
TIME->residual_us = 0;
TIME->ms = ms;
TIME->days = days;
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
TIME->producerTimer_ms = TIME->producerInterval_ms =producerInterval_ms;
#if ((CO_CONFIG_TIME)&CO_CONFIG_TIME_PRODUCER) != 0
TIME->producerTimer_ms = TIME->producerInterval_ms = producerInterval_ms;
#endif
}
}
/**
* Process TIME object.
*
@ -199,10 +182,7 @@ static inline void CO_TIME_set(CO_TIME_t *TIME,
*
* @return True if new TIME stamp message recently received (consumer).
*/
bool_t CO_TIME_process(CO_TIME_t *TIME,
bool_t NMTisPreOrOperational,
uint32_t timeDifference_us);
bool_t CO_TIME_process(CO_TIME_t* TIME, bool_t NMTisPreOrOperational, uint32_t timeDifference_us);
/** @} */ /* CO_TIME */

118
301/CO_config.h
View file

@ -18,7 +18,6 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#ifndef CO_CONFIG_FLAGS_H
#define CO_CONFIG_FLAGS_H
@ -49,7 +48,6 @@ extern "C" {
* @{
*/
/**
* @defgroup CO_STACK_CONFIG_COMMON Common definitions
* Constants for common definitions.
@ -81,7 +79,7 @@ extern "C" {
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_TIMERNEXT 0x2000
#define CO_CONFIG_FLAG_TIMERNEXT 0x2000
/**
* Enable dynamic behaviour of Object Dictionary variables
@ -93,7 +91,7 @@ extern "C" {
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000
#define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000
/** This flag may be set globally for mainline objects to
* @ref CO_CONFIG_FLAG_CALLBACK_PRE */
@ -118,7 +116,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_COMMON */
/**
* @defgroup CO_STACK_CONFIG_NMT_HB NMT master/slave and HB producer/consumer
* Specified in standard CiA 301
@ -142,7 +139,7 @@ extern "C" {
#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#define CO_CONFIG_NMT_CALLBACK_CHANGE 0x01
#define CO_CONFIG_NMT_MASTER 0x02
#define CO_CONFIG_NMT_MASTER 0x02
/**
* Configuration of @ref CO_HBconsumer
@ -172,15 +169,16 @@ extern "C" {
* CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_HB_CONS \
(CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_HB_CONS_ENABLE 0x01
#define CO_CONFIG_HB_CONS_ENABLE 0x01
#define CO_CONFIG_HB_CONS_CALLBACK_CHANGE 0x02
#define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x04
#define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x08
#define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x04
#define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x08
/** @} */ /* CO_STACK_CONFIG_NMT_HB */
/**
* @defgroup CO_STACK_CONFIG_NODE_GUARDING CANopen Node Guarding slave and master objects.
* Specified in standard CiA 301
@ -198,7 +196,7 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_NODE_GUARDING (0)
#endif
#define CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE 0x01
#define CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE 0x01
#define CO_CONFIG_NODE_GUARDING_MASTER_ENABLE 0x02
/**
@ -209,7 +207,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_NODE_GUARDING */
/**
* @defgroup CO_STACK_CONFIG_EMERGENCY Emergency producer/consumer
* Specified in standard CiA 301
@ -236,14 +233,16 @@ extern "C" {
* inside CO_EM_process().
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#define CO_CONFIG_EM \
(CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#define CO_CONFIG_EM_PRODUCER 0x01
#define CO_CONFIG_EM_PRODUCER 0x01
#define CO_CONFIG_EM_PROD_CONFIGURABLE 0x02
#define CO_CONFIG_EM_PROD_INHIBIT 0x04
#define CO_CONFIG_EM_HISTORY 0x08
#define CO_CONFIG_EM_STATUS_BITS 0x10
#define CO_CONFIG_EM_CONSUMER 0x20
#define CO_CONFIG_EM_PROD_INHIBIT 0x04
#define CO_CONFIG_EM_HISTORY 0x08
#define CO_CONFIG_EM_STATUS_BITS 0x10
#define CO_CONFIG_EM_CONSUMER 0x20
/**
* Maximum number of @ref CO_EM_errorStatusBits_t
@ -253,7 +252,7 @@ extern "C" {
* Default is 80.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10*8)
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10 * 8)
#endif
/**
@ -333,7 +332,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_EMERGENCY */
/**
* @defgroup CO_STACK_CONFIG_SDO SDO server/client
* Specified in standard CiA 301
@ -355,10 +353,12 @@ extern "C" {
* servers (Writing to object 0x1201+ re-configures the additional server).
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_SDO_SRV \
(CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT \
| CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_SDO_SRV_SEGMENTED 0x02
#define CO_CONFIG_SDO_SRV_BLOCK 0x04
#define CO_CONFIG_SDO_SRV_BLOCK 0x04
/**
* Size of the internal data buffer for the SDO server.
@ -395,10 +395,10 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO_CLI (0)
#endif
#define CO_CONFIG_SDO_CLI_ENABLE 0x01
#define CO_CONFIG_SDO_CLI_ENABLE 0x01
#define CO_CONFIG_SDO_CLI_SEGMENTED 0x02
#define CO_CONFIG_SDO_CLI_BLOCK 0x04
#define CO_CONFIG_SDO_CLI_LOCAL 0x08
#define CO_CONFIG_SDO_CLI_BLOCK 0x04
#define CO_CONFIG_SDO_CLI_LOCAL 0x08
/**
* Size of the internal data buffer for the SDO client.
@ -416,7 +416,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_SDO */
/**
* @defgroup CO_STACK_CONFIG_TIME Time producer/consumer
* Specified in standard CiA 301
@ -437,11 +436,10 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_TIME_ENABLE 0x01
#define CO_CONFIG_TIME_ENABLE 0x01
#define CO_CONFIG_TIME_PRODUCER 0x02
/** @} */ /* CO_STACK_CONFIG_TIME */
/**
* @defgroup CO_STACK_CONFIG_SYNC_PDO SYNC and PDO producer/consumer
* Specified in standard CiA 301
@ -461,9 +459,11 @@ extern "C" {
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SYNC.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_SYNC \
(CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_SYNC_ENABLE 0x01
#define CO_CONFIG_SYNC_ENABLE 0x01
#define CO_CONFIG_SYNC_PRODUCER 0x02
/**
@ -490,17 +490,19 @@ extern "C" {
* - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of PDO.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#define CO_CONFIG_PDO \
(CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE \
| CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#define CO_CONFIG_RPDO_ENABLE 0x01
#define CO_CONFIG_TPDO_ENABLE 0x02
#define CO_CONFIG_RPDO_ENABLE 0x01
#define CO_CONFIG_TPDO_ENABLE 0x02
#define CO_CONFIG_RPDO_TIMERS_ENABLE 0x04
#define CO_CONFIG_TPDO_TIMERS_ENABLE 0x08
#define CO_CONFIG_PDO_SYNC_ENABLE 0x10
#define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
#define CO_CONFIG_PDO_SYNC_ENABLE 0x10
#define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
/** @} */ /* CO_STACK_CONFIG_SYNC_PDO */
/**
* @defgroup CO_STACK_CONFIG_STORAGE Data storage
* Data storage with CANopen OD objects 1010 and 1011, CiA 301
@ -518,7 +520,6 @@ extern "C" {
#define CO_CONFIG_STORAGE_ENABLE 0x01
/** @} */ /* CO_STACK_CONFIG_STORAGE */
/**
* @defgroup CO_STACK_CONFIG_LEDS CANopen LED diodes
* Specified in standard CiA 303-3
@ -538,7 +539,6 @@ extern "C" {
#define CO_CONFIG_LEDS_ENABLE 0x01
/** @} */ /* CO_STACK_CONFIG_LEDS */
/**
* @defgroup CO_STACK_CONFIG_SRDO Safety Related Data Objects (SRDO)
* Specified in standard EN 50325-5 (CiA 304)
@ -555,7 +555,7 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_GFC (0)
#endif
#define CO_CONFIG_GFC_ENABLE 0x01
#define CO_CONFIG_GFC_ENABLE 0x01
#define CO_CONFIG_GFC_CONSUMER 0x02
#define CO_CONFIG_GFC_PRODUCER 0x04
@ -574,7 +574,7 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_SRDO (0)
#endif
#define CO_CONFIG_SRDO_ENABLE 0x01
#define CO_CONFIG_SRDO_ENABLE 0x01
#define CO_CONFIG_SRDO_CHECK_TX 0x02
/**
@ -588,7 +588,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_SRDO */
/**
* @defgroup CO_STACK_CONFIG_LSS LSS master/slave
* Specified in standard CiA 305
@ -609,12 +608,11 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
#endif
#define CO_CONFIG_LSS_SLAVE 0x01
#define CO_CONFIG_LSS_SLAVE 0x01
#define CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND 0x02
#define CO_CONFIG_LSS_MASTER 0x10
#define CO_CONFIG_LSS_MASTER 0x10
/** @} */ /* CO_STACK_CONFIG_LSS */
/**
* @defgroup CO_STACK_CONFIG_GATEWAY CANopen gateway
* Specified in standard CiA 309
@ -647,12 +645,12 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_GTW (0)
#endif
#define CO_CONFIG_GTW_MULTI_NET 0x01
#define CO_CONFIG_GTW_ASCII 0x02
#define CO_CONFIG_GTW_ASCII_SDO 0x04
#define CO_CONFIG_GTW_ASCII_NMT 0x08
#define CO_CONFIG_GTW_ASCII_LSS 0x10
#define CO_CONFIG_GTW_ASCII_LOG 0x20
#define CO_CONFIG_GTW_MULTI_NET 0x01
#define CO_CONFIG_GTW_ASCII 0x02
#define CO_CONFIG_GTW_ASCII_SDO 0x04
#define CO_CONFIG_GTW_ASCII_NMT 0x08
#define CO_CONFIG_GTW_ASCII_LSS 0x10
#define CO_CONFIG_GTW_ASCII_LOG 0x20
#define CO_CONFIG_GTW_ASCII_ERROR_DESC 0x40
#define CO_CONFIG_GTW_ASCII_PRINT_HELP 0x80
#define CO_CONFIG_GTW_ASCII_PRINT_LEDS 0x100
@ -686,7 +684,6 @@ extern "C" {
#endif
/** @} */ /* CO_STACK_CONFIG_GATEWAY */
/**
* @defgroup CO_STACK_CONFIG_CRC16 CRC 16 calculation
* Helper object for CRC-16 checksum
@ -702,11 +699,10 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_CRC16 (0)
#endif
#define CO_CONFIG_CRC16_ENABLE 0x01
#define CO_CONFIG_CRC16_ENABLE 0x01
#define CO_CONFIG_CRC16_EXTERNAL 0x02
/** @} */ /* CO_STACK_CONFIG_CRC16 */
/**
* @defgroup CO_STACK_CONFIG_FIFO FIFO buffer
* Helper object for FIFO buffer
@ -736,14 +732,13 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_FIFO (0)
#endif
#define CO_CONFIG_FIFO_ENABLE 0x01
#define CO_CONFIG_FIFO_ALT_READ 0x02
#define CO_CONFIG_FIFO_CRC16_CCITT 0x04
#define CO_CONFIG_FIFO_ASCII_COMMANDS 0x08
#define CO_CONFIG_FIFO_ENABLE 0x01
#define CO_CONFIG_FIFO_ALT_READ 0x02
#define CO_CONFIG_FIFO_CRC16_CCITT 0x04
#define CO_CONFIG_FIFO_ASCII_COMMANDS 0x08
#define CO_CONFIG_FIFO_ASCII_DATATYPES 0x10
/** @} */ /* CO_STACK_CONFIG_FIFO */
/**
* @defgroup CO_STACK_CONFIG_TRACE Trace recorder
* Non standard object
@ -760,11 +755,10 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_TRACE (0)
#endif
#define CO_CONFIG_TRACE_ENABLE 0x01
#define CO_CONFIG_TRACE_ENABLE 0x01
#define CO_CONFIG_TRACE_OWN_INTTYPES 0x02
/** @} */ /* CO_STACK_CONFIG_TRACE */
/**
* @defgroup CO_STACK_CONFIG_DEBUG Debug messages
* Messages from different parts of the stack.
@ -784,7 +778,7 @@ extern "C" {
#ifdef CO_DOXYGEN
#define CO_CONFIG_DEBUG (0)
#endif
#define CO_CONFIG_DEBUG_COMMON 0x01
#define CO_CONFIG_DEBUG_COMMON 0x01
#define CO_CONFIG_DEBUG_SDO_CLIENT 0x02
#define CO_CONFIG_DEBUG_SDO_SERVER 0x04
/** @} */ /* CO_STACK_CONFIG_DEBUG */

275
301/CO_driver.h
View file

@ -33,24 +33,24 @@ extern "C" {
/* Stack configuration default global values.
* For more information see file CO_config.h. */
#ifndef CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE
#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0)
#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0)
#endif
#ifndef CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE
#define CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0)
#define CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0)
#endif
#ifndef CO_CONFIG_GLOBAL_FLAG_TIMERNEXT
#define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0)
#define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0)
#endif
#ifndef CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC
#define CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC
#define CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC
#endif
#ifdef CO_DEBUG_COMMON
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_SDO_CLIENT
#define CO_DEBUG_SDO_CLIENT(msg) CO_DEBUG_COMMON(msg)
#endif
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_SDO_SERVER
#define CO_DEBUG_SDO_SERVER(msg) CO_DEBUG_COMMON(msg)
#endif
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_SDO_CLIENT
#define CO_DEBUG_SDO_CLIENT(msg) CO_DEBUG_COMMON(msg)
#endif
#if (CO_CONFIG_DEBUG) & CO_CONFIG_DEBUG_SDO_SERVER
#define CO_DEBUG_SDO_SERVER(msg) CO_DEBUG_COMMON(msg)
#endif
#endif
/**
@ -111,7 +111,6 @@ extern "C" {
/** Minor version number of CANopenNode */
#define CO_VERSION_MINOR 0
/* Macros and declarations in following part are only used for documentation. */
#ifdef CO_DOXYGEN
/**
@ -139,11 +138,11 @@ extern "C" {
/** Macro must swap bytes, if CO_BIG_ENDIAN is defined */
#define CO_SWAP_64(x) x
/** NULL, for general usage */
#define NULL (0)
#define NULL (0)
/** Logical true, for general use */
#define true 1
#define true 1
/** Logical false, for general use */
#define false 0
#define false 0
/** Boolean data type for general use */
typedef uint_fast8_t bool_t;
/** INTEGER8 in CANopen (0002h), 8-bit signed integer */
@ -168,7 +167,6 @@ typedef float float32_t;
typedef double float64_t;
/** @} */
/**
* @defgroup CO_CAN_Message_reception Reception of CAN messages
* @{
@ -200,7 +198,7 @@ typedef double float64_t;
* registered with CO_CANrxBufferInit()
* @param rxMsg pointer to received CAN message
*/
void CANrx_callback(void *object, void *rxMsg);
void CANrx_callback(void* object, void* rxMsg);
/**
* CANrx_callback() can read CAN identifier from received CAN message
@ -216,7 +214,8 @@ void CANrx_callback(void *object, void *rxMsg);
* @param rxMsg Pointer to received message
* @return 11-bit CAN standard identifier.
*/
static inline uint16_t CO_CANrxMsg_readIdent(void *rxMsg) {
static inline uint16_t
CO_CANrxMsg_readIdent(void* rxMsg) {
return 0;
}
@ -228,7 +227,8 @@ static inline uint16_t CO_CANrxMsg_readIdent(void *rxMsg) {
* @param rxMsg Pointer to received message
* @return data length in bytes (0 to 8)
*/
static inline uint8_t CO_CANrxMsg_readDLC(void *rxMsg) {
static inline uint8_t
CO_CANrxMsg_readDLC(void* rxMsg) {
return 0;
}
@ -240,7 +240,8 @@ static inline uint8_t CO_CANrxMsg_readDLC(void *rxMsg) {
* @param rxMsg Pointer to received message
* @return pointer to data buffer
*/
static inline const uint8_t *CO_CANrxMsg_readData(void *rxMsg) {
static inline const uint8_t*
CO_CANrxMsg_readData(void* rxMsg) {
return NULL;
}
@ -256,17 +257,16 @@ static inline const uint8_t *CO_CANrxMsg_readData(void *rxMsg) {
* CO_CANmodule_t.
*/
typedef struct {
uint16_t ident; /**< Standard CAN Identifier (bits 0..10) + RTR (bit 11) */
uint16_t mask; /**< Standard CAN Identifier mask with the same alignment as
uint16_t ident; /**< Standard CAN Identifier (bits 0..10) + RTR (bit 11) */
uint16_t mask; /**< Standard CAN Identifier mask with the same alignment as
ident */
void *object; /**< \ref CO_obj "CANopenNode Object" initialized in from
void* object; /**< \ref CO_obj "CANopenNode Object" initialized in from
CO_CANrxBufferInit() */
void (*pCANrx_callback)(
void *object, void *message); /**< Pointer to CANrx_callback()
void (*pCANrx_callback)(void* object, void* message); /**< Pointer to CANrx_callback()
initialized in CO_CANrxBufferInit() */
} CO_CANrx_t;
/** @} */
/** @} */
/**
* @defgroup CO_CAN_Message_transmission Transmission of CAN messages
@ -306,8 +306,8 @@ typedef struct {
volatile bool_t syncFlag; /**< Synchronous PDO messages has this flag set.
It prevents them to be sent outside the synchronous window */
} CO_CANtx_t;
/** @} */
/** @} */
/**
* Complete CAN module object.
@ -318,10 +318,10 @@ typedef struct {
* microcontrollers.
*/
typedef struct {
void *CANptr; /**< From CO_CANmodule_init() */
CO_CANrx_t *rxArray; /**< From CO_CANmodule_init() */
void* CANptr; /**< From CO_CANmodule_init() */
CO_CANrx_t* rxArray; /**< From CO_CANmodule_init() */
uint16_t rxSize; /**< From CO_CANmodule_init() */
CO_CANtx_t *txArray; /**< From CO_CANmodule_init() */
CO_CANtx_t* txArray; /**< From CO_CANmodule_init() */
uint16_t txSize; /**< From CO_CANmodule_init() */
uint16_t CANerrorStatus; /**< CAN error status bitfield,
see @ref CO_CAN_ERR_status_t */
@ -341,7 +341,6 @@ typedef struct {
uint32_t errOld; /**< Previous state of CAN errors */
} CO_CANmodule_t;
/**
* Data storage object for one entry.
*
@ -354,7 +353,7 @@ typedef struct {
*/
typedef struct {
/** Address of data to store, always required. */
void *addr;
void* addr;
/** Length of data to store, always required. */
size_t len;
/** Sub index in OD objects 1010 and 1011, from 2 to 127. Writing
@ -366,7 +365,7 @@ typedef struct {
uint8_t attr;
/** Pointer to storage module, target system specific usage, required with
* @ref CO_storage_eeprom. */
void *storageModule;
void* storageModule;
/** CRC checksum of the data stored in eeprom, set on store, required with
* @ref CO_storage_eeprom. */
uint16_t crc;
@ -380,10 +379,9 @@ typedef struct {
* @ref CO_storage_eeprom. */
size_t offset;
/** Additional target specific parameters, optional. */
void *additionalParameters;
void* additionalParameters;
} CO_storage_entry_t;
/**
* @defgroup CO_critical_sections Critical sections
* @{
@ -455,14 +453,21 @@ typedef struct {
/** Check if new message has arrived */
#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
/** Set new message flag */
#define CO_FLAG_SET(rxNew) { __sync_synchronize(); rxNew = (void *)1L; }
#define CO_FLAG_SET(rxNew) \
{ \
__sync_synchronize(); \
rxNew = (void*)1L; \
}
/** Clear new message flag */
#define CO_FLAG_CLEAR(rxNew) { __sync_synchronize(); rxNew = NULL; }
#define CO_FLAG_CLEAR(rxNew) \
{ \
__sync_synchronize(); \
rxNew = NULL; \
}
/** @} */
#endif /* CO_DOXYGEN */
/**
* @defgroup CO_Default_CAN_ID_t Default CANopen identifiers
* @{
@ -472,29 +477,28 @@ typedef struct {
* can be changed in CANopen. Especially PDO identifiers are configured
* in PDO linking phase of the CANopen network configuration.
*/
#define CO_CAN_ID_NMT_SERVICE 0x000U /**< 0x000 Network management */
#define CO_CAN_ID_GFC 0x001U /**< 0x001 Global fail-safe command */
#define CO_CAN_ID_SYNC 0x080U /**< 0x080 Synchronous message */
#define CO_CAN_ID_EMERGENCY 0x080U /**< 0x080 Emergency messages (+nodeID) */
#define CO_CAN_ID_TIME 0x100U /**< 0x100 Time message */
#define CO_CAN_ID_SRDO_1 0x0FFU /**< 0x0FF Default SRDO1 (+2*nodeID) */
#define CO_CAN_ID_TPDO_1 0x180U /**< 0x180 Default TPDO1 (+nodeID) */
#define CO_CAN_ID_RPDO_1 0x200U /**< 0x200 Default RPDO1 (+nodeID) */
#define CO_CAN_ID_TPDO_2 0x280U /**< 0x280 Default TPDO2 (+nodeID) */
#define CO_CAN_ID_RPDO_2 0x300U /**< 0x300 Default RPDO2 (+nodeID) */
#define CO_CAN_ID_TPDO_3 0x380U /**< 0x380 Default TPDO3 (+nodeID) */
#define CO_CAN_ID_RPDO_3 0x400U /**< 0x400 Default RPDO3 (+nodeID) */
#define CO_CAN_ID_TPDO_4 0x480U /**< 0x480 Default TPDO4 (+nodeID) */
#define CO_CAN_ID_RPDO_4 0x500U /**< 0x500 Default RPDO5 (+nodeID) */
#define CO_CAN_ID_SDO_SRV 0x580U /**< 0x580 SDO response from server (+nodeID) */
#define CO_CAN_ID_SDO_CLI 0x600U /**< 0x600 SDO request from client (+nodeID) */
#define CO_CAN_ID_HEARTBEAT 0x700U /**< 0x700 Heartbeat message */
#define CO_CAN_ID_LSS_SLV 0x7E4U /**< 0x7E4 LSS response from slave */
#define CO_CAN_ID_LSS_MST 0x7E5U /**< 0x7E5 LSS request from master */
#define CO_CAN_ID_NMT_SERVICE 0x000U /**< 0x000 Network management */
#define CO_CAN_ID_GFC 0x001U /**< 0x001 Global fail-safe command */
#define CO_CAN_ID_SYNC 0x080U /**< 0x080 Synchronous message */
#define CO_CAN_ID_EMERGENCY 0x080U /**< 0x080 Emergency messages (+nodeID) */
#define CO_CAN_ID_TIME 0x100U /**< 0x100 Time message */
#define CO_CAN_ID_SRDO_1 0x0FFU /**< 0x0FF Default SRDO1 (+2*nodeID) */
#define CO_CAN_ID_TPDO_1 0x180U /**< 0x180 Default TPDO1 (+nodeID) */
#define CO_CAN_ID_RPDO_1 0x200U /**< 0x200 Default RPDO1 (+nodeID) */
#define CO_CAN_ID_TPDO_2 0x280U /**< 0x280 Default TPDO2 (+nodeID) */
#define CO_CAN_ID_RPDO_2 0x300U /**< 0x300 Default RPDO2 (+nodeID) */
#define CO_CAN_ID_TPDO_3 0x380U /**< 0x380 Default TPDO3 (+nodeID) */
#define CO_CAN_ID_RPDO_3 0x400U /**< 0x400 Default RPDO3 (+nodeID) */
#define CO_CAN_ID_TPDO_4 0x480U /**< 0x480 Default TPDO4 (+nodeID) */
#define CO_CAN_ID_RPDO_4 0x500U /**< 0x500 Default RPDO5 (+nodeID) */
#define CO_CAN_ID_SDO_SRV 0x580U /**< 0x580 SDO response from server (+nodeID) */
#define CO_CAN_ID_SDO_CLI 0x600U /**< 0x600 SDO request from client (+nodeID) */
#define CO_CAN_ID_HEARTBEAT 0x700U /**< 0x700 Heartbeat message */
#define CO_CAN_ID_LSS_SLV 0x7E4U /**< 0x7E4 LSS response from slave */
#define CO_CAN_ID_LSS_MST 0x7E5U /**< 0x7E5 LSS request from master */
/** @} */ /* CO_Default_CAN_ID_t */
/**
* Restricted CAN-IDs
*
@ -502,15 +506,12 @@ typedef struct {
* They shall not be used for SYNC, TIME, EMCY, PDO and SDO.
*/
#ifndef CO_IS_RESTRICTED_CAN_ID
#define CO_IS_RESTRICTED_CAN_ID(CAN_ID) (((CAN_ID) <= 0x7FU) \
|| (((CAN_ID) >= 0x101U) && ((CAN_ID) <= 0x180U)) \
|| (((CAN_ID) >= 0x581U) && ((CAN_ID) <= 0x5FFU)) \
|| (((CAN_ID) >= 0x601U) && ((CAN_ID) <= 0x67FU)) \
|| (((CAN_ID) >= 0x6E0U) && ((CAN_ID) <= 0x6FFU)) \
|| ((CAN_ID) >= 0x701U))
#define CO_IS_RESTRICTED_CAN_ID(CAN_ID) \
(((CAN_ID) <= 0x7FU) || (((CAN_ID) >= 0x101U) && ((CAN_ID) <= 0x180U)) \
|| (((CAN_ID) >= 0x581U) && ((CAN_ID) <= 0x5FFU)) || (((CAN_ID) >= 0x601U) && ((CAN_ID) <= 0x67FU)) \
|| (((CAN_ID) >= 0x6E0U) && ((CAN_ID) <= 0x6FFU)) || ((CAN_ID) >= 0x701U))
#endif
/**
* @defgroup CO_CAN_ERR_status_t CAN error status bitmasks
* @{
@ -520,15 +521,15 @@ typedef struct {
* equal to 128. Transmitter goes in error state 'bus off' if transmit error
* counter is more or equal to 256.
*/
#define CO_CAN_ERRTX_WARNING 0x0001U /**< 0x0001 CAN transmitter warning */
#define CO_CAN_ERRTX_PASSIVE 0x0002U /**< 0x0002 CAN transmitter passive */
#define CO_CAN_ERRTX_BUS_OFF 0x0004U /**< 0x0004 CAN transmitter bus off */
#define CO_CAN_ERRTX_OVERFLOW 0x0008U /**< 0x0008 CAN transmitter overflow */
#define CO_CAN_ERRTX_PDO_LATE 0x0080U /**< 0x0080 TPDO is outside sync window */
#define CO_CAN_ERRRX_WARNING 0x0100U /**< 0x0100 CAN receiver warning */
#define CO_CAN_ERRRX_PASSIVE 0x0200U /**< 0x0200 CAN receiver passive */
#define CO_CAN_ERRRX_OVERFLOW 0x0800U /**< 0x0800 CAN receiver overflow */
#define CO_CAN_ERR_WARN_PASSIVE 0x0303U /**< 0x0303 combination */
#define CO_CAN_ERRTX_WARNING 0x0001U /**< 0x0001 CAN transmitter warning */
#define CO_CAN_ERRTX_PASSIVE 0x0002U /**< 0x0002 CAN transmitter passive */
#define CO_CAN_ERRTX_BUS_OFF 0x0004U /**< 0x0004 CAN transmitter bus off */
#define CO_CAN_ERRTX_OVERFLOW 0x0008U /**< 0x0008 CAN transmitter overflow */
#define CO_CAN_ERRTX_PDO_LATE 0x0080U /**< 0x0080 TPDO is outside sync window */
#define CO_CAN_ERRRX_WARNING 0x0100U /**< 0x0100 CAN receiver warning */
#define CO_CAN_ERRRX_PASSIVE 0x0200U /**< 0x0200 CAN receiver passive */
#define CO_CAN_ERRRX_OVERFLOW 0x0800U /**< 0x0800 CAN receiver overflow */
#define CO_CAN_ERR_WARN_PASSIVE 0x0303U /**< 0x0303 combination */
/** @} */ /* CO_CAN_ERR_status_t */
@ -537,52 +538,49 @@ typedef struct {
* successfully it returns 0 otherwise it returns <0.
*/
typedef enum {
CO_ERROR_NO = 0, /**< Operation completed successfully */
CO_ERROR_ILLEGAL_ARGUMENT = -1, /**< Error in function arguments */
CO_ERROR_OUT_OF_MEMORY = -2, /**< Memory allocation failed */
CO_ERROR_TIMEOUT = -3, /**< Function timeout */
CO_ERROR_ILLEGAL_BAUDRATE = -4, /**< Illegal baudrate passed to function
CO_ERROR_NO = 0, /**< Operation completed successfully */
CO_ERROR_ILLEGAL_ARGUMENT = -1, /**< Error in function arguments */
CO_ERROR_OUT_OF_MEMORY = -2, /**< Memory allocation failed */
CO_ERROR_TIMEOUT = -3, /**< Function timeout */
CO_ERROR_ILLEGAL_BAUDRATE = -4, /**< Illegal baudrate passed to function
CO_CANmodule_init() */
CO_ERROR_RX_OVERFLOW = -5, /**< Previous message was not processed
CO_ERROR_RX_OVERFLOW = -5, /**< Previous message was not processed
yet */
CO_ERROR_RX_PDO_OVERFLOW = -6, /**< previous PDO was not processed yet */
CO_ERROR_RX_MSG_LENGTH = -7, /**< Wrong receive message length */
CO_ERROR_RX_PDO_LENGTH = -8, /**< Wrong receive PDO length */
CO_ERROR_TX_OVERFLOW = -9, /**< Previous message is still waiting,
CO_ERROR_RX_PDO_OVERFLOW = -6, /**< previous PDO was not processed yet */
CO_ERROR_RX_MSG_LENGTH = -7, /**< Wrong receive message length */
CO_ERROR_RX_PDO_LENGTH = -8, /**< Wrong receive PDO length */
CO_ERROR_TX_OVERFLOW = -9, /**< Previous message is still waiting,
buffer full */
CO_ERROR_TX_PDO_WINDOW = -10, /**< Synchronous TPDO is outside window */
CO_ERROR_TX_UNCONFIGURED = -11, /**< Transmit buffer was not configured
CO_ERROR_TX_PDO_WINDOW = -10, /**< Synchronous TPDO is outside window */
CO_ERROR_TX_UNCONFIGURED = -11, /**< Transmit buffer was not configured
properly */
CO_ERROR_OD_PARAMETERS = -12, /**< Error in Object Dictionary parameters*/
CO_ERROR_DATA_CORRUPT = -13, /**< Stored data are corrupt */
CO_ERROR_CRC = -14, /**< CRC does not match */
CO_ERROR_TX_BUSY = -15, /**< Sending rejected because driver is
CO_ERROR_OD_PARAMETERS = -12, /**< Error in Object Dictionary parameters*/
CO_ERROR_DATA_CORRUPT = -13, /**< Stored data are corrupt */
CO_ERROR_CRC = -14, /**< CRC does not match */
CO_ERROR_TX_BUSY = -15, /**< Sending rejected because driver is
busy. Try again */
CO_ERROR_WRONG_NMT_STATE = -16, /**< Command can't be processed in current
CO_ERROR_WRONG_NMT_STATE = -16, /**< Command can't be processed in current
state */
CO_ERROR_SYSCALL = -17, /**< Syscall failed */
CO_ERROR_INVALID_STATE = -18, /**< Driver not ready */
CO_ERROR_SYSCALL = -17, /**< Syscall failed */
CO_ERROR_INVALID_STATE = -18, /**< Driver not ready */
CO_ERROR_NODE_ID_UNCONFIGURED_LSS = -19 /**< Node-id is in LSS unconfigured
state. If objects are handled properly,
this may not be an error. */
} CO_ReturnError_t;
/**
* Request CAN configuration (stopped) mode and *wait* until it is set.
*
* @param CANptr Pointer to CAN device
*/
void CO_CANsetConfigurationMode(void *CANptr);
void CO_CANsetConfigurationMode(void* CANptr);
/**
* Request CAN normal (operational) mode and *wait* until it is set.
*
* @param CANmodule CO_CANmodule_t object.
*/
void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
void CO_CANsetNormalMode(CO_CANmodule_t* CANmodule);
/**
* Initialize CAN module object.
@ -603,22 +601,15 @@ void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
*
* Return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule,
void *CANptr,
CO_CANrx_t rxArray[],
uint16_t rxSize,
CO_CANtx_t txArray[],
uint16_t txSize,
uint16_t CANbitRate);
CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], uint16_t rxSize,
CO_CANtx_t txArray[], uint16_t txSize, uint16_t CANbitRate);
/**
* Switch off CANmodule. Call at program exit.
*
* @param CANmodule CAN module object.
*/
void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
void CO_CANmodule_disable(CO_CANmodule_t* CANmodule);
/**
* Configure CAN message receive buffer.
@ -645,15 +636,8 @@ void CO_CANmodule_disable(CO_CANmodule_t *CANmodule);
* Return #CO_ReturnError_t: CO_ERROR_NO CO_ERROR_ILLEGAL_ARGUMENT or
* CO_ERROR_OUT_OF_MEMORY (not enough masks for configuration).
*/
CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
uint16_t mask,
bool_t rtr,
void *object,
void (*CANrx_callback)(void *object,
void *message));
CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, uint16_t mask,
bool_t rtr, void* object, void (*CANrx_callback)(void* object, void* message));
/**
* Configure CAN message transmit buffer.
@ -673,14 +657,9 @@ CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t *CANmodule,
* buffer should be written, before CO_CANsend() function is called.
* Zero is returned in case of wrong arguments.
*/
CO_CANtx_t *CO_CANtxBufferInit(CO_CANmodule_t *CANmodule,
uint16_t index,
uint16_t ident,
bool_t rtr,
uint8_t noOfBytes,
CO_CANtx_t* CO_CANtxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, bool_t rtr, uint8_t noOfBytes,
bool_t syncFlag);
/**
* Send CAN message.
*
@ -691,8 +670,7 @@ CO_CANtx_t *CO_CANtxBufferInit(CO_CANmodule_t *CANmodule,
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_TX_OVERFLOW or
* CO_ERROR_TX_PDO_WINDOW (Synchronous TPDO is outside window).
*/
CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
CO_ReturnError_t CO_CANsend(CO_CANmodule_t* CANmodule, CO_CANtx_t* buffer);
/**
* Clear all synchronous TPDOs from CAN module transmit buffers.
@ -708,8 +686,7 @@ CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
*
* @param CANmodule This object.
*/
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
void CO_CANclearPendingSyncPDOs(CO_CANmodule_t* CANmodule);
/**
* Process can module - verify CAN errors
@ -719,8 +696,7 @@ void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule);
*
* @param CANmodule This object.
*/
void CO_CANmodule_process(CO_CANmodule_t *CANmodule);
void CO_CANmodule_process(CO_CANmodule_t* CANmodule);
/**
* Get uint8_t value from memory buffer
@ -729,16 +705,27 @@ void CO_CANmodule_process(CO_CANmodule_t *CANmodule);
*
* @return Value
*/
static inline uint8_t CO_getUint8(const void *buf) {
uint8_t value; (void)memmove((void *)&value, buf, sizeof(value)); return value;
static inline uint8_t
CO_getUint8(const void* buf) {
uint8_t value;
(void)memmove((void*)&value, buf, sizeof(value));
return value;
}
/** Get uint16_t value from memory buffer, see @ref CO_getUint8 */
static inline uint16_t CO_getUint16(const void *buf) {
uint16_t value; (void)memmove((void *)&value, buf, sizeof(value)); return value;
static inline uint16_t
CO_getUint16(const void* buf) {
uint16_t value;
(void)memmove((void*)&value, buf, sizeof(value));
return value;
}
/** Get uint32_t value from memory buffer, see @ref CO_getUint8 */
static inline uint32_t CO_getUint32(const void *buf) {
uint32_t value; (void)memmove((void *)&value, buf, sizeof(value)); return value;
static inline uint32_t
CO_getUint32(const void* buf) {
uint32_t value;
(void)memmove((void*)&value, buf, sizeof(value));
return value;
}
/**
@ -749,16 +736,24 @@ static inline uint32_t CO_getUint32(const void *buf) {
*
* @return number of bytes written.
*/
static inline uint8_t CO_setUint8(void *buf, uint8_t value) {
(void)memmove(buf, (const void *)&value, sizeof(value)); return (uint8_t)(sizeof(value));
static inline uint8_t
CO_setUint8(void* buf, uint8_t value) {
(void)memmove(buf, (const void*)&value, sizeof(value));
return (uint8_t)(sizeof(value));
}
/** Write uint16_t value into memory buffer, see @ref CO_setUint8 */
static inline uint8_t CO_setUint16(void *buf, uint16_t value) {
(void)memmove(buf, (const void *)&value, sizeof(value)); return (uint8_t)(sizeof(value));
static inline uint8_t
CO_setUint16(void* buf, uint16_t value) {
(void)memmove(buf, (const void*)&value, sizeof(value));
return (uint8_t)(sizeof(value));
}
/** Write uint32_t value into memory buffer, see @ref CO_setUint8 */
static inline uint8_t CO_setUint32(void *buf, uint32_t value) {
(void)memmove(buf, (const void *)&value, sizeof(value)); return (uint8_t)(sizeof(value));
static inline uint8_t
CO_setUint32(void* buf, uint32_t value) {
(void)memmove(buf, (const void*)&value, sizeof(value));
return (uint8_t)(sizeof(value));
}
/** @} */ /* CO_driver */

181
301/CO_fifo.h
View file

@ -28,7 +28,7 @@
#define CO_CONFIG_FIFO (0)
#endif
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -56,18 +56,18 @@ extern "C" {
*/
typedef struct {
/** Buffer of size bufSize. Initialized by CO_fifo_init() */
uint8_t *buf;
uint8_t* buf;
/** Initialized by CO_fifo_init() */
size_t bufSize;
/** Location in the buffer, which will be next written. */
size_t writePtr;
/** Location in the buffer, which will be next read. */
size_t readPtr;
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
/** Location in the buffer, which will be next read. */
size_t altReadPtr;
#endif
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
/** helper variable, set to false in CO_fifo_reset(), used in some
* functions. */
bool_t started;
@ -76,8 +76,6 @@ typedef struct {
#endif
} CO_fifo_t;
/**
* Initialize fifo object
*
@ -86,19 +84,19 @@ typedef struct {
* @param bufSize Size of the above buffer. Usable size of the buffer will be
* one byte less than bufSize, it is used for operation of the circular buffer.
*/
void CO_fifo_init(CO_fifo_t *fifo, uint8_t *buf, size_t bufSize);
void CO_fifo_init(CO_fifo_t* fifo, uint8_t* buf, size_t bufSize);
/**
* Reset fifo object, make it empty
*
* @param fifo This object
*/
static inline void CO_fifo_reset(CO_fifo_t *fifo) {
static inline void
CO_fifo_reset(CO_fifo_t* fifo) {
if (fifo != NULL) {
fifo->readPtr = 0;
fifo->writePtr = 0;
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0
#if ((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ASCII_DATATYPES) != 0
fifo->started = false;
#endif
}
@ -106,7 +104,6 @@ static inline void CO_fifo_reset(CO_fifo_t *fifo) {
return;
}
/**
* Purge all data in fifo object, keep other properties
*
@ -114,7 +111,8 @@ static inline void CO_fifo_reset(CO_fifo_t *fifo) {
*
* @return true, if data were purged or false, if fifo were already empty
*/
static inline bool_t CO_fifo_purge(CO_fifo_t *fifo) {
static inline bool_t
CO_fifo_purge(CO_fifo_t* fifo) {
if (fifo != NULL && fifo->readPtr != fifo->writePtr) {
fifo->readPtr = 0;
fifo->writePtr = 0;
@ -124,7 +122,6 @@ static inline bool_t CO_fifo_purge(CO_fifo_t *fifo) {
return false;
}
/**
* Get free buffer space in CO_fifo_t object
*
@ -132,16 +129,16 @@ static inline bool_t CO_fifo_purge(CO_fifo_t *fifo) {
*
* @return number of available bytes
*/
static inline size_t CO_fifo_getSpace(CO_fifo_t *fifo) {
static inline size_t
CO_fifo_getSpace(CO_fifo_t* fifo) {
int sizeLeft = (int)fifo->readPtr - (int)fifo->writePtr - 1;
if (sizeLeft < 0) {
sizeLeft += (int)fifo->bufSize;
}
return (size_t) sizeLeft;
return (size_t)sizeLeft;
}
/**
* Get size of data inside CO_fifo_t buffer object
*
@ -149,16 +146,16 @@ static inline size_t CO_fifo_getSpace(CO_fifo_t *fifo) {
*
* @return number of occupied bytes
*/
static inline size_t CO_fifo_getOccupied(CO_fifo_t *fifo) {
static inline size_t
CO_fifo_getOccupied(CO_fifo_t* fifo) {
int sizeOccupied = (int)fifo->writePtr - (int)fifo->readPtr;
if (sizeOccupied < 0) {
sizeOccupied += (int)fifo->bufSize;
}
return (size_t) sizeOccupied;
return (size_t)sizeOccupied;
}
/**
* Put one character into CO_fifo_t buffer object
*
@ -167,12 +164,11 @@ static inline size_t CO_fifo_getOccupied(CO_fifo_t *fifo) {
*
* @return true, if write was successful (enough space in fifo buffer)
*/
static inline bool_t CO_fifo_putc(CO_fifo_t *fifo, const uint8_t c) {
static inline bool_t
CO_fifo_putc(CO_fifo_t* fifo, const uint8_t c) {
if (fifo != NULL && fifo->buf != NULL) {
size_t writePtrNext = fifo->writePtr + 1;
if (writePtrNext != fifo->readPtr &&
!(writePtrNext == fifo->bufSize && fifo->readPtr == 0))
{
if (writePtrNext != fifo->readPtr && !(writePtrNext == fifo->bufSize && fifo->readPtr == 0)) {
fifo->buf[fifo->writePtr] = c;
fifo->writePtr = (writePtrNext == fifo->bufSize) ? 0 : writePtrNext;
return true;
@ -181,7 +177,6 @@ static inline bool_t CO_fifo_putc(CO_fifo_t *fifo, const uint8_t c) {
return false;
}
/**
* Put one character into CO_fifo_t buffer object
*
@ -190,18 +185,22 @@ static inline bool_t CO_fifo_putc(CO_fifo_t *fifo, const uint8_t c) {
* @param fifo This object
* @param c Character to put
*/
static inline void CO_fifo_putc_ov(CO_fifo_t *fifo, const uint8_t c) {
static inline void
CO_fifo_putc_ov(CO_fifo_t* fifo, const uint8_t c) {
if (fifo != NULL && fifo->buf != NULL) {
fifo->buf[fifo->writePtr] = c;
if (++fifo->writePtr == fifo->bufSize) fifo->writePtr = 0;
if (++fifo->writePtr == fifo->bufSize) {
fifo->writePtr = 0;
}
if (fifo->readPtr == fifo->writePtr) {
if (++fifo->readPtr == fifo->bufSize) fifo->readPtr = 0;
if (++fifo->readPtr == fifo->bufSize) {
fifo->readPtr = 0;
}
}
}
}
/**
* Get one character from CO_fifo_t buffer object
*
@ -210,7 +209,8 @@ static inline void CO_fifo_putc_ov(CO_fifo_t *fifo, const uint8_t c) {
*
* @return true, if read was successful (non-empty fifo buffer)
*/
static inline bool_t CO_fifo_getc(CO_fifo_t *fifo, uint8_t *buf) {
static inline bool_t
CO_fifo_getc(CO_fifo_t* fifo, uint8_t* buf) {
if (fifo != NULL && buf != NULL && fifo->readPtr != fifo->writePtr) {
*buf = fifo->buf[fifo->readPtr];
if (++fifo->readPtr == fifo->bufSize) {
@ -221,7 +221,6 @@ static inline bool_t CO_fifo_getc(CO_fifo_t *fifo, uint8_t *buf) {
return false;
}
/**
* Write data into CO_fifo_t object.
*
@ -237,11 +236,7 @@ static inline bool_t CO_fifo_getc(CO_fifo_t *fifo, uint8_t *buf) {
*
* @return number of bytes actually written.
*/
size_t CO_fifo_write(CO_fifo_t *fifo,
const uint8_t *buf,
size_t count,
uint16_t *crc);
size_t CO_fifo_write(CO_fifo_t* fifo, const uint8_t* buf, size_t count, uint16_t* crc);
/**
* Read data from CO_fifo_t object.
@ -259,10 +254,9 @@ size_t CO_fifo_write(CO_fifo_t *fifo,
*
* @return number of bytes actually read.
*/
size_t CO_fifo_read(CO_fifo_t *fifo, uint8_t *buf, size_t count, bool_t *eof);
size_t CO_fifo_read(CO_fifo_t* fifo, uint8_t* buf, size_t count, bool_t* eof);
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
/**
* Initializes alternate read with #CO_fifo_altRead
*
@ -271,8 +265,7 @@ size_t CO_fifo_read(CO_fifo_t *fifo, uint8_t *buf, size_t count, bool_t *eof);
*
* @return same as offset or lower, if there is not enough data.
*/
size_t CO_fifo_altBegin(CO_fifo_t *fifo, size_t offset);
size_t CO_fifo_altBegin(CO_fifo_t* fifo, size_t offset);
/**
* Ends alternate read with #CO_fifo_altRead and calculate crc checksum
@ -281,8 +274,7 @@ size_t CO_fifo_altBegin(CO_fifo_t *fifo, size_t offset);
* @param [in,out] crc Externally defined variable for CRC checksum, ignored if
* NULL
*/
void CO_fifo_altFinish(CO_fifo_t *fifo, uint16_t *crc);
void CO_fifo_altFinish(CO_fifo_t* fifo, uint16_t* crc);
/**
* Get alternate size of remaining data, see #CO_fifo_altRead
@ -291,16 +283,16 @@ void CO_fifo_altFinish(CO_fifo_t *fifo, uint16_t *crc);
*
* @return number of occupied bytes.
*/
static inline size_t CO_fifo_altGetOccupied(CO_fifo_t *fifo) {
static inline size_t
CO_fifo_altGetOccupied(CO_fifo_t* fifo) {
int sizeOccupied = (int)fifo->writePtr - (int)fifo->altReadPtr;
if (sizeOccupied < 0) {
sizeOccupied += (int)fifo->bufSize;
}
return (size_t) sizeOccupied;
return (size_t)sizeOccupied;
}
/**
* Alternate read data from CO_fifo_t object.
*
@ -317,11 +309,10 @@ static inline size_t CO_fifo_altGetOccupied(CO_fifo_t *fifo) {
*
* @return number of bytes actually read.
*/
size_t CO_fifo_altRead(CO_fifo_t *fifo, uint8_t *buf, size_t count);
size_t CO_fifo_altRead(CO_fifo_t* fifo, uint8_t* buf, size_t count);
#endif /* #if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ */
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ASCII_COMMANDS) != 0) || defined CO_DOXYGEN
/**
* Search command inside FIFO
*
@ -346,8 +337,7 @@ size_t CO_fifo_altRead(CO_fifo_t *fifo, uint8_t *buf, size_t count);
*
* @return true if command with delimiter found or buffer full.
*/
bool_t CO_fifo_CommSearch(CO_fifo_t *fifo, bool_t clear);
bool_t CO_fifo_CommSearch(CO_fifo_t* fifo, bool_t clear);
/**
* Trim spaces inside FIFO
@ -363,8 +353,7 @@ bool_t CO_fifo_CommSearch(CO_fifo_t *fifo, bool_t clear);
*
* @return true if command delimiter was found.
*/
bool_t CO_fifo_trimSpaces(CO_fifo_t *fifo, bool_t *insideComment);
bool_t CO_fifo_trimSpaces(CO_fifo_t* fifo, bool_t* insideComment);
/**
* Get token from FIFO buffer
@ -403,15 +392,10 @@ bool_t CO_fifo_trimSpaces(CO_fifo_t *fifo, bool_t *insideComment);
*
* @return Number of bytes read.
*/
size_t CO_fifo_readToken(CO_fifo_t *fifo,
char *buf,
size_t count,
uint8_t *closed,
bool_t *err);
size_t CO_fifo_readToken(CO_fifo_t* fifo, char* buf, size_t count, uint8_t* closed, bool_t* err);
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS */
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
/**
* Read uint8_t variable from fifo and output as ascii string.
*
@ -422,64 +406,63 @@ size_t CO_fifo_readToken(CO_fifo_t *fifo,
*
* @return Number of ascii bytes written into buf.
*/
size_t CO_fifo_readU82a (CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readU82a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint16_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readU162a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readU162a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint32_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readU322a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readU322a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint64_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readU642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readU642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint8_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readX82a (CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readX82a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint16_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readX162a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readX162a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint32_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readX322a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readX322a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read uint64_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readX642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readX642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read int8_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readI82a (CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readI82a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read int16_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readI162a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readI162a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read int32_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readI322a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readI322a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read int64_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readI642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readI642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read float32_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readR322a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readR322a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read float64_t variable from fifo as ascii string, see CO_fifo_readU82a */
size_t CO_fifo_readR642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readR642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read data from fifo and output as space separated two digit ascii string,
* see also CO_fifo_readU82a */
size_t CO_fifo_readHex2a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readHex2a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read data from fifo and output as visible string. A visible string is
* enclosed with double quotes. If a double quote is used within the string,
* the quotes are escaped by a second quotes, e.g. “Hello “”World””, CANopen
* is great”. UTF-8 characters and also line breaks works with this function.
* Function removes all NULL and CR characters from output string.
* See also CO_fifo_readU82a */
size_t CO_fifo_readVs2a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readVs2a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Read data from fifo and output as mime-base64 encoded string. Encoding is as
* specified in RFC 2045, without CR-LF, but one long string. See also
* CO_fifo_readU82a */
size_t CO_fifo_readB642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
size_t CO_fifo_readB642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Bitfields for status argument from CO_fifo_cpyTok2U8 function and similar */
/**
* @defgroup uint8_t Bitfields for status argument from CO_fifo_cpyTok2U8 function and similar
* @{
*/
#define CO_fifo_st_closed 0x01U /**< Bit is set, if command delimiter is reached in src */
#define CO_fifo_st_partial 0x02U /**< Bit is set, if copy was partial and more data are available. If unset and no error, then all data was successfully copied. */
#define CO_fifo_st_errTok 0x10U /**< Bit is set, if no valid token found */
#define CO_fifo_st_errVal 0x20U /**< Bit is set, if value is not valid or out of limits */
#define CO_fifo_st_errBuf 0x40U /**< Bit is set, if destination buffer is to small */
#define CO_fifo_st_errInt 0x80U /**< Bit is set, if internal error */
#define CO_fifo_st_errMask 0xF0U /**< Bitmask for error bits */
/** @} */ /* uint8_t */
#define CO_fifo_st_closed 0x01U /**< Bit is set, if command delimiter is reached in src */
#define CO_fifo_st_partial \
0x02U /**< Bit is set, if copy was partial and more data are available. If unset and no error, then all data was successfully copied. */
#define CO_fifo_st_errTok 0x10U /**< Bit is set, if no valid token found */
#define CO_fifo_st_errVal 0x20U /**< Bit is set, if value is not valid or out of limits */
#define CO_fifo_st_errBuf 0x40U /**< Bit is set, if destination buffer is to small */
#define CO_fifo_st_errInt 0x80U /**< Bit is set, if internal error */
#define CO_fifo_st_errMask 0xF0U /**< Bitmask for error bits */
/** @} */ /* uint8_t */
/**
* Read ascii string from src fifo and copy as uint8_t variable to dest fifo.
@ -490,37 +473,37 @@ size_t CO_fifo_readB642a(CO_fifo_t *fifo, char *buf, size_t count, bool_t end);
*
* @return Number of bytes written into dest.
*/
size_t CO_fifo_cpyTok2U8 (CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2U8(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to uint16_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2U16(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2U16(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to uint32_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2U32(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2U32(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to uint64_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2U64(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2U64(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to int8_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2I8 (CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2I8(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to int16_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2I16(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2I16(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to int32_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2I32(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2I32(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to int64_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2I64(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2I64(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to float32_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2R32(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2R32(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy ascii string to float64_t variable, see CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2R64(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2R64(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy bytes written as two hex digits into to data. Bytes may be space
* separated. See CO_fifo_cpyTok2U8 for parameters. */
size_t CO_fifo_cpyTok2Hex(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2Hex(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Copy visible string to data. A visible string must be enclosed with double
* quotes, if it contains space. If a double quote is used within the string,
* the quotes are escaped by a second quotes. Input string can not contain
* newline characters. See CO_fifo_cpyTok2U8 */
size_t CO_fifo_cpyTok2Vs(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2Vs(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
/** Read ascii mime-base64 encoded string from src fifo and copy as binary data
* to dest fifo. Encoding is as specified in RFC 2045, without CR-LF, but one
* long string in single line. See also CO_fifo_readU82a */
size_t CO_fifo_cpyTok2B64(CO_fifo_t *dest, CO_fifo_t *src, uint8_t *status);
size_t CO_fifo_cpyTok2B64(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES */

