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Porting SRDO to v4.0 (#505)

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* Renamed structure from CO_SDO_t to CO_SDOserver_t

* Porting SRDOGuard

* Porting SRDO

* Porting SRDO on CANopen.c with new parameters

* Misra for SRDO

* Fix extension read and write control count

* Remove pointer to configurationValid and CRC and connect to OD

* Remove dependencies from CO_SDOserver.h and CO_NMT_Heartbeat.h

* Replaced  CO_driver.h with CO_ODinterface.h
This commit is contained in:
temi54c1l8 2024-04-09 11:56:43 +02:00 committed by GitHub
parent a52db428f6
commit f96ffb2526
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GPG key ID: B5690EEEBB952194
3 changed files with 541 additions and 388 deletions
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784
304/CO_SRDO.c
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File diff suppressed because it is too large Load diff

117
304/CO_SRDO.h
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@ -26,17 +26,15 @@
#ifndef CO_SRDO_H
#define CO_SRDO_H
#include "301/CO_driver.h"
#include "301/CO_SDOserver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.h"
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SRDO
#define CO_CONFIG_SRDO (0)
#endif
#ifndef CO_CONFