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License changed to Apache 2.0 - part3

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Janez 2020-01-09 08:16:31 +01:00
parent eab1f2d54f
commit dadf5023df
3 changed files with 75 additions and 115 deletions
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22
README.md
View file

@ -224,14 +224,14 @@ For older history see http://sourceforge.net/p/canopennode/code_complete/
License
-------
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

82
stack/CO_TIME.c
View file

@ -4,43 +4,23 @@
* @file CO_TIME.c
* @ingroup CO_TIME
* @author Julien PEYREGNE
* @copyright
* @copyright 2019 - 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free and open source software: you can redistribute
* it and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation, either version 2 of the
* License, or (at your option) any later version.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* http://www.apache.org/licenses/LICENSE-2.0
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Following clarification and special exception to the GNU General Public
* License is included to the distribution terms of CANopenNode:
*
* Linking this library statically or dynamically with other modules is
* making a combined work based on this library. Thus, the terms and
* conditions of the GNU General Public License cover the whole combination.
*
* As a special exception, the copyright holders of this library give
* you permission to link this library with independent modules to
* produce an executable, regardless of the license terms of these
* independent modules, and to copy and distribute the resulting
* executable under terms of your choice, provided that you also meet,
* for each linked independent module, the terms and conditions of the
* license of that module. An independent module is a module which is
* not derived from or based on this library. If you modify this
* library, you may extend this exception to your version of the
* library, but you are not obliged to do so. If you do not wish
* to do so, delete this exception statement from your version.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "CANopen.h"
@ -57,7 +37,7 @@ static void CO_TIME_receive(void *object, const CO_CANrxMsg_t *msg){
TIME = (CO_TIME_t*)object; /* this is the correct pointer type of the first argument */
operState = *TIME->operatingState;
if((operState == CO_NMT_OPERATIONAL) || (operState == CO_NMT_PRE_OPERATIONAL)){
SET_CANrxNew(TIME->CANrxNew);
// Process Time from msg buffer
@ -67,26 +47,26 @@ static void CO_TIME_receive(void *object, const CO_CANrxMsg_t *msg){
TIME->receiveError = (uint16_t)msg->DLC;
}
}
/******************************************************************************/
CO_ReturnError_t CO_TIME_init(
CO_TIME_t *TIME,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint32_t COB_ID_TIMEMessage,
uint32_t TIMECyclePeriod,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx)
CO_TIME_t *TIME,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint32_t COB_ID_TIMEMessage,
uint32_t TIMECyclePeriod,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx)
{
/* verify arguments */
if(TIME==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
CANdevRx==NULL || CANdevTx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
TIME->isConsumer = (COB_ID_TIMEMessage&0x80000000L) ? true : false;
TIME->isProducer = (COB_ID_TIMEMessage&0x40000000L) ? true : false;
@ -95,7 +75,7 @@ CO_ReturnError_t CO_TIME_init(
TIME->periodTime = TIMECyclePeriod;
TIME->periodTimeoutTime = TIMECyclePeriod / 2 * 3;
/* overflow? */
if(TIME->periodTimeoutTime < TIMECyclePeriod)
if(TIME->periodTimeoutTime < TIMECyclePeriod)
TIME->periodTimeoutTime = 0xFFFFFFFFL;
CLEAR_CANrxNew(TIME->CANrxNew);
@ -105,7 +85,7 @@ CO_ReturnError_t CO_TIME_init(
TIME->em = em;
TIME->operatingState = operatingState;
/* configure TIME consumer message reception */
TIME->CANdevRx = CANdevRx;
TIME->CANdevRxIdx = CANdevRxIdx;
@ -134,11 +114,11 @@ CO_ReturnError_t CO_TIME_init(
return CO_ERROR_NO;
}
/******************************************************************************/
uint8_t CO_TIME_process(
CO_TIME_t *TIME,
uint32_t timeDifference_ms)
CO_TIME_t *TIME,
uint32_t timeDifference_ms)
{
uint8_t ret = 0;
uint32_t timerNew;
@ -146,7 +126,7 @@ uint8_t CO_TIME_process(
if(*TIME->operatingState == CO_NMT_OPERATIONAL || *TIME->operatingState == CO_NMT_PRE_OPERATIONAL){
/* update TIME timer, no overflow */
timerNew = TIME->timer + timeDifference_ms;
if(timerNew > TIME->timer)
if(timerNew > TIME->timer)
TIME->timer = timerNew;
/* was TIME just received */
@ -155,7 +135,7 @@ uint8_t CO_TIME_process(
ret = 1;
TIME->CANrxNew = false;
}
/* TIME producer */
if(TIME->isProducer && TIME->periodTime){
if(TIME->timer >= TIME->periodTime){
@ -167,7 +147,7 @@ uint8_t CO_TIME_process(
}
/* Verify TIME timeout if node is consumer */
if(TIME->isConsumer && TIME->periodTime && TIME->timer > TIME->periodTimeoutTime
if(TIME->isConsumer && TIME->periodTime && TIME->timer > TIME->periodTimeoutTime
&& *TIME->operatingState == CO_NMT_OPERATIONAL)
CO_errorReport(TIME->em, CO_EM_TIME_TIMEOUT, CO_EMC_COMMUNICATION, TIME->timer);
}