11
301/crc16-ccitt.h
View file

@ -29,7 +29,7 @@
#define CO_CONFIG_CRC16 (0)
#endif
#if (((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_CRC16)&CO_CONFIG_CRC16_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -47,7 +47,6 @@ extern "C" {
* `x^16 + x^12 + x^5 + 1`
*/
/**
* Update crc16_ccitt variable with one data byte
*
@ -58,8 +57,7 @@ extern "C" {
* start of new CRC calculation, variable must be initialized (zero for xmodem).
* @param chr One byte of data
*/
void crc16_ccitt_single(uint16_t *crc, const uint8_t chr);
void crc16_ccitt_single(uint16_t* crc, const uint8_t chr);
/**
* Calculate CRC sum on block of data.
@ -71,10 +69,7 @@ void crc16_ccitt_single(uint16_t *crc, const uint8_t chr);
*
* @return Calculated CRC.
*/
uint16_t crc16_ccitt(const uint8_t block[],
size_t blockLength,
uint16_t crc);
uint16_t crc16_ccitt(const uint8_t block[], size_t blockLength, uint16_t crc);
/** @} */ /* CO_crc16_ccitt */

59
303/CO_LEDs.h
View file

@ -26,11 +26,10 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_LEDS
#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | \
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#if (((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LEDS)&CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -73,37 +72,35 @@ extern "C" {
* @{
*
*/
#define CO_LED_flicker 0x01U /**< LED flickering 10Hz */
#define CO_LED_blink 0x02U /**< LED blinking 2,5Hz */
#define CO_LED_flash_1 0x04U /**< LED single flash */
#define CO_LED_flash_2 0x08U /**< LED double flash */
#define CO_LED_flash_3 0x10U /**< LED triple flash */
#define CO_LED_flash_4 0x20U /**< LED quadruple flash */
#define CO_LED_CANopen 0x80U /**< LED CANopen according to CiA 303-3 */
#define CO_LED_flicker 0x01U /**< LED flickering 10Hz */
#define CO_LED_blink 0x02U /**< LED blinking 2,5Hz */
#define CO_LED_flash_1 0x04U /**< LED single flash */
#define CO_LED_flash_2 0x08U /**< LED double flash */
#define CO_LED_flash_3 0x10U /**< LED triple flash */
#define CO_LED_flash_4 0x20U /**< LED quadruple flash */
#define CO_LED_CANopen 0x80U /**< LED CANopen according to CiA 303-3 */
/** @} */ /* CO_LED_BITFIELD_t */
/** Get on/off state for green led for specified bitfield */
#define CO_LED_RED(LEDs, BITFIELD) ((((LEDs)->LEDred & BITFIELD) != 0U) ? 1U : 0U)
#define CO_LED_RED(LEDs, BITFIELD) ((((LEDs)->LEDred & BITFIELD) != 0U) ? 1U : 0U)
/** Get on/off state for green led for specified bitfield */
#define CO_LED_GREEN(LEDs, BITFIELD) ((((LEDs)->LEDgreen & BITFIELD) != 0U) ? 1U : 0U)
/**
* LEDs object, initialized by CO_LEDs_init()
*/
typedef struct{
uint32_t LEDtmr50ms; /**< 50ms led timer */
uint8_t LEDtmr200ms; /**< 200ms led timer */
uint8_t LEDtmrflash_1; /**< single flash led timer */
uint8_t LEDtmrflash_2; /**< double flash led timer */
uint8_t LEDtmrflash_3; /**< triple flash led timer */
uint8_t LEDtmrflash_4; /**< quadruple flash led timer */
uint8_t LEDred; /**< red led #CO_LED_BITFIELD_t */
uint8_t LEDgreen; /**< green led #CO_LED_BITFIELD_t */
typedef struct {
uint32_t LEDtmr50ms; /**< 50ms led timer */
uint8_t LEDtmr200ms; /**< 200ms led timer */
uint8_t LEDtmrflash_1; /**< single flash led timer */
uint8_t LEDtmrflash_2; /**< double flash led timer */
uint8_t LEDtmrflash_3; /**< triple flash led timer */
uint8_t LEDtmrflash_4; /**< quadruple flash led timer */
uint8_t LEDred; /**< red led #CO_LED_BITFIELD_t */
uint8_t LEDgreen; /**< green led #CO_LED_BITFIELD_t */
} CO_LEDs_t;
/**
* Initialize LEDs object.
*
@ -113,8 +110,7 @@ typedef struct{
*
* @return #CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_LEDs_init(CO_LEDs_t *LEDs);
CO_ReturnError_t CO_LEDs_init(CO_LEDs_t* LEDs);
/**
* Process indicator states
@ -135,18 +131,9 @@ CO_ReturnError_t CO_LEDs_init(CO_LEDs_t *LEDs);
* @param firmwareDownload Firmware download is in progress indication.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_LEDs_process(CO_LEDs_t *LEDs,
uint32_t timeDifference_us,
CO_NMT_internalState_t NMTstate,
bool_t LSSconfig,
bool_t ErrCANbusOff,
bool_t ErrCANbusWarn,
bool_t ErrRpdo,
bool_t ErrSync,
bool_t ErrHbCons,
bool_t ErrOther,
bool_t firmwareDownload,
uint32_t *timerNext_us);
void CO_LEDs_process(CO_LEDs_t* LEDs, uint32_t timeDifference_us, CO_NMT_internalState_t NMTstate, bool_t LSSconfig,
bool_t ErrCANbusOff, bool_t ErrCANbusWarn, bool_t ErrRpdo, bool_t ErrSync, bool_t ErrHbCons,
bool_t ErrOther, bool_t firmwareDownload, uint32_t* timerNext_us);
/** @} */ /* CO_LEDs */

18
304/CO_GFC.h
View file

@ -30,7 +30,7 @@
#define CO_CONFIG_GFC (0)
#endif
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -53,13 +53,13 @@ extern "C" {
* GFC object.
*/
typedef struct {
bool_t valid; /**< From OD parameter 1300 */
bool_t valid; /**< From OD parameter 1300 */
OD_extension_t OD_gfcParam_ext; /**< Extension for OD object */
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevTx; /**< From CO_GFC_init() */
CO_CANtx_t* CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
#endif
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
/** From CO_GFC_initCallbackEnterSafeState() or NULL */
void (*pFunctSignalSafe)(void* object);
/** From CO_GFC_initCallbackEnterSafeState() or NULL */
@ -84,11 +84,11 @@ 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);
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);
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
/**
* Initialize GFC callback function.
*
@ -103,7 +103,7 @@ CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter,
void CO_GFC_initCallbackEnterSafeState(CO_GFC_t* GFC, void* object, void (*pFunctSignalSafe)(void* object));
#endif
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
/**
* Send GFC message.
*

65
304/CO_SRDO.h
View file

@ -34,7 +34,7 @@
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0U
#endif
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -92,19 +92,20 @@ typedef uint8_t CO_SRDO_size_t;
* SRDO internal state
*/
typedef enum {
CO_SRDO_state_error_internal = -10, /**< internal software error */
CO_SRDO_state_error_internal = -10, /**< internal software error */
CO_SRDO_state_error_configuration = -9, /**< error in parameters, emergency message was sent */
CO_SRDO_state_error_txNotInverted = -6, /**< Transmitting SRDO messages was not inverted */
CO_SRDO_state_error_txFail = -5, /**< SRDO CAN message transmission failed */
CO_SRDO_state_error_txFail = -5, /**< SRDO CAN message transmission failed */
CO_SRDO_state_error_rxTimeoutSRVT = -4, /**< SRDO message didn't receive inside SRVT time */
CO_SRDO_state_error_rxTimeoutSCT = -3, /**< SRDO inverted message didn't receive inside SCT time */
CO_SRDO_state_error_rxTimeoutSCT = -3, /**< SRDO inverted message didn't receive inside SCT time */
CO_SRDO_state_error_rxNotInverted = -2, /**< Received SRDO messages was not inverted */
CO_SRDO_state_error_rxShort = -1, /**< Received SRDO message is too short */
CO_SRDO_state_unknown = 0, /**< unknown state, set by @CO_SRDO_init */
CO_SRDO_state_nmtNotOperational = 1, /**< Internal NMT operating state is not NMT operational */
CO_SRDO_state_initializing = 2, /**< Just entered NMT operational state, SRDO message not yet received or transmitted */
CO_SRDO_state_error_rxShort = -1, /**< Received SRDO message is too short */
CO_SRDO_state_unknown = 0, /**< unknown state, set by @CO_SRDO_init */
CO_SRDO_state_nmtNotOperational = 1, /**< Internal NMT operating state is not NMT operational */
CO_SRDO_state_initializing =
2, /**< Just entered NMT operational state, SRDO message not yet received or transmitted */
CO_SRDO_state_communicationEstablished = 3, /**< SRDO communication established, fully functional */
CO_SRDO_state_deleted = 10 /**< informationDirection for this SRDO is set to 0 */
CO_SRDO_state_deleted = 10 /**< informationDirection for this SRDO is set to 0 */
} CO_SRDO_state_t;
/**
@ -124,10 +125,10 @@ typedef struct {
/** Object for input / output on the OD variable 13FE:00. Configuration
* of any of the the SRDO parameters will write 0 to that variable. */
OD_IO_t OD_IO_configurationValid;
OD_entry_t* OD_13FE_entry;
OD_entry_t* OD_13FF_entry;
/** Extension for OD object */
OD_extension_t OD_13FE_extension;
/** Extension for OD object */
@ -138,15 +139,15 @@ typedef struct {
* SRDO object.
*/
typedef struct {
CO_SRDOGuard_t* SRDOGuard; /**< From CO_SRDO_init() */
OD_t *OD; /**< From CO_SRDO_init() */
CO_EM_t* em; /**< From CO_SRDO_init() */
uint16_t defaultCOB_ID; /**< From CO_SRDO_init() */
uint8_t nodeId; /**< From CO_SRDO_init() */
CO_CANmodule_t* CANdevTx[2]; /**< From CO_SRDO_init() */
uint16_t CANdevTxIdx[2]; /**< From CO_SRDO_init() */
CO_CANmodule_t* CANdevRx[2]; /**< From CO_SRDO_init() */
uint16_t CANdevRxIdx[2]; /**< From CO_SRDO_init() */
CO_SRDOGuard_t* SRDOGuard; /**< From CO_SRDO_init() */
OD_t* OD; /**< From CO_SRDO_init() */
CO_EM_t* em; /**< From CO_SRDO_init() */
uint16_t defaultCOB_ID; /**< From CO_SRDO_init() */
uint8_t nodeId; /**< From CO_SRDO_init() */
CO_CANmodule_t* CANdevTx[2]; /**< From CO_SRDO_init() */
uint16_t CANdevTxIdx[2]; /**< From CO_SRDO_init() */
CO_CANmodule_t* CANdevRx[2]; /**< From CO_SRDO_init() */
uint16_t CANdevRxIdx[2]; /**< From CO_SRDO_init() */
/** Internal state of this SRDO. */
CO_SRDO_state_t internalState;
/** Copy of variable, internal usage. */
@ -185,14 +186,14 @@ typedef struct {
/** If true, next processed SRDO message is normal (not inverted) */
bool_t nextIsNormal;
OD_entry_t* OD_communicationParam_entry;/**< From CO_SRDO_init() */
OD_entry_t* OD_mappingParam_entry;/**< From CO_SRDO_init() */
OD_entry_t* OD_communicationParam_entry; /**< From CO_SRDO_init() */
OD_entry_t* OD_mappingParam_entry; /**< From CO_SRDO_init() */
/** Extension for OD object */
OD_extension_t OD_communicationParam_ext;
/** Extension for OD object */
OD_extension_t OD_mappingParam_extension;
#if (((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SRDO_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void* object);
/** From CO_SRDO_initCallbackPre() or NULL */
@ -215,8 +216,7 @@ typedef struct {
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_SRDOGuard_init(CO_SRDOGuard_t* SRDOGuard, OD_entry_t* OD_13FE_configurationValid,
OD_entry_t* OD_13FF_safetyConfigurationSignature, uint32_t* errInfo);
OD_entry_t* OD_13FF_safetyConfigurationSignature, uint32_t* errInfo);
/**
* Initialize SRDO object.
@ -251,11 +251,12 @@ CO_ReturnError_t CO_SRDOGuard_init(CO_SRDOGuard_t* SRDOGuard, OD_entry_t* OD_13F
CO_ReturnError_t CO_SRDO_init(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, OD_t* OD, CO_EM_t* em,
uint8_t nodeId, uint16_t defaultCOB_ID, OD_entry_t* OD_130x_SRDOCommPar,
OD_entry_t* OD_138x_SRDOMapPar, CO_CANmodule_t* CANdevRxNormal,
CO_CANmodule_t* CANdevRxInverted, uint16_t CANdevRxIdxNormal, uint16_t CANdevRxIdxInverted,
CO_CANmodule_t* CANdevTxNormal, CO_CANmodule_t* CANdevTxInverted,
uint16_t CANdevTxIdxNormal, uint16_t CANdevTxIdxInverted, uint32_t* errInfo);
CO_CANmodule_t* CANdevRxInverted, uint16_t CANdevRxIdxNormal,
uint16_t CANdevRxIdxInverted, CO_CANmodule_t* CANdevTxNormal,
CO_CANmodule_t* CANdevTxInverted, uint16_t CANdevTxIdxNormal,
uint16_t CANdevTxIdxInverted, uint32_t* errInfo);
#if (((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SRDO callback function.
*
@ -282,8 +283,7 @@ void CO_SRDO_initCallbackPre(CO_SRDO_t* SRDO, void* object, void (*pFunctSignalP
*/
CO_ReturnError_t CO_SRDO_requestSend(CO_SRDO_t* SRDO);
CO_ReturnError_t CO_SRDO_config( CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, uint32_t* errInfo);
CO_ReturnError_t CO_SRDO_config(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, uint32_t* errInfo);
/**
* Process transmitting/receiving individual SRDO message.
@ -295,7 +295,8 @@ CO_ReturnError_t CO_SRDO_config( CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGua
*
* @return CO_SRDO_state_t internal state
*/
CO_SRDO_state_t CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext_us, bool_t NMTisOperational);
CO_SRDO_state_t CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext_us,
bool_t NMTisOperational);
/** @} */ /* CO_SRDO */

135
305/CO_LSS.h
View file

@ -26,8 +26,7 @@
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_LSS
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | \
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
#endif
#if (((CO_CONFIG_LSS) & (CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_MASTER)) != 0) || defined CO_DOXYGEN
@ -79,71 +78,72 @@ extern "C" {
*
* As identifying method only "LSS fastscan" is supported.
*/
#define CO_LSS_SWITCH_STATE_GLOBAL 0x04U /**< Switch state global protocol */
#define CO_LSS_SWITCH_STATE_SEL_VENDOR 0x40U /**< Switch state selective protocol - Vendor ID */
#define CO_LSS_SWITCH_STATE_SEL_PRODUCT 0x41U /**< Switch state selective protocol - Product code */
#define CO_LSS_SWITCH_STATE_SEL_REV 0x42U /**< Switch state selective protocol - Revision number */
#define CO_LSS_SWITCH_STATE_SEL_SERIAL 0x43U /**< Switch state selective protocol - Serial number */
#define CO_LSS_SWITCH_STATE_SEL 0x44U /**< Switch state selective protocol - Slave response */
#define CO_LSS_CFG_NODE_ID 0x11U /**< Configure node ID protocol */
#define CO_LSS_CFG_BIT_TIMING 0x13U /**< Configure bit timing parameter protocol */
#define CO_LSS_CFG_ACTIVATE_BIT_TIMING 0x15U /**< Activate bit timing parameter protocol */
#define CO_LSS_CFG_STORE 0x17U /**< Store configuration protocol */
#define CO_LSS_IDENT_SLAVE 0x4FU /**< LSS Fastscan response */
#define CO_LSS_IDENT_FASTSCAN 0x51U /**< LSS Fastscan protocol */
#define CO_LSS_INQUIRE_VENDOR 0x5AU /**< Inquire identity vendor-ID protocol */
#define CO_LSS_INQUIRE_PRODUCT 0x5BU /**< Inquire identity product-code protocol */
#define CO_LSS_INQUIRE_REV 0x5CU /**< Inquire identity revision-number protocol */
#define CO_LSS_INQUIRE_SERIAL 0x5DU /**< Inquire identity serial-number protocol */
#define CO_LSS_INQUIRE_NODE_ID 0x5EU /**< Inquire node-ID protocol */
/** @} */ /* CO_LSS_cs_t */
#define CO_LSS_SWITCH_STATE_GLOBAL 0x04U /**< Switch state global protocol */
#define CO_LSS_SWITCH_STATE_SEL_VENDOR 0x40U /**< Switch state selective protocol - Vendor ID */
#define CO_LSS_SWITCH_STATE_SEL_PRODUCT 0x41U /**< Switch state selective protocol - Product code */
#define CO_LSS_SWITCH_STATE_SEL_REV 0x42U /**< Switch state selective protocol - Revision number */
#define CO_LSS_SWITCH_STATE_SEL_SERIAL 0x43U /**< Switch state selective protocol - Serial number */
#define CO_LSS_SWITCH_STATE_SEL 0x44U /**< Switch state selective protocol - Slave response */
#define CO_LSS_CFG_NODE_ID 0x11U /**< Configure node ID protocol */
#define CO_LSS_CFG_BIT_TIMING 0x13U /**< Configure bit timing parameter protocol */
#define CO_LSS_CFG_ACTIVATE_BIT_TIMING 0x15U /**< Activate bit timing parameter protocol */
#define CO_LSS_CFG_STORE 0x17U /**< Store configuration protocol */
#define CO_LSS_IDENT_SLAVE 0x4FU /**< LSS Fastscan response */
#define CO_LSS_IDENT_FASTSCAN 0x51U /**< LSS Fastscan protocol */
#define CO_LSS_INQUIRE_VENDOR 0x5AU /**< Inquire identity vendor-ID protocol */
#define CO_LSS_INQUIRE_PRODUCT 0x5BU /**< Inquire identity product-code protocol */
#define CO_LSS_INQUIRE_REV 0x5CU /**< Inquire identity revision-number protocol */
#define CO_LSS_INQUIRE_SERIAL 0x5DU /**< Inquire identity serial-number protocol */
#define CO_LSS_INQUIRE_NODE_ID 0x5EU /**< Inquire node-ID protocol */
/** @} */ /* CO_LSS_cs_t */
/**
* @defgroup CO_LSS_cfgNodeId_t Error codes for Configure node ID protocol
* @{
*/
#define CO_LSS_CFG_NODE_ID_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_NODE_ID_OUT_OF_RANGE 0x01U /**< NID out of range */
#define CO_LSS_CFG_NODE_ID_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgNodeId_t */
#define CO_LSS_CFG_NODE_ID_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_NODE_ID_OUT_OF_RANGE 0x01U /**< NID out of range */
#define CO_LSS_CFG_NODE_ID_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgNodeId_t */
/**
* @defgroup CO_LSS_cfgBitTiming_t Error codes for Configure bit timing parameters protocol
* @{
*/
#define CO_LSS_CFG_BIT_TIMING_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE 0x01U /**< Bit timing / Bit rate not supported */
#define CO_LSS_CFG_BIT_TIMING_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgBitTiming_t */
#define CO_LSS_CFG_BIT_TIMING_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE 0x01U /**< Bit timing / Bit rate not supported */
#define CO_LSS_CFG_BIT_TIMING_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgBitTiming_t */
/**
* @defgroup CO_LSS_cfgStore_t Error codes for Store configuration protocol
* @{
*/
#define CO_LSS_CFG_STORE_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_STORE_NOT_SUPPORTED 0x01U /**< Store configuration not supported */
#define CO_LSS_CFG_STORE_FAILED 0x02U /**< Storage media access error */
#define CO_LSS_CFG_STORE_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgStore_t */
#define CO_LSS_CFG_STORE_OK 0x00U /**< Protocol successfully completed */
#define CO_LSS_CFG_STORE_NOT_SUPPORTED 0x01U /**< Store configuration not supported */
#define CO_LSS_CFG_STORE_FAILED 0x02U /**< Storage media access error */
#define CO_LSS_CFG_STORE_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
/** @} */ /* CO_LSS_cfgStore_t */
/**
* @defgroup CO_LSS_fastscan_bitcheck Fastscan BitCheck. BIT0 means all bits are checked for equality by slave
* @{
*/
#define CO_LSS_FASTSCAN_BIT0 0x00U /**< Least significant bit of IDnumbners bit area to be checked */
/* ... */
#define CO_LSS_FASTSCAN_BIT31 0x1FU /**< dito */
#define CO_LSS_FASTSCAN_CONFIRM 0x80U /**< All LSS slaves waiting for scan respond and previous scan is reset */
/** @} */ /* CO_LSS_fastscan_bitcheck */
#define CO_LSS_FASTSCAN_BIT0 0x00U /**< Least significant bit of IDnumbners bit area to be checked */
/* ... */
#define CO_LSS_FASTSCAN_BIT31 0x1FU /**< dito */
#define CO_LSS_FASTSCAN_CONFIRM 0x80U /**< All LSS slaves waiting for scan respond and previous scan is reset */
/** @} */ /* CO_LSS_fastscan_bitcheck */
/**
* @defgroup CO_LSS_fastscan_lss_sub_next Fastscan LSSsub, LSSnext
* @{
*/
#define CO_LSS_FASTSCAN_VENDOR_ID 0x00U /**< Vendor ID */
#define CO_LSS_FASTSCAN_PRODUCT 0x01U /**< Product code */
#define CO_LSS_FASTSCAN_REV 0x02U /**< Revision number */
#define CO_LSS_FASTSCAN_SERIAL 0x03U /**< Serial number */
#define CO_LSS_FASTSCAN_VENDOR_ID 0x00U /**< Vendor ID */
#define CO_LSS_FASTSCAN_PRODUCT 0x01U /**< Product code */
#define CO_LSS_FASTSCAN_REV 0x02U /**< Revision number */
#define CO_LSS_FASTSCAN_SERIAL 0x03U /**< Serial number */
/** @} */ /* CO_LSS_fastscan_lss_sub_next */
/**
@ -152,6 +152,7 @@ extern "C" {
*/
typedef union {
uint32_t addr[4];
struct {
uint32_t vendorID;
uint32_t productCode;
@ -170,42 +171,31 @@ typedef union {
* - LSS configuration: In this state variables may be configured in the LSS slave.
* - Final: Pseudo state, indicating the deactivation of the FSA.
*/
#define CO_LSS_STATE_WAITING 0x00U /**< LSS FSA waiting for requests*/
#define CO_LSS_STATE_CONFIGURATION 0x01U /**< LSS FSA waiting for configuration*/
/** @} */ /* CO_LSS_state_t */
#define CO_LSS_STATE_WAITING 0x00U /**< LSS FSA waiting for requests*/
#define CO_LSS_STATE_CONFIGURATION 0x01U /**< LSS FSA waiting for configuration*/
/** @} */ /* CO_LSS_state_t */
/**
* @defgroup CO_LSS_bitTimingTable_t Definition of table_index for /CiA301/ bit timing table
* @{
*/
#define CO_LSS_BIT_TIMING_1000 0U /**< 1000kbit/s */
#define CO_LSS_BIT_TIMING_800 1U /**< 800kbit/s */
#define CO_LSS_BIT_TIMING_500 2U /**< 500kbit/s */
#define CO_LSS_BIT_TIMING_250 3U /**< 250kbit/s */
#define CO_LSS_BIT_TIMING_125 4U /**< 125kbit/s */
/* reserved 5U */
#define CO_LSS_BIT_TIMING_50 6U /**< 50kbit/s */
#define CO_LSS_BIT_TIMING_20 7U /**< 20kbit/s */
#define CO_LSS_BIT_TIMING_10 8U /**< 10kbit/s */
#define CO_LSS_BIT_TIMING_AUTO 9U /**< Automatic bit rate detection */
/** @} */ /* CO_LSS_bitTimingTable_t */
#define CO_LSS_BIT_TIMING_1000 0U /**< 1000kbit/s */
#define CO_LSS_BIT_TIMING_800 1U /**< 800kbit/s */
#define CO_LSS_BIT_TIMING_500 2U /**< 500kbit/s */
#define CO_LSS_BIT_TIMING_250 3U /**< 250kbit/s */
#define CO_LSS_BIT_TIMING_125 4U /**< 125kbit/s */
/* reserved 5U */
#define CO_LSS_BIT_TIMING_50 6U /**< 50kbit/s */
#define CO_LSS_BIT_TIMING_20 7U /**< 20kbit/s */
#define CO_LSS_BIT_TIMING_10 8U /**< 10kbit/s */
#define CO_LSS_BIT_TIMING_AUTO 9U /**< Automatic bit rate detection */
/** @} */ /* CO_LSS_bitTimingTable_t */
/**
* Lookup table for conversion between bit timing table and numerical
* bit rate
*/
static const uint16_t CO_LSS_bitTimingTableLookup[] = {
1000,
800,
500,
250,
125,
0,
50,
20,
10,
0
};
static const uint16_t CO_LSS_bitTimingTableLookup[] = {1000, 800, 500, 250, 125, 0, 50, 20, 10, 0};
/**
* Invalid node ID triggers node ID assignment
@ -220,11 +210,10 @@ static const uint16_t CO_LSS_bitTimingTableLookup[] = {
/**
* Macro to check if two LSS addresses are equal
*/
#define CO_LSS_ADDRESS_EQUAL(/*CO_LSS_address_t*/ a1, /*CO_LSS_address_t*/ a2) \
((a1.identity.productCode == a2.identity.productCode) && \
(a1.identity.revisionNumber == a2.identity.revisionNumber) && \
(a1.identity.serialNumber == a2.identity.serialNumber) && \
(a1.identity.vendorID == a2.identity.vendorID))
#define CO_LSS_ADDRESS_EQUAL(/*CO_LSS_address_t*/ a1, /*CO_LSS_address_t*/ a2) \
((a1.identity.productCode == a2.identity.productCode) \
&& (a1.identity.revisionNumber == a2.identity.revisionNumber) \
&& (a1.identity.serialNumber == a2.identity.serialNumber) && (a1.identity.vendorID == a2.identity.vendorID))
/** @} */ /*@defgroup CO_LSS*/

153
305/CO_LSSmaster.h
View file

@ -24,7 +24,7 @@
#include "305/CO_LSS.h"
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -82,44 +82,43 @@ extern "C" {
* Return values of LSS master functions.
*/
typedef enum {
CO_LSSmaster_SCAN_FINISHED = 2, /**< Scanning finished successful */
CO_LSSmaster_WAIT_SLAVE = 1, /**< No response arrived from slave yet */
CO_LSSmaster_OK = 0, /**< Success, end of communication */
CO_LSSmaster_TIMEOUT = -1, /**< No reply received */
CO_LSSmaster_ILLEGAL_ARGUMENT = -2, /**< Invalid argument */
CO_LSSmaster_INVALID_STATE = -3, /**< State machine not ready or already processing a request */
CO_LSSmaster_SCAN_NOACK = -4, /**< No node found that matches scan request */
CO_LSSmaster_SCAN_FAILED = -5, /**< An error occurred while scanning. Try again */
CO_LSSmaster_SCAN_FINISHED = 2, /**< Scanning finished successful */
CO_LSSmaster_WAIT_SLAVE = 1, /**< No response arrived from slave yet */
CO_LSSmaster_OK = 0, /**< Success, end of communication */
CO_LSSmaster_TIMEOUT = -1, /**< No reply received */
CO_LSSmaster_ILLEGAL_ARGUMENT = -2, /**< Invalid argument */
CO_LSSmaster_INVALID_STATE = -3, /**< State machine not ready or already processing a request */
CO_LSSmaster_SCAN_NOACK = -4, /**< No node found that matches scan request */
CO_LSSmaster_SCAN_FAILED = -5, /**< An error occurred while scanning. Try again */
CO_LSSmaster_OK_ILLEGAL_ARGUMENT = -101, /**< LSS success, node rejected argument because of non-supported value */
CO_LSSmaster_OK_MANUFACTURER = -102, /**< LSS success, node rejected argument with manufacturer error code */
CO_LSSmaster_OK_MANUFACTURER = -102, /**< LSS success, node rejected argument with manufacturer error code */
} CO_LSSmaster_return_t;
/**
* LSS master object.
*/
typedef struct{
uint32_t timeout_us; /**< LSS response timeout in us */
typedef struct {
uint32_t timeout_us; /**< LSS response timeout in us */
uint8_t state; /**< Node is currently selected */
uint8_t command; /**< Active command */
uint32_t timeoutTimer; /**< Timeout timer for LSS communication */
uint8_t state; /**< Node is currently selected */
uint8_t command; /**< Active command */
uint32_t timeoutTimer; /**< Timeout timer for LSS communication */
uint8_t fsState; /**< Current state of fastscan master state machine */
uint8_t fsLssSub; /**< Current state of node state machine */
uint8_t fsBitChecked; /**< Current scan bit position */
uint32_t fsIdNumber; /**< Current scan result */
uint8_t fsState; /**< Current state of fastscan master state machine */
uint8_t fsLssSub; /**< Current state of node state machine */
uint8_t fsBitChecked; /**< Current scan bit position */
uint32_t fsIdNumber; /**< Current scan result */
volatile void *CANrxNew; /**< Indication if new LSS message is received from CAN bus. It needs to be cleared when received message is completely processed. */
uint8_t CANrxData[8]; /**< 8 data bytes of the received message */
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignal)(void *object); /**< From CO_LSSmaster_initCallbackPre() or NULL */
void *functSignalObject;/**< Pointer to object */
volatile void*
CANrxNew; /**< Indication if new LSS message is received from CAN bus. It needs to be cleared when received message is completely processed. */
uint8_t CANrxData[8]; /**< 8 data bytes of the received message */
#if (((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignal)(void* object); /**< From CO_LSSmaster_initCallbackPre() or NULL */
void* functSignalObject; /**< Pointer to object */
#endif
CO_CANmodule_t *CANdevTx; /**< From CO_LSSmaster_init() */
CO_CANtx_t *TXbuff; /**< CAN transmit buffer */
}CO_LSSmaster_t;
CO_CANmodule_t* CANdevTx; /**< From CO_LSSmaster_init() */
CO_CANtx_t* TXbuff; /**< CAN transmit buffer */
} CO_LSSmaster_t;
/**
* Default timeout for LSS slave in ms. This is the same as for SDO. For more
@ -129,7 +128,6 @@ typedef struct{
#define CO_LSSmaster_DEFAULT_TIMEOUT 1000U /* ms */
#endif
/**
* Initialize LSS object.
*
@ -146,15 +144,9 @@ typedef struct{
* @param CANidLssMaster COB ID for transmission.
* @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);
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);
/**
* Change LSS master timeout
@ -175,12 +167,9 @@ CO_ReturnError_t CO_LSSmaster_init(
* @param LSSmaster This object.
* @param timeout_ms timeout value in ms
*/
void CO_LSSmaster_changeTimeout(
CO_LSSmaster_t *LSSmaster,
uint16_t timeout_ms);
void CO_LSSmaster_changeTimeout(CO_LSSmaster_t* LSSmaster, uint16_t timeout_ms);
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize LSSmasterRx callback function.
*
@ -193,13 +182,9 @@ void CO_LSSmaster_changeTimeout(
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_LSSmaster_initCallbackPre(
CO_LSSmaster_t *LSSmaster,
void *object,
void (*pFunctSignal)(void *object));
void CO_LSSmaster_initCallbackPre(CO_LSSmaster_t* LSSmaster, void* object, void (*pFunctSignal)(void* object));
#endif
/**
* Request LSS switch state select
*
@ -217,11 +202,8 @@ void CO_LSSmaster_initCallbackPre(
* @return #CO_LSSmaster_ILLEGAL_ARGUMENT, #CO_LSSmaster_INVALID_STATE,
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT
*/
CO_LSSmaster_return_t CO_LSSmaster_swStateSelect(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
CO_LSS_address_t *lssAddress);
CO_LSSmaster_return_t CO_LSSmaster_swStateSelect(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us,
CO_LSS_address_t* lssAddress);
/**
* Request LSS switch state deselect
@ -235,9 +217,7 @@ CO_LSSmaster_return_t CO_LSSmaster_swStateSelect(
* @return #CO_LSSmaster_ILLEGAL_ARGUMENT, #CO_LSSmaster_INVALID_STATE,
* #CO_LSSmaster_OK
*/
CO_LSSmaster_return_t CO_LSSmaster_swStateDeselect(
CO_LSSmaster_t *LSSmaster);
CO_LSSmaster_return_t CO_LSSmaster_swStateDeselect(CO_LSSmaster_t* LSSmaster);
/**
* Request LSS configure Bit Timing
@ -257,11 +237,8 @@ CO_LSSmaster_return_t CO_LSSmaster_swStateDeselect(
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT,
* #CO_LSSmaster_OK_MANUFACTURER, #CO_LSSmaster_OK_ILLEGAL_ARGUMENT
*/
CO_LSSmaster_return_t CO_LSSmaster_configureBitTiming(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
uint16_t bit);
CO_LSSmaster_return_t CO_LSSmaster_configureBitTiming(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us,
uint16_t bit);
/**
* Request LSS configure node ID
@ -282,11 +259,8 @@ CO_LSSmaster_return_t CO_LSSmaster_configureBitTiming(
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT,
* #CO_LSSmaster_OK_MANUFACTURER, #CO_LSSmaster_OK_ILLEGAL_ARGUMENT
*/
CO_LSSmaster_return_t CO_LSSmaster_configureNodeId(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
uint8_t nodeId);
CO_LSSmaster_return_t CO_LSSmaster_configureNodeId(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us,
uint8_t nodeId);
/**
* Request LSS store configuration
@ -306,10 +280,7 @@ CO_LSSmaster_return_t CO_LSSmaster_configureNodeId(
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT,
* #CO_LSSmaster_OK_MANUFACTURER, #CO_LSSmaster_OK_ILLEGAL_ARGUMENT
*/
CO_LSSmaster_return_t CO_LSSmaster_configureStore(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us);
CO_LSSmaster_return_t CO_LSSmaster_configureStore(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us);
/**
* Request LSS activate bit timing
@ -330,10 +301,7 @@ CO_LSSmaster_return_t CO_LSSmaster_configureStore(
* @return #CO_LSSmaster_ILLEGAL_ARGUMENT, #CO_LSSmaster_INVALID_STATE,
* #CO_LSSmaster_OK
*/
CO_LSSmaster_return_t CO_LSSmaster_ActivateBit(
CO_LSSmaster_t *LSSmaster,
uint16_t switchDelay_ms);
CO_LSSmaster_return_t CO_LSSmaster_ActivateBit(CO_LSSmaster_t* LSSmaster, uint16_t switchDelay_ms);
/**
* Request LSS inquire LSS address
@ -353,11 +321,8 @@ CO_LSSmaster_return_t CO_LSSmaster_ActivateBit(
* @return #CO_LSSmaster_ILLEGAL_ARGUMENT, #CO_LSSmaster_INVALID_STATE,
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT
*/
CO_LSSmaster_return_t CO_LSSmaster_InquireLssAddress(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
CO_LSS_address_t *lssAddress);
CO_LSSmaster_return_t CO_LSSmaster_InquireLssAddress(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us,
CO_LSS_address_t* lssAddress);
/**
* Request LSS inquire node ID or part of LSS address
@ -378,29 +343,25 @@ CO_LSSmaster_return_t CO_LSSmaster_InquireLssAddress(
* @return #CO_LSSmaster_ILLEGAL_ARGUMENT, #CO_LSSmaster_INVALID_STATE,
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_OK, #CO_LSSmaster_TIMEOUT
*/
CO_LSSmaster_return_t CO_LSSmaster_Inquire(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
uint8_t lssInquireCs,
uint32_t *value);
CO_LSSmaster_return_t CO_LSSmaster_Inquire(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us, uint8_t lssInquireCs,
uint32_t* value);
/**
* Scan type for #CO_LSSmaster_fastscan_t scan
*/
typedef enum {
CO_LSSmaster_FS_SCAN = 0, /**< Do full 32 bit scan */
CO_LSSmaster_FS_SKIP = 1, /**< Skip this value */
CO_LSSmaster_FS_MATCH = 2, /**< Full 32 bit value is given as argument, just verify */
CO_LSSmaster_FS_SCAN = 0, /**< Do full 32 bit scan */
CO_LSSmaster_FS_SKIP = 1, /**< Skip this value */
CO_LSSmaster_FS_MATCH = 2, /**< Full 32 bit value is given as argument, just verify */
} CO_LSSmaster_scantype_t;
/**
* Parameters for LSS fastscan #CO_LSSmaster_IdentifyFastscan
*/
typedef struct{
CO_LSSmaster_scantype_t scan[4]; /**< Scan type for each part of the LSS address */
CO_LSS_address_t match; /**< Value to match in case of #CO_LSSmaster_FS_MATCH */
CO_LSS_address_t found; /**< Scan result */
typedef struct {
CO_LSSmaster_scantype_t scan[4]; /**< Scan type for each part of the LSS address */
CO_LSS_address_t match; /**< Value to match in case of #CO_LSSmaster_FS_MATCH */
CO_LSS_address_t found; /**< Scan result */
} CO_LSSmaster_fastscan_t;
/**
@ -457,10 +418,8 @@ fastscan.scan[CO_LSS_FASTSCAN_SERIAL] = CO_LSSmaster_FS_SCAN;
* #CO_LSSmaster_WAIT_SLAVE, #CO_LSSmaster_SCAN_FINISHED, #CO_LSSmaster_SCAN_NOACK,
* #CO_LSSmaster_SCAN_FAILED
*/
CO_LSSmaster_return_t CO_LSSmaster_IdentifyFastscan(
CO_LSSmaster_t *LSSmaster,
uint32_t timeDifference_us,
CO_LSSmaster_fastscan_t *fastscan);
CO_LSSmaster_return_t CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us,
CO_LSSmaster_fastscan_t* fastscan);
/** @} */ /*@defgroup CO_LSSmaster*/

101
305/CO_LSSslave.h
View file

@ -25,7 +25,7 @@
#include "305/CO_LSS.h"
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -81,36 +81,40 @@ extern "C" {
/**
* LSS slave object.
*/
typedef struct{
CO_LSS_address_t lssAddress; /**< From #CO_LSSslave_init */
uint8_t lssState; /**< #CO_LSS_state_t */
CO_LSS_address_t lssSelect; /**< Received LSS Address by select */
typedef struct {
CO_LSS_address_t lssAddress; /**< From #CO_LSSslave_init */
uint8_t lssState; /**< #CO_LSS_state_t */
CO_LSS_address_t lssSelect; /**< Received LSS Address by select */
CO_LSS_address_t lssFastscan; /**< Received LSS Address by fastscan */
uint8_t fastscanPos; /**< Current state of fastscan */
CO_LSS_address_t lssFastscan; /**< Received LSS Address by fastscan */
uint8_t fastscanPos; /**< Current state of fastscan */
uint16_t *pendingBitRate; /**< Bit rate value that is temporarily configured */
uint8_t *pendingNodeID; /**< Node ID that is temporarily configured */
uint8_t activeNodeID; /**< Node ID used at the CAN interface */
uint16_t* pendingBitRate; /**< Bit rate value that is temporarily configured */
uint8_t* pendingNodeID; /**< Node ID that is temporarily configured */
uint8_t activeNodeID; /**< Node ID used at the CAN interface */
volatile void *sendResponse; /**< Variable indicates, if LSS response has to be sent by mainline processing function */
uint8_t service; /**< Service, which will have to be processed by mainline processing function */
uint8_t CANdata[8]; /**< Received CAN data, which will be processed by mainline processing function */
volatile void*
sendResponse; /**< Variable indicates, if LSS response has to be sent by mainline processing function */
uint8_t service; /**< Service, which will have to be processed by mainline processing function */
uint8_t CANdata[8]; /**< Received CAN data, which will be processed by mainline processing function */
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignalPre)(void *object); /**< From CO_LSSslave_initCallbackPre() or NULL */
void *functSignalObjectPre;/**< Pointer to object */
#if (((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignalPre)(void* object); /**< From CO_LSSslave_initCallbackPre() or NULL */
void* functSignalObjectPre; /**< Pointer to object */
#endif
bool_t (*pFunctLSScheckBitRate)(void *object, uint16_t bitRate); /**< From CO_LSSslave_initCkBitRateCall() or NULL */
void *functLSScheckBitRateObject; /** Pointer to object */
void (*pFunctLSSactivateBitRate)(void *object, uint16_t delay); /**< From CO_LSSslave_initActBitRateCall() or NULL. Delay is in ms */
void *functLSSactivateBitRateObject; /** Pointer to object */
bool_t (*pFunctLSScfgStore)(void *object, uint8_t id, uint16_t bitRate); /**< From CO_LSSslave_initCfgStoreCall() or NULL */
void *functLSScfgStoreObject; /** Pointer to object */
bool_t (*pFunctLSScheckBitRate)(void* object,
uint16_t bitRate); /**< From CO_LSSslave_initCkBitRateCall() or NULL */
void* functLSScheckBitRateObject; /** Pointer to object */
void (*pFunctLSSactivateBitRate)(
void* object, uint16_t delay); /**< From CO_LSSslave_initActBitRateCall() or NULL. Delay is in ms */
void* functLSSactivateBitRateObject; /** Pointer to object */
bool_t (*pFunctLSScfgStore)(void* object, uint8_t id,
uint16_t bitRate); /**< From CO_LSSslave_initCfgStoreCall() or NULL */
void* functLSScfgStoreObject; /** Pointer to object */
CO_CANmodule_t *CANdevTx; /**< From #CO_LSSslave_init() */
CO_CANtx_t *TXbuff; /**< CAN transmit buffer */
}CO_LSSslave_t;
CO_CANmodule_t* CANdevTx; /**< From #CO_LSSslave_init() */
CO_CANtx_t* TXbuff; /**< CAN transmit buffer */
} CO_LSSslave_t;
/**
* Initialize LSS object.
@ -151,17 +155,10 @@ typedef struct{
* @param CANidLssSlave COB ID for transmission.
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
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_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);
/**
* Process LSS communication
@ -176,7 +173,7 @@ CO_ReturnError_t CO_LSSslave_init(
* @param LSSslave This object.
* @return True, if #CO_NMT_RESET_COMMUNICATION is requested
*/
bool_t CO_LSSslave_process(CO_LSSslave_t *LSSslave);
bool_t CO_LSSslave_process(CO_LSSslave_t* LSSslave);
/**
* Get current LSS state
@ -184,12 +181,12 @@ bool_t CO_LSSslave_process(CO_LSSslave_t *LSSslave);
* @param LSSslave This object.
* @return #CO_LSS_state_t
*/
static inline uint8_t CO_LSSslave_getState(CO_LSSslave_t *LSSslave) {
static inline uint8_t
CO_LSSslave_getState(CO_LSSslave_t* LSSslave) {
return (LSSslave == NULL) ? CO_LSS_STATE_WAITING : LSSslave->lssState;
}
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize LSSslaveRx callback function.
*
@ -202,13 +199,9 @@ static inline uint8_t CO_LSSslave_getState(CO_LSSslave_t *LSSslave) {
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
*/
void CO_LSSslave_initCallbackPre(
CO_LSSslave_t *LSSslave,
void *object,
void (*pFunctSignalPre)(void *object));
void CO_LSSslave_initCallbackPre(CO_LSSslave_t* LSSslave, void* object, void (*pFunctSignalPre)(void* object));
#endif
/**
* Initialize verify bit rate callback
*
@ -222,10 +215,8 @@ void CO_LSSslave_initCallbackPre(
* @param object Pointer to object, which will be passed to pFunctLSScheckBitRate(). Can be NULL
* @param pFunctLSScheckBitRate Pointer to the callback function. Not called if NULL.
*/
void CO_LSSslave_initCkBitRateCall(
CO_LSSslave_t *LSSslave,
void *object,
bool_t (*pFunctLSScheckBitRate)(void *object, uint16_t bitRate));
void CO_LSSslave_initCkBitRateCall(CO_LSSslave_t* LSSslave, void* object,
bool_t (*pFunctLSScheckBitRate)(void* object, uint16_t bitRate));
/**
* Initialize activate bit rate callback
@ -241,10 +232,8 @@ void CO_LSSslave_initCkBitRateCall(
* @param object Pointer to object, which will be passed to pFunctLSSactivateBitRate(). Can be NULL
* @param pFunctLSSactivateBitRate Pointer to the callback function. Not called if NULL.
*/
void CO_LSSslave_initActBitRateCall(
CO_LSSslave_t *LSSslave,
void *object,
void (*pFunctLSSactivateBitRate)(void *object, uint16_t delay));
void CO_LSSslave_initActBitRateCall(CO_LSSslave_t* LSSslave, void* object,
void (*pFunctLSSactivateBitRate)(void* object, uint16_t delay));
/**
* Store configuration callback
@ -260,10 +249,8 @@ void CO_LSSslave_initActBitRateCall(
* @param object Pointer to object, which will be passed to pFunctLSScfgStore(). Can be NULL
* @param pFunctLSScfgStore Pointer to the callback function. Not called if NULL.
*/
void CO_LSSslave_initCfgStoreCall(
CO_LSSslave_t *LSSslave,
void *object,
bool_t (*pFunctLSScfgStore)(void *object, uint8_t id, uint16_t bitRate));
void CO_LSSslave_initCfgStoreCall(CO_LSSslave_t* LSSslave, void* object,
bool_t (*pFunctLSScfgStore)(void* object, uint8_t id, uint16_t bitRate));
/** @} */ /*@defgroup CO_LSSslave*/

