Merge pull request #183 from DISTORTEC/even-moar-callbacks
Add CO_TIME_initCallbackPre(), convert {T,R}PDO_CALLS_EXTENSION to config options
This commit is contained in:
Janez
GitHub
commit
d9c16ae763
7 changed files with 92 additions and 15 deletions
14
301/CO_PDO.c
14
301/CO_PDO.c
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@ -891,14 +891,13 @@ uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO){
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return 0;
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}
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//#define TPDO_CALLS_EXTENSION
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/******************************************************************************/
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int16_t CO_TPDOsend(CO_TPDO_t *TPDO){
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int16_t i;
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uint8_t* pPDOdataByte;
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uint8_t** ppODdataByte;
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#ifdef TPDO_CALLS_EXTENSION
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#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_CALLS_EXTENSION
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if(TPDO->SDO->ODExtensions){
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/* for each mapped OD, check mapping to see if an OD extension is available, and call it if it is */
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const uint32_t* pMap = &TPDO->TPDOMapPar->mappedObject1;
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@ -940,7 +939,6 @@ int16_t CO_TPDOsend(CO_TPDO_t *TPDO){
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return CO_CANsend(TPDO->CANdevTx, TPDO->CANtxBuff);
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}
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//#define RPDO_CALLS_EXTENSION
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/******************************************************************************/
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void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
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bool_t process_rpdo = true;
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@ -959,9 +957,9 @@ void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
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}
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else if(process_rpdo)
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{
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#if defined(RPDO_CALLS_EXTENSION)
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#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_CALLS_EXTENSION
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bool_t update = false;
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#endif /* defined(RPDO_CALLS_EXTENSION) */
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#endif
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uint8_t bufNo = 0;
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@ -987,11 +985,11 @@ void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
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for(; i>0; i--) {
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**(ppODdataByte++) = *(pPDOdataByte++);
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}
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#if defined(RPDO_CALLS_EXTENSION)
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#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_CALLS_EXTENSION
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update = true;
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#endif /* defined(RPDO_CALLS_EXTENSION) */
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#endif
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}
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#ifdef RPDO_CALLS_EXTENSION
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#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_CALLS_EXTENSION
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if(update && RPDO->SDO->ODExtensions){
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int16_t i;
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/* for each mapped OD, check mapping to see if an OD extension is available, and call it if it is */
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@ -46,11 +46,17 @@ static void CO_TIME_receive(void *object, void *msg){
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TIME = (CO_TIME_t*)object; /* this is the correct pointer type of the first argument */
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operState = *TIME->operatingState;
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if((operState == CO_NMT_OPERATIONAL) || (operState == CO_NMT_PRE_OPERATIONAL)){
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// Process Time from msg buffer
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memcpy(&TIME->Time.ullValue, data, DLC);
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CO_FLAG_SET(TIME->CANrxNew);
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#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
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/* Optional signal to RTOS, which can resume task, which handles TIME. */
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if(TIME->pFunctSignalPre != NULL) {
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TIME->pFunctSignalPre(TIME->functSignalObjectPre);
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}
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#endif
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}
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else{
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TIME->receiveError = (uint16_t)DLC;
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@ -96,6 +102,11 @@ CO_ReturnError_t CO_TIME_init(
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TIME->em = em;
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TIME->operatingState = operatingState;
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#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
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TIME->pFunctSignalPre = NULL;
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TIME->functSignalObjectPre = NULL;
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#endif
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/* configure TIME consumer message reception */
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TIME->CANdevRx = CANdevRx;
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@ -131,6 +142,20 @@ CO_ReturnError_t CO_TIME_init(
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return ret;
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}
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#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
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/******************************************************************************/
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void CO_TIME_initCallbackPre(
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CO_TIME_t *TIME,
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void *object,
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void (*pFunctSignalPre)(void *object))
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{
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if(TIME != NULL){
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TIME->functSignalObjectPre = object;
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TIME->pFunctSignalPre = pFunctSignalPre;
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}
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}
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#endif
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/******************************************************************************/
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uint8_t CO_TIME_process(
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CO_TIME_t *TIME,
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@ -99,6 +99,12 @@ typedef struct{
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uint32_t timer;
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/** Set to nonzero value, if TIME with wrong data length is received from CAN */
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uint16_t receiveError;
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#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/** From CO_TIME_initCallbackPre() or NULL */
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void (*pFunctSignalPre)(void *object);
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/** From CO_TIME_initCallbackPre() or NULL */
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void *functSignalObjectPre;
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#endif
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CO_CANmodule_t *CANdevRx; /**< From CO_TIME_init() */
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uint16_t CANdevRxIdx; /**< From CO_TIME_init() */
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CO_CANmodule_t *CANdevTx; /**< From CO_TIME_init() */
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@ -137,6 +143,24 @@ CO_ReturnError_t CO_TIME_init(
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CO_CANmodule_t *CANdevTx,
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uint16_t CANdevTxIdx);
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#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/**
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* Initialize TIME callback function.
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*
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* Function initializes optional callback function, which should immediately
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* start processing of CO_TIME_process() function.
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* Callback is called after TIME message is received from the CAN bus.
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*
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* @param TIME This object.
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* @param object Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL
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* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
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*/
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void CO_TIME_initCallbackPre(
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CO_TIME_t *TIME,
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void *object,
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void (*pFunctSignalPre)(void *object));
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#endif
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/**
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* Process TIME communication.