86
stack/CO_TIME.h
View file

@ -4,43 +4,23 @@
* @file CO_TIME.c
* @ingroup CO_TIME
* @author Julien PEYREGNE
* @copyright
* @copyright 2019 - 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free and open source software: you can redistribute
* it and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation, either version 2 of the
* License, or (at your option) any later version.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* http://www.apache.org/licenses/LICENSE-2.0
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Following clarification and special exception to the GNU General Public
* License is included to the distribution terms of CANopenNode:
*
* Linking this library statically or dynamically with other modules is
* making a combined work based on this library. Thus, the terms and
* conditions of the GNU General Public License cover the whole combination.
*
* As a special exception, the copyright holders of this library give
* you permission to link this library with independent modules to
* produce an executable, regardless of the license terms of these
* independent modules, and to copy and distribute the resulting
* executable under terms of your choice, provided that you also meet,
* for each linked independent module, the terms and conditions of the
* license of that module. An independent module is a module which is
* not derived from or based on this library. If you modify this
* library, you may extend this exception to your version of the
* library, but you are not obliged to do so. If you do not wish
* to do so, delete this exception statement from your version.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
@ -62,35 +42,35 @@ extern "C" {
* CANopen TIME object protocol.
*
* For CAN identifier see #CO_Default_CAN_ID_t
*
*
* TIME message is used for time synchronization of the nodes on network. One node
* should be TIME producer, others can be TIME consumers. This is configured with
* should be TIME producer, others can be TIME consumers. This is configured with
* COB_ID_TIME object 0x1012 :
*
* - bit 31 should be set for a consumer
* - bit 30 should be set for a producer
*
*
*
* ###TIME CONSUMER
*
*
* CO_TIME_init() configuration :
* - COB_ID_TIME : 0x80000100L -> TIME consumer with TIME_COB_ID = 0x100
* - TIMECyclePeriod :
* - TIMECyclePeriod :
* - 0 -> no EMCY will be transmitted in case of TIME timeout
* - X -> an EMCY will be transmitted in case of TIME timeout (X * 1.5) ms
*
* Latest time value is stored in \p CO->TIME->Time variable.
*
*
*
*
* ###TIME PRODUCER
*
*
* CO_TIME_init() configuration :
* - COB_ID_TIME : 0x40000100L -> TIME producer with TIME_COB_ID = 0x100
* - TIMECyclePeriod : Time transmit period in ms
*
* Write time value in \p CO->TIME->Time variable, this will be sent at TIMECyclePeriod.
*/
#define TIME_MSG_LENGTH 6U
/**
@ -106,7 +86,7 @@ typedef struct{
variable from Object dictionary (index 0x1012). */
bool_t isProducer;
uint16_t COB_ID; /**< From CO_TIME_init() */
/** TIME period time in [milliseconds]. Set to TIME period to enable
/** TIME period time in [milliseconds]. Set to TIME period to enable
timeout detection */
uint32_t periodTime;
/** TIME period timeout time in [milliseconds].
@ -144,17 +124,17 @@ typedef struct{
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_TIME_init(
CO_TIME_t *TIME,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint32_t COB_ID_TIMEMessage,
uint32_t TIMECyclePeriod,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx);
CO_TIME_t *TIME,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint32_t COB_ID_TIMEMessage,
uint32_t TIMECyclePeriod,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx);
/**
* Process TIME communication.
*
@ -167,8 +147,8 @@ CO_ReturnError_t CO_TIME_init(
* @return 1: New TIME message recently received (consumer) / transmited (producer).
*/
uint8_t CO_TIME_process(
CO_TIME_t *TIME,
uint32_t timeDifference_ms);
CO_TIME_t *TIME,
uint32_t timeDifference_ms);
#ifdef __cplusplus
}