159
309/CO_gateway_ascii.h
View file

@ -34,7 +34,7 @@
#define CO_CONFIG_GTW (0)
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -140,84 +140,80 @@ lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\
* @}
*/
/** Size of response string buffer. This is intermediate buffer. If there is
* larger amount of data to transfer, then multiple transfers will occur. */
#ifndef CO_GTWA_RESP_BUF_SIZE
#define CO_GTWA_RESP_BUF_SIZE 200U
#endif
/** Timeout time in microseconds for some internal states. */
#ifndef CO_GTWA_STATE_TIMEOUT_TIME_US
#define CO_GTWA_STATE_TIMEOUT_TIME_US 1200000U
#endif
/**
* Response error codes as specified by CiA 309-3. Values less or equal to 0
* are used for control for some functions and are not part of the standard.
*/
typedef enum {
/** 0 - No error or idle */
CO_GTWA_respErrorNone = 0,
CO_GTWA_respErrorNone = 0,
/** 100 - Request not supported */
CO_GTWA_respErrorReqNotSupported = 100,
CO_GTWA_respErrorReqNotSupported = 100,
/** 101 - Syntax error */
CO_GTWA_respErrorSyntax = 101,
CO_GTWA_respErrorSyntax = 101,
/** 102 - Request not processed due to internal state */
CO_GTWA_respErrorInternalState = 102,
CO_GTWA_respErrorInternalState = 102,
/** 103 - Time-out (where applicable) */
CO_GTWA_respErrorTimeOut = 103,
CO_GTWA_respErrorTimeOut = 103,
/** 104 - No default net set */
CO_GTWA_respErrorNoDefaultNetSet = 104,
CO_GTWA_respErrorNoDefaultNetSet = 104,
/** 105 - No default node set */
CO_GTWA_respErrorNoDefaultNodeSet = 105,
CO_GTWA_respErrorNoDefaultNodeSet = 105,
/** 106 - Unsupported net */
CO_GTWA_respErrorUnsupportedNet = 106,
CO_GTWA_respErrorUnsupportedNet = 106,
/** 107 - Unsupported node */
CO_GTWA_respErrorUnsupportedNode = 107,
CO_GTWA_respErrorUnsupportedNode = 107,
/** 200 - Lost guarding message */
CO_GTWA_respErrorLostGuardingMessage = 200,
CO_GTWA_respErrorLostGuardingMessage = 200,
/** 201 - Lost connection */
CO_GTWA_respErrorLostConnection = 201,
CO_GTWA_respErrorLostConnection = 201,
/** 202 - Heartbeat started */
CO_GTWA_respErrorHeartbeatStarted = 202,
CO_GTWA_respErrorHeartbeatStarted = 202,
/** 203 - Heartbeat lost */
CO_GTWA_respErrorHeartbeatLost = 203,
CO_GTWA_respErrorHeartbeatLost = 203,
/** 204 - Wrong NMT state */
CO_GTWA_respErrorWrongNMTstate = 204,
CO_GTWA_respErrorWrongNMTstate = 204,
/** 205 - Boot-up */
CO_GTWA_respErrorBootUp = 205,
CO_GTWA_respErrorBootUp = 205,
/** 300 - Error passive */
CO_GTWA_respErrorErrorPassive = 300,
CO_GTWA_respErrorErrorPassive = 300,
/** 301 - Bus off */
CO_GTWA_respErrorBusOff = 301,
CO_GTWA_respErrorBusOff = 301,
/** 303 - CAN buffer overflow */
CO_GTWA_respErrorCANbufferOverflow = 303,
CO_GTWA_respErrorCANbufferOverflow = 303,
/** 304 - CAN init */
CO_GTWA_respErrorCANinit = 304,
CO_GTWA_respErrorCANinit = 304,
/** 305 - CAN active (at init or start-up) */
CO_GTWA_respErrorCANactive = 305,
CO_GTWA_respErrorCANactive = 305,
/** 400 - PDO already used */
CO_GTWA_respErrorPDOalreadyUsed = 400,
CO_GTWA_respErrorPDOalreadyUsed = 400,
/** 401 - PDO length exceeded */
CO_GTWA_respErrorPDOlengthExceeded = 401,
CO_GTWA_respErrorPDOlengthExceeded = 401,
/** 501 - LSS implementation- / manufacturer-specific error */
CO_GTWA_respErrorLSSmanufacturer = 501,
CO_GTWA_respErrorLSSmanufacturer = 501,
/** 502 - LSS node-ID not supported */
CO_GTWA_respErrorLSSnodeIdNotSupported = 502,
CO_GTWA_respErrorLSSnodeIdNotSupported = 502,
/** 503 - LSS bit-rate not supported */
CO_GTWA_respErrorLSSbitRateNotSupported = 503,
CO_GTWA_respErrorLSSbitRateNotSupported = 503,
/** 504 - LSS parameter storing failed */
CO_GTWA_respErrorLSSparameterStoringFailed = 504,
CO_GTWA_respErrorLSSparameterStoringFailed = 504,
/** 505 - LSS command failed because of media error */
CO_GTWA_respErrorLSSmediaError = 505,
CO_GTWA_respErrorLSSmediaError = 505,
/** 600 - Running out of memory */
CO_GTWA_respErrorRunningOutOfMemory = 600
CO_GTWA_respErrorRunningOutOfMemory = 600
} CO_GTWA_respErrorCode_t;
/**
* Internal states of the Gateway-ascii state machine.
*/
@ -257,8 +253,7 @@ typedef enum {
CO_GTWA_ST_LED = 0x82U
} CO_GTWA_state_t;
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
/*
* CANopen Gateway-ascii data types structure
*/
@ -271,21 +266,15 @@ typedef struct {
* writes them as corresponding ascii string. It is a pointer to
* #CO_fifo_readU82a function or similar and is used with SDO upload. For
* description of parameters see #CO_fifo_readU82a */
size_t (*dataTypePrint)(CO_fifo_t *fifo,
char *buf,
size_t count,
bool_t end);
size_t (*dataTypePrint)(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/** Function, which reads ascii-data of specific data type from fifo buffer
* and copies them to another fifo buffer as binary data. It is a pointer to
* #CO_fifo_cpyTok2U8 function or similar and is used with SDO download. For
* description of parameters see #CO_fifo_cpyTok2U8 */
size_t (*dataTypeScan)(CO_fifo_t *dest,
CO_fifo_t *src,
uint8_t *status);
size_t (*dataTypeScan)(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
} CO_GTWA_dataType_t;
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
/**
* CANopen Gateway-ascii object
*/
@ -300,13 +289,10 @@ typedef struct {
*
* @return Count of bytes actually transferred.
*/
size_t (*readCallback)(void *object,
const char *buf,
size_t count,
uint8_t *connectionOK);
size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK);
/** Pointer to object, which will be used inside readCallback, from
* CO_GTWA_init() */
void *readCallbackObject;
void* readCallbackObject;
/** Sequence number of the command */
uint32_t sequence;
/** Default CANopen Net number is undefined (-1) at startup */
@ -338,9 +324,9 @@ typedef struct {
CO_GTWA_state_t state;
/** Timeout timer for the current state */
uint32_t stateTimeoutTmr;
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
/** SDO client object from CO_GTWA_init() */
CO_SDOclient_t *SDO_C;
CO_SDOclient_t* SDO_C;
/** Timeout time for SDO transfer in milliseconds, if no response */
uint16_t SDOtimeoutTime;
/** SDO block transfer enabled? */
@ -350,15 +336,15 @@ typedef struct {
* SDO buffer contains only part of data and more data will follow. */
bool_t SDOdataCopyStatus;
/** Data type of variable in current SDO communication */
const CO_GTWA_dataType_t *SDOdataType;
const CO_GTWA_dataType_t* SDOdataType;
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
/** NMT object from CO_GTWA_init() */
CO_NMT_t *NMT;
CO_NMT_t* NMT;
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
/** LSSmaster object from CO_GTWA_init() */
CO_LSSmaster_t *LSSmaster;
CO_LSSmaster_t* LSSmaster;
/** 128 bit number, uniquely identifying each node */
CO_LSS_address_t lssAddress;
/** LSS Node-ID parameter */
@ -378,25 +364,24 @@ typedef struct {
/** LSS allnodes timeout parameter */
uint16_t lssTimeout_ms;
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
/** Message log buffer of usable size @ref CO_CONFIG_GTWA_LOG_BUF_SIZE */
uint8_t logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1];
/** CO_fifo_t object for message log (not pointer) */
CO_fifo_t logFifo;
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0) || defined CO_DOXYGEN
/** Offset, when printing help text */
const char *helpString;
const char* helpString;
size_t helpStringOffset;
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
/** CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init()*/
CO_LEDs_t *LEDs;
CO_LEDs_t* LEDs;
uint8_t ledStringPreviousIndex;
#endif
} CO_GTWA_t;
/**
* Initialize Gateway-ascii object
*
@ -412,23 +397,20 @@ typedef struct {
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT
*/
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
CO_SDOclient_t* SDO_C,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
CO_SDOclient_t* SDO_C, uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer,
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
CO_NMT_t *NMT,
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
CO_NMT_t* NMT,
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
CO_LSSmaster_t *LSSmaster,
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
CO_LSSmaster_t* LSSmaster,
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
CO_LEDs_t *LEDs,
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
CO_LEDs_t* LEDs,
#endif
uint8_t dummy);
/**
* Initialize read callback in Gateway-ascii object
*
@ -444,12 +426,8 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
* readCallback
*/
void CO_GTWA_initRead(CO_GTWA_t* gtwa,
size_t (*readCallback)(void *object,
const char *buf,
size_t count,
uint8_t *connectionOK),
void *readCallbackObject);
size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK),
void* readCallbackObject);
/**
* Get free write buffer space
@ -458,11 +436,11 @@ void CO_GTWA_initRead(CO_GTWA_t* gtwa,
*
* @return number of available bytes
*/
static inline size_t CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
static inline size_t
CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
return CO_fifo_getSpace(&gtwa->commFifo);
}
/**
* Write command into CO_GTWA_t object.
*
@ -478,15 +456,12 @@ static inline size_t CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
*
* @return number of bytes actually written.
*/
static inline size_t CO_GTWA_write(CO_GTWA_t* gtwa,
const char *buf,
size_t count)
{
return CO_fifo_write(&gtwa->commFifo, (const uint8_t *)buf, count, NULL);
static inline size_t
CO_GTWA_write(CO_GTWA_t* gtwa, const char* buf, size_t count) {
return CO_fifo_write(&gtwa->commFifo, (const uint8_t*)buf, count, NULL);
}
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
/**
* Print message log string into fifo buffer
*
@ -499,10 +474,9 @@ static inline size_t CO_GTWA_write(CO_GTWA_t* gtwa,
* @param gtwa This object
* @param message Null terminated string
*/
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message);
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char* message);
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
/**
* Process Gateway-ascii object
*
@ -518,10 +492,7 @@ void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message);
*
* @return CO_ReturnError_t: CO_ERROR_NO on success or CO_ERROR_ILLEGAL_ARGUMENT
*/
void CO_GTWA_process(CO_GTWA_t *gtwa,
bool_t enable,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint32_t* timerNext_us);
/** @} */ /* CO_CANopen_309_3 */
@ -529,6 +500,6 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /*__cplusplus*/
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
#endif /* CO_GATEWAY_ASCII_H */

304
CANopen.h
View file

@ -19,7 +19,6 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#ifndef CANopen_H
#define CANopen_H
@ -42,7 +41,6 @@
#include "309/CO_gateway_ascii.h"
#include "extra/CO_trace.h"
#ifdef __cplusplus
extern "C" {
#endif
@ -182,7 +180,6 @@ extern "C" {
#define CO_USE_GLOBALS
#endif
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
/**
* CANopen configuration, used with @ref CO_new()
@ -196,68 +193,68 @@ typedef struct {
* @ref CO_CONFIG_NMT. Start indexes inside CANrx and CANtx are always 0.
* There must be one NMT object in the device. */
uint8_t CNT_NMT;
OD_entry_t *ENTRY_H1017; /**< OD entry for @ref CO_NMT_init() */
OD_entry_t* ENTRY_H1017; /**< OD entry for @ref CO_NMT_init() */
/** Number of Heartbeat consumer objects, 0 or 1 */
uint8_t CNT_HB_CONS;
/** Number of internal consumers (CANrx), used inside Heartbeat consumer
* object, 1 to 127. */
uint8_t CNT_ARR_1016;
OD_entry_t *ENTRY_H1016; /**< OD entry for @ref CO_HBconsumer_init()*/
OD_entry_t* ENTRY_H1016; /**< OD entry for @ref CO_HBconsumer_init()*/
/** OD entry for @ref CO_nodeGuardingSlave_init() */
OD_entry_t *ENTRY_H100C;
OD_entry_t* ENTRY_H100C;
/** OD entry for @ref CO_nodeGuardingSlave_init() */
OD_entry_t *ENTRY_H100D;
OD_entry_t* ENTRY_H100D;
/** Number of Emergency objects, 0 or 1: optional producer (CANtx) +
* optional consumer (CANrx), configurable by @ref CO_CONFIG_EM.
* There must be one Emergency object in the device. */
uint8_t CNT_EM;
const OD_entry_t *ENTRY_H1001; /**< OD entry for @ref CO_EM_init() */
OD_entry_t *ENTRY_H1014; /**< OD entry for @ref CO_EM_init() */
OD_entry_t *ENTRY_H1015; /**< OD entry for @ref CO_EM_init() */
const OD_entry_t* ENTRY_H1001; /**< OD entry for @ref CO_EM_init() */
OD_entry_t* ENTRY_H1014; /**< OD entry for @ref CO_EM_init() */
OD_entry_t* ENTRY_H1015; /**< OD entry for @ref CO_EM_init() */
/** Size of the fifo buffer, which is used for intermediate storage of
* emergency messages. Fifo is used by emergency producer and by error
* history (OD object 0x1003). Size is usually equal to size of array in
* OD object 0x1003. If later is not used, CNT_ARR_1003 must also be set to
* value greater than 0, or emergency producer will not work. */
uint8_t CNT_ARR_1003;
OD_entry_t *ENTRY_H1003; /**< OD entry for @ref CO_EM_init() */
OD_entry_t* ENTRY_H1003; /**< OD entry for @ref CO_EM_init() */
/** Number of SDO server objects, from 0 to 128 (CANrx + CANtx). There must
* be at least one SDO server object in the device. */
uint8_t CNT_SDO_SRV;
OD_entry_t *ENTRY_H1200; /**< OD entry for @ref CO_SDOserver_init()*/
OD_entry_t* ENTRY_H1200; /**< OD entry for @ref CO_SDOserver_init()*/
/** Number of SDO client objects, from 0 to 128 (CANrx + CANtx). */
uint8_t CNT_SDO_CLI;
OD_entry_t *ENTRY_H1280; /**< OD entry for @ref CO_SDOclient_init()*/
OD_entry_t* ENTRY_H1280; /**< OD entry for @ref CO_SDOclient_init()*/
/** Number of TIME objects, 0 or 1: consumer (CANrx) + optional producer
* (CANtx), configurable by @ref CO_CONFIG_TIME. */
uint8_t CNT_TIME;
OD_entry_t *ENTRY_H1012; /**< OD entry for @ref CO_TIME_init() */
OD_entry_t* ENTRY_H1012; /**< OD entry for @ref CO_TIME_init() */
/** Number of SYNC objects, 0 or 1: consumer (CANrx) + optional producer
* (CANtx), configurable by @ref CO_CONFIG_SYNC. */
uint8_t CNT_SYNC;
OD_entry_t *ENTRY_H1005; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t *ENTRY_H1006; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t *ENTRY_H1007; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t *ENTRY_H1019; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1005; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1006; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1007; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1019; /**< OD entry for @ref CO_SYNC_init() */
/** Number of RPDO objects, from 0 to 512 consumers (CANrx) */
uint16_t CNT_RPDO;
OD_entry_t *ENTRY_H1400; /**< OD entry for @ref CO_RPDO_init() */
OD_entry_t *ENTRY_H1600; /**< OD entry for @ref CO_RPDO_init() */
OD_entry_t* ENTRY_H1400; /**< OD entry for @ref CO_RPDO_init() */
OD_entry_t* ENTRY_H1600; /**< OD entry for @ref CO_RPDO_init() */
/** Number of TPDO objects, from 0 to 512 producers (CANtx) */
uint16_t CNT_TPDO;
OD_entry_t *ENTRY_H1800; /**< OD entry for @ref CO_TPDO_init() */
OD_entry_t *ENTRY_H1A00; /**< OD entry for @ref CO_TPDO_init() */
OD_entry_t* ENTRY_H1800; /**< OD entry for @ref CO_TPDO_init() */
OD_entry_t* ENTRY_H1A00; /**< OD entry for @ref CO_TPDO_init() */
/** Number of LEDs objects, 0 or 1. */
uint8_t CNT_LEDS;
/** Number of GFC objects, 0 or 1 (CANrx + CANtx). */
uint8_t CNT_GFC;
OD_entry_t *ENTRY_H1300; /**< OD entry for @ref CO_GFC_init() */
OD_entry_t* ENTRY_H1300; /**< OD entry for @ref CO_GFC_init() */
/** Number of SRDO objects, from 0 to 64 (2*CANrx + 2*CANtx). */
uint8_t CNT_SRDO;
OD_entry_t *ENTRY_H1301; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t *ENTRY_H1381; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t *ENTRY_H13FE; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t *ENTRY_H13FF; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H1301; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H1381; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H13FE; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H13FF; /**< OD entry for @ref CO_SRDO_init() */
/** Number of LSSslave objects, 0 or 1 (CANrx + CANtx). */
uint8_t CNT_LSS_SLV;
/** Number of LSSmaster objects, 0 or 1 (CANrx + CANtx). */
@ -271,162 +268,159 @@ typedef struct {
typedef void CO_config_t;
#endif /* CO_MULTIPLE_OD */
/**
* CANopen object - collection of all CANopenNode objects
*/
typedef struct {
bool_t nodeIdUnconfigured; /**< True in un-configured LSS slave */
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_config_t *config; /**< Remember the configuration parameters */
#endif
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_config_t* config; /**< Remember the configuration parameters */
#endif
/** One CAN module object, initialised by @ref CO_CANmodule_init() */
CO_CANmodule_t *CANmodule;
CO_CANrx_t *CANrx; /**< CAN receive message objects */
CO_CANtx_t *CANtx; /**< CAN transmit message objects */
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_CANmodule_t* CANmodule;
CO_CANrx_t* CANrx; /**< CAN receive message objects */
CO_CANtx_t* CANtx; /**< CAN transmit message objects */
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t CNT_ALL_RX_MSGS; /**< Number of all CAN receive message objects. */
uint16_t CNT_ALL_TX_MSGS; /**< Number of all CAN transmit message objects.*/
#endif
#endif
/** NMT and heartbeat object, initialised by @ref CO_NMT_init() */
CO_NMT_t *NMT;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_NMT_t* NMT;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NMT_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_NMT_MST; /**< Start index in CANtx. */
uint16_t TX_IDX_HB_PROD; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
/** Heartbeat consumer object, initialised by @ref CO_HBconsumer_init() */
CO_HBconsumer_t *HBcons;
/** Object for monitored nodes, initialised by @ref CO_HBconsumer_init() */
CO_HBconsNode_t *HBconsMonitoredNodes;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_HB_CONS; /**< Start index in CANrx. */
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
/** Heartbeat consumer object, initialised by @ref CO_HBconsumer_init() */
CO_HBconsumer_t* HBcons;
/** Object for monitored nodes, initialised by @ref CO_HBconsumer_init() */
CO_HBconsNode_t* HBconsMonitoredNodes;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_HB_CONS; /**< Start index in CANrx. */
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding slave object, initialised by @ref CO_nodeGuardingSlave_init() */
CO_nodeGuardingSlave_t *NGslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_nodeGuardingSlave_t* NGslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NG_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_NG_SLV; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding master object, initialised by @ref CO_nodeGuardingMaster_init() */
CO_nodeGuardingMaster_t *NGmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_nodeGuardingMaster_t* NGmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NG_MST; /**< Start index in CANrx. */
uint16_t TX_IDX_NG_MST; /**< Start index in CANtx. */
#endif
#endif
#endif
/** Emergency object, initialised by @ref CO_EM_init() */
CO_EM_t *em;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_EM_t* em;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_EM_CONS; /**< Start index in CANrx. */
uint16_t TX_IDX_EM_PROD; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
/** FIFO for emergency object, initialised by @ref CO_EM_init() */
CO_EM_fifo_t *em_fifo;
CO_EM_fifo_t* em_fifo;
#endif
/** SDO server objects, initialised by @ref CO_SDOserver_init() */
CO_SDOserver_t *SDOserver;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_SDOserver_t* SDOserver;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SDO_SRV; /**< Start index in CANrx. */
uint16_t TX_IDX_SDO_SRV; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
/** SDO client objects, initialised by @ref CO_SDOclient_init() */
CO_SDOclient_t *SDOclient;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_SDOclient_t* SDOclient;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SDO_CLI; /**< Start index in CANrx. */
uint16_t TX_IDX_SDO_CLI; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
/** TIME object, initialised by @ref CO_TIME_init() */
CO_TIME_t *TIME;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_TIME_t* TIME;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_TIME; /**< Start index in CANrx. */
uint16_t TX_IDX_TIME; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** SYNC object, initialised by @ref CO_SYNC_init() */
CO_SYNC_t *SYNC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_SYNC_t* SYNC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SYNC; /**< Start index in CANrx. */
uint16_t TX_IDX_SYNC; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** RPDO objects, initialised by @ref CO_RPDO_init() */
CO_RPDO_t *RPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_RPDO_t* RPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_RPDO; /**< Start index in CANrx. */
#endif
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** TPDO objects, initialised by @ref CO_TPDO_init() */
CO_TPDO_t *TPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_TPDO_t* TPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t TX_IDX_TPDO; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_LEDS)&CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
/** LEDs object, initialised by @ref CO_LEDs_init() */
CO_LEDs_t *LEDs;
CO_LEDs_t* LEDs;
#endif
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
/** GFC object, initialised by @ref CO_GFC_init() */
CO_GFC_t *GFC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_GFC_t* GFC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_GFC; /**< Start index in CANrx. */
uint16_t TX_IDX_GFC; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/** SRDO guard object, initialised by @ref CO_SRDO_init_start(), single
* SRDOGuard object is included inside all SRDO objects */
CO_SRDOGuard_t *SRDOGuard;
CO_SRDOGuard_t* SRDOGuard;
/** SRDO objects, initialised by @ref CO_SRDO_init() */
CO_SRDO_t *SRDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_SRDO_t* SRDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SRDO; /**< Start index in CANrx. */
uint16_t TX_IDX_SRDO; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/** LSS slave object, initialised by @ref CO_LSSslave_init(). */
CO_LSSslave_t *LSSslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_LSSslave_t* LSSslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_LSS_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_LSS_SLV; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
/** LSS master object, initialised by @ref CO_LSSmaster_init(). */
CO_LSSmaster_t *LSSmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_LSSmaster_t* LSSmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_LSS_MST; /**< Start index in CANrx. */
uint16_t TX_IDX_LSS_MST; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
/** Gateway-ascii object, initialised by @ref CO_GTWA_init(). */
CO_GTWA_t *gtwa;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
#endif
CO_GTWA_t* gtwa;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
#endif
#if ((CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE) || defined CO_DOXYGEN
#endif
#if ((CO_CONFIG_TRACE)&CO_CONFIG_TRACE_ENABLE) || defined CO_DOXYGEN
/** Trace object, initialised by @ref CO_trace_init(). */
CO_trace_t *trace;
CO_trace_t* trace;
#endif
} CO_t;
/**
* Create new CANopen object
*
@ -446,16 +440,14 @@ typedef struct {
*
* @return Successfully allocated and configured CO_t object or NULL.
*/
CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed);
CO_t* CO_new(CO_config_t* config, uint32_t* heapMemoryUsed);
/**
* Delete CANopen object and free memory. Must be called at program exit.
*
* @param co CANopen object.
*/
void CO_delete(CO_t *co);
void CO_delete(CO_t* co);
/**
* Test if LSS slave is enabled
@ -464,8 +456,7 @@ void CO_delete(CO_t *co);
*
* @return True if enabled
*/
bool_t CO_isLSSslaveEnabled(CO_t *co);
bool_t CO_isLSSslaveEnabled(CO_t* co);
/**
* Initialize CAN driver
@ -478,10 +469,9 @@ bool_t CO_isLSSslaveEnabled(CO_t *co);
* @param bitRate CAN bit rate.
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANinit(CO_t *co, void *CANptr, uint16_t bitRate);
CO_ReturnError_t CO_CANinit(CO_t* co, void* CANptr, uint16_t bitRate);
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/**
* Initialize CANopen LSS slave
*
@ -496,13 +486,9 @@ CO_ReturnError_t CO_CANinit(CO_t *co, void *CANptr, uint16_t bitRate);
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_LSSinit(CO_t *co,
CO_LSS_address_t *lssAddress,
uint8_t *pendingNodeID,
uint16_t *pendingBitRate);
CO_ReturnError_t CO_LSSinit(CO_t* co, CO_LSS_address_t* lssAddress, uint8_t* pendingNodeID, uint16_t* pendingBitRate);
#endif
/**
* Initialize CANopenNode except PDO objects.
*
@ -534,19 +520,10 @@ CO_ReturnError_t CO_LSSinit(CO_t *co,
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANopenInit(CO_t *co,
CO_NMT_t *NMT,
CO_EM_t *em,
OD_t *od,
OD_entry_t *OD_statusBits,
uint16_t NMTcontrol,
uint16_t firstHBTime_ms,
uint16_t SDOserverTimeoutTime_ms,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
uint8_t nodeId,
uint32_t *errInfo);
CO_ReturnError_t CO_CANopenInit(CO_t* co, CO_NMT_t* NMT, CO_EM_t* em, OD_t* od, OD_entry_t* OD_statusBits,
uint16_t NMTcontrol, uint16_t firstHBTime_ms, uint16_t SDOserverTimeoutTime_ms,
uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer, uint8_t nodeId,
uint32_t* errInfo);
/**
* Initialize CANopenNode PDO objects.
@ -565,14 +542,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
CO_EM_t *em,
OD_t *od,
uint8_t nodeId,
uint32_t *errInfo);
CO_ReturnError_t CO_CANopenInitPDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
/**
* Initialize Safety related Data Objects.
@ -591,15 +561,10 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
*
* @return CO_ERROR_NO in case of success.
*/
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0) || (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0)
CO_ReturnError_t CO_CANopenInitSRDO(CO_t *co,
CO_EM_t *em,
OD_t *od,
uint8_t nodeId,
uint32_t *errInfo);
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0)
CO_ReturnError_t CO_CANopenInitSRDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
#endif
/**
* Process CANopen objects.
*
@ -622,13 +587,9 @@ CO_ReturnError_t CO_CANopenInitSRDO(CO_t *co,
*
* @return Node or communication reset request, from @ref CO_NMT_process().
*/
CO_NMT_reset_cmd_t CO_process(CO_t *co,
bool_t enableGateway,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
CO_NMT_reset_cmd_t CO_process(CO_t* co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t* timerNext_us);
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SYNC objects.
*
@ -643,13 +604,10 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
*
* @return True, if CANopen SYNC message was just received or transmitted.
*/
bool_t CO_process_SYNC(CO_t *co,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
bool_t CO_process_SYNC(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen RPDO objects.
*
@ -664,14 +622,10 @@ bool_t CO_process_SYNC(CO_t *co,
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_process_RPDO(CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen TPDO objects.
*
@ -686,14 +640,10 @@ void CO_process_RPDO(CO_t *co,
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_process_TPDO(CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
void CO_process_TPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SRDO objects.
*
@ -708,9 +658,7 @@ void CO_process_TPDO(CO_t *co,
*
* @return @CO_SRDO_state_t lowest state of the SRDO objects.
*/
CO_SRDO_state_t CO_process_SRDO(CO_t *co,
uint32_t timeDifference_us,
uint32_t *timerNext_us);
CO_SRDO_state_t CO_process_SRDO(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
/** @} */ /* CO_CANopen */

40
example/CO_driver_target.h
View file

@ -17,7 +17,6 @@
* See the License for the specific language governing permissions and limitations under the License.
*/
#ifndef CO_DRIVER_TARGET_H
#define CO_DRIVER_TARGET_H
@ -40,7 +39,6 @@ extern "C" {
/* Stack configuration override default values.
* For more information see file CO_config.h. */
/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
#define CO_LITTLE_ENDIAN
#define CO_SWAP_16(x) x
@ -49,22 +47,21 @@ extern "C" {
/* NULL is defined in stddef.h */
/* true and false are defined in stdbool.h */
/* int8_t to uint64_t are defined in stdint.h */
typedef uint_fast8_t bool_t;
typedef float float32_t;
typedef double float64_t;
typedef uint_fast8_t bool_t;
typedef float float32_t;
typedef double float64_t;
/* Access to received CAN message */
#define CO_CANrxMsg_readIdent(msg) ((uint16_t)0)
#define CO_CANrxMsg_readDLC(msg) ((uint8_t)0)
#define CO_CANrxMsg_readData(msg) ((const uint8_t *)NULL)
#define CO_CANrxMsg_readData(msg) ((const uint8_t*)NULL)
/* Received message object */
typedef struct {
uint16_t ident;
uint16_t mask;
void *object;
void (*CANrx_callback)(void *object, void *message);
void* object;
void (*CANrx_callback)(void* object, void* message);
} CO_CANrx_t;
/* Transmit message object */
@ -78,10 +75,10 @@ typedef struct {
/* CAN module object */
typedef struct {
void *CANptr;
CO_CANrx_t *rxArray;
void* CANptr;
CO_CANrx_t* rxArray;
uint16_t rxSize;
CO_CANtx_t *txArray;
CO_CANtx_t* txArray;
uint16_t txSize;
uint16_t CANerrorStatus;
volatile bool_t CANnormal;
@ -92,18 +89,16 @@ typedef struct {
uint32_t errOld;
} CO_CANmodule_t;
/* Data storage object for one entry */
typedef struct {
void *addr;
void* addr;
size_t len;
uint8_t subIndexOD;
uint8_t attr;
/* Additional variables (target specific) */
void *addrNV;
void* addrNV;
} CO_storage_entry_t;
/* (un)lock critical section in CO_CANsend() */
#define CO_LOCK_CAN_SEND(CAN_MODULE)
#define CO_UNLOCK_CAN_SEND(CAN_MODULE)
@ -119,9 +114,16 @@ typedef struct {
/* Synchronization between CAN receive and message processing threads. */
#define CO_MemoryBarrier()
#define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
#define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
#define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
#define CO_FLAG_SET(rxNew) \
{ \
CO_MemoryBarrier(); \
rxNew = (void*)1L; \
}
#define CO_FLAG_CLEAR(rxNew) \
{ \
CO_MemoryBarrier(); \
rxNew = NULL; \
}
#ifdef __cplusplus
}

15
example/CO_storageBlank.h
View file

@ -22,7 +22,7 @@
#include "storage/CO_storage.h"
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) || defined CO_DOXYGEN
#if ((CO_CONFIG_STORAGE)&CO_CONFIG_STORAGE_ENABLE) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -38,16 +38,11 @@ extern "C" {
* CANopenLinux/CO_storageLinux.h files.
*/
CO_ReturnError_t CO_storageBlank_init(CO_storage_t *storage,
CO_CANmodule_t *CANmodule,
OD_entry_t *OD_1010_StoreParameters,
OD_entry_t *OD_1011_RestoreDefaultParam,
CO_storage_entry_t *entries,
uint8_t entriesCount,
uint32_t *storageInitError);
CO_ReturnError_t CO_storageBlank_init(CO_storage_t* storage, CO_CANmodule_t* CANmodule,
OD_entry_t* OD_1010_StoreParameters, OD_entry_t* OD_1011_RestoreDefaultParam,
CO_storage_entry_t* entries, uint8_t entriesCount, uint32_t* storageInitError);
uint32_t CO_storageBlank_auto_process(CO_storage_t *storage,
bool_t closeFiles);
uint32_t CO_storageBlank_auto_process(CO_storage_t* storage, bool_t closeFiles);
#ifdef __cplusplus
}

23
storage/CO_eeprom.h
View file

@ -39,8 +39,7 @@ extern "C" {
*
* @return True on success
*/
bool_t CO_eeprom_init(void *storageModule);
bool_t CO_eeprom_init(void* storageModule);
/**
* Get free address inside eeprom, target system specific function.
@ -55,9 +54,7 @@ bool_t CO_eeprom_init(void *storageModule);
*
* @return Asigned eeprom address
*/
size_t CO_eeprom_getAddr(void *storageModule, bool_t isAuto,
size_t len, bool_t *overflow);
size_t CO_eeprom_getAddr(void* storageModule, bool_t isAuto, size_t len, bool_t* overflow);
/**
* Read block of data from the eeprom, target system specific function.
@ -67,9 +64,7 @@ size_t CO_eeprom_getAddr(void *storageModule, bool_t isAuto,
* @param eepromAddr Address in eeprom, from where data will be read.
* @param len Length of the data block to be read.
*/
void CO_eeprom_readBlock(void *storageModule, uint8_t *data,
size_t eepromAddr, size_t len);
void CO_eeprom_readBlock(void* storageModule, uint8_t* data, size_t eepromAddr, size_t len);
/**
* Write block of data to the eeprom, target system specific function.
@ -84,9 +79,7 @@ void CO_eeprom_readBlock(void *storageModule, uint8_t *data,
*
* @return true on success
*/
bool_t CO_eeprom_writeBlock(void *storageModule, uint8_t *data,
size_t eepromAddr, size_t len);
bool_t CO_eeprom_writeBlock(void* storageModule, uint8_t* data, size_t eepromAddr, size_t len);
/**
* Get CRC checksum of the block of data stored in the eeprom, target system
@ -98,9 +91,7 @@ bool_t CO_eeprom_writeBlock(void *storageModule, uint8_t *data,
*
* @return CRC checksum
*/
uint16_t CO_eeprom_getCrcBlock(void *storageModule,
size_t eepromAddr, size_t len);
uint16_t CO_eeprom_getCrcBlock(void* storageModule, size_t eepromAddr, size_t len);
/**
* Update one byte of data in the eeprom, target system specific function.
@ -115,9 +106,7 @@ uint16_t CO_eeprom_getCrcBlock(void *storageModule,
* @return true if write was successful or false, if still waiting previous
* data to finish writing.
*/
bool_t CO_eeprom_updateByte(void *storageModule, uint8_t data,
size_t eepromAddr);
bool_t CO_eeprom_updateByte(void* storageModule, uint8_t data, size_t eepromAddr);
/** @} */ /* CO_storage_eeprom */

36
storage/CO_storage.h
View file

@ -29,7 +29,7 @@
#define CO_CONFIG_STORAGE (CO_CONFIG_STORAGE_ENABLE)
#endif
#if (((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_STORAGE)&CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -79,7 +79,6 @@ extern "C" {
* corresponding data.
*/
/**
* Attributes (bit masks) for Data storage object.
*/
@ -92,27 +91,23 @@ typedef enum {
CO_storage_restore = 0x04
} CO_storage_attributes_t;
/**
* Data storage object.
*
* Object is used with CANopen OD objects at index 1010 and 1011.
*/
typedef struct {
OD_extension_t OD_1010_extension; /**< Extension for OD object */
OD_extension_t OD_1011_extension; /**< Extension for OD object */
CO_CANmodule_t *CANmodule; /**< From CO_storage_init() */
ODR_t (*store)(CO_storage_entry_t *entry,
CO_CANmodule_t *CANmodule); /**< From CO_storage_init() */
ODR_t (*restore)(CO_storage_entry_t *entry,
CO_CANmodule_t *CANmodule); /**< From CO_storage_init() */
CO_storage_entry_t *entries; /**< From CO_storage_init() */
uint8_t entriesCount; /**< From CO_storage_init() */
OD_extension_t OD_1010_extension; /**< Extension for OD object */
OD_extension_t OD_1011_extension; /**< Extension for OD object */
CO_CANmodule_t* CANmodule; /**< From CO_storage_init() */
ODR_t (*store)(CO_storage_entry_t* entry, CO_CANmodule_t* CANmodule); /**< From CO_storage_init() */
ODR_t (*restore)(CO_storage_entry_t* entry, CO_CANmodule_t* CANmodule); /**< From CO_storage_init() */
CO_storage_entry_t* entries; /**< From CO_storage_init() */
uint8_t entriesCount; /**< From CO_storage_init() */
bool_t enabled; /**< true, if storage is enabled. Setting of this variable
is implementation specific. */
} CO_storage_t;
/**
* Initialize data storage object
*
@ -142,16 +137,11 @@ typedef struct {
*
* @return CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_storage_init(CO_storage_t *storage,
CO_CANmodule_t *CANmodule,
OD_entry_t *OD_1010_StoreParameters,
OD_entry_t *OD_1011_RestoreDefaultParameters,
ODR_t (*store)(CO_storage_entry_t *entry,
CO_CANmodule_t *CANmodule),
ODR_t (*restore)(CO_storage_entry_t *entry,
CO_CANmodule_t *CANmodule),
CO_storage_entry_t *entries,
uint8_t entriesCount);
CO_ReturnError_t CO_storage_init(CO_storage_t* storage, CO_CANmodule_t* CANmodule, OD_entry_t* OD_1010_StoreParameters,
OD_entry_t* OD_1011_RestoreDefaultParameters,
ODR_t (*store)(CO_storage_entry_t* entry, CO_CANmodule_t* CANmodule),
ODR_t (*restore)(CO_storage_entry_t* entry, CO_CANmodule_t* CANmodule),
CO_storage_entry_t* entries, uint8_t entriesCount);
/** @} */ /* CO_storage */

17
storage/CO_storageEeprom.h
View file

@ -27,7 +27,7 @@
#define CO_CONFIG_STORAGE_MAX_ENTRIES_COUNT 5U
#endif
#if (((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_STORAGE)&CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -71,7 +71,6 @@ extern "C" {
* used.
*/
/**
* Initialize data storage object (block device (eeprom) specific)
*
@ -102,15 +101,9 @@ extern "C" {
* @return CO_ERROR_NO, CO_ERROR_DATA_CORRUPT if data can not be initialized,
* CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OUT_OF_MEMORY.
*/
CO_ReturnError_t CO_storageEeprom_init(CO_storage_t *storage,
CO_CANmodule_t *CANmodule,
void *storageModule,
OD_entry_t *OD_1010_StoreParameters,
OD_entry_t *OD_1011_RestoreDefaultParam,
CO_storage_entry_t *entries,
uint8_t entriesCount,
uint32_t *storageInitError);
CO_ReturnError_t CO_storageEeprom_init(CO_storage_t* storage, CO_CANmodule_t* CANmodule, void* storageModule,
OD_entry_t* OD_1010_StoreParameters, OD_entry_t* OD_1011_RestoreDefaultParam,
CO_storage_entry_t* entries, uint8_t entriesCount, uint32_t* storageInitError);
/**
* Automatically update data if differs inside eeprom.
@ -120,7 +113,7 @@ CO_ReturnError_t CO_storageEeprom_init(CO_storage_t *storage,
* @param storage This object
* @param saveAll If true, all bytes are updated, useful on program end.
*/
void CO_storageEeprom_auto_process(CO_storage_t *storage, bool_t saveAll);
void CO_storageEeprom_auto_process(CO_storage_t* storage, bool_t saveAll);
/** @} */ /* CO_storage_eeprom */