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*
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@ -90,9 +90,9 @@ extern "C" {
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* Possible flags, can be ORed:
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* received NMT CAN message.
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* Callback is configured by CO_NMT_initCallbackPre().
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_NMT_process().
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* Callback is configured by CO_NMT_initCallbackPre().
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* - CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT
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* state changes. Callback is configured by
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* CO_NMT_initCallbackChanged().
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@ -114,9 +114,9 @@ extern "C" {
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* Possible flags, can be ORed:
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* received SDO CAN message.
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* Callback is configured by CO_SDO_initCallbackPre().
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_SDO_process().
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* Callback is configured by CO_SDO_initCallbackPre().
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* - CO_CONFIG_SDO_SEGMENTED - Enable SDO server segmented transfer.
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* - CO_CONFIG_SDO_BLOCK - Enable SDO server block transfer. If set, then
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* CO_CONFIG_SDO_SEGMENTED must also be set.
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@ -199,11 +199,17 @@ extern "C" {
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* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
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* inside CO_TPDO_process().
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* - CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC object inside PDO objects.
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* - CO_CONFIG_RPDO_CALLS_EXTENSION - Enable calling configured extension
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* callbacks when received RPDO CAN message modifies OD entries.
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* - CO_CONFIG_TPDO_CALLS_EXTENSION - Enable calling configured extension
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* callbacks before TPDO CAN message is sent.
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_PDO (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE)
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#define CO_CONFIG_PDO (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_RPDO_CALLS_EXTENSION | CO_CONFIG_TPDO_CALLS_EXTENSION)
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#endif
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#define CO_CONFIG_PDO_SYNC_ENABLE 0x01
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#define CO_CONFIG_RPDO_CALLS_EXTENSION 0x02
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#define CO_CONFIG_TPDO_CALLS_EXTENSION 0x04
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/**
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@ -262,6 +268,18 @@ extern "C" {
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#endif
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/**
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* Configuration of TIME
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*
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* Possible flags, can be ORed:
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* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
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* received TIME CAN message.
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* Callback is configured by CO_TIME_initCallbackPre().
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*/
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#ifdef CO_DOXYGEN
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#define CO_CONFIG_TIME (CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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/**
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* Configuration of LSS master object
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*
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@ -9,7 +9,7 @@ Change Log
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- All drivers removed from this project, except Neuberger-socketCAN for Linux.
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### Changed
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- Directory structure rearranged. Before was all CANopen object files in `stack` directory, now they are in separate directories according to standard (`301`, `305`, `extra`, `socketCAN` for Linux driver). Include directives for that files now contain directory path. `CO_SDO` renamed to `CO_SDOserver` and `CO_SDOmaster` renamed to `CO_SDOclient`. Change of the project files will be necessary.
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- Driver interface clarified. Before was pair of CO_driver.h/.c files for each microcontroller, now there is common CO_driver.h file. Drivers for other microcontrollers will be separate projects. Each driver must have own CO_driver_target.h file and function definitions from C_driver.h file. See documentation in CO_driver.h, example/CO_driver_target.h and example/CO_driver.c. There was no other mayor changes in driver interface.
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- Driver interface clarified. Before was pair of CO_driver.h/.c files for each microcontroller, now there is common CO_driver.h file. Drivers for other microcontrollers will be separate projects. Each driver must have own CO_driver_target.h file and function definitions from C_driver.h file. See documentation in CO_driver.h, example/CO_driver_target.h and example/CO_driver.c. There was no other major changes in driver interface.
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- Time base is now microsecond in all functions.
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- CANopen.h/.c files simplified and changed. `CO_USE_GLOBALS` and `CO_init()` removed. Interface to those functions changed.
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- `CO_NMT_sendCommand()` master function renamed and moved from CANopen.c into CO_NMT_Heartbeat.c.
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@ -80,7 +80,9 @@ extern "C" {
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#ifndef CO_CONFIG_PDO
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#define CO_CONFIG_PDO (CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT | \
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CO_CONFIG_PDO_SYNC_ENABLE)
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CO_CONFIG_PDO_SYNC_ENABLE | \
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CO_CONFIG_RPDO_CALLS_EXTENSION | \
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CO_CONFIG_TPDO_CALLS_EXTENSION)
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#endif
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#ifndef CO_CONFIG_SYNC
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@ -100,6 +102,10 @@ extern "C" {
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#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000
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#endif
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#ifndef CO_CONFIG_TIME
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#define CO_CONFIG_TIME (CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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#ifndef CO_CONFIG_LSS_MST
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#define CO_CONFIG_LSS_MST (CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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@ -86,7 +86,9 @@ extern "C" {
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#ifndef CO_CONFIG_PDO
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#define CO_CONFIG_PDO (CO_CONFIG_FLAG_CALLBACK_PRE | \
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CO_CONFIG_FLAG_TIMERNEXT | \
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CO_CONFIG_PDO_SYNC_ENABLE)
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CO_CONFIG_PDO_SYNC_ENABLE | \
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CO_CONFIG_RPDO_CALLS_EXTENSION | \
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CO_CONFIG_TPDO_CALLS_EXTENSION)
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#endif
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#ifndef CO_CONFIG_SYNC
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@ -106,6 +108,10 @@ extern "C" {
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#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000
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#endif
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#ifndef CO_CONFIG_TIME
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#define CO_CONFIG_TIME (CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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#ifndef CO_CONFIG_LSS_MST
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#define CO_CONFIG_LSS_MST (CO_CONFIG_FLAG_CALLBACK_PRE)
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#endif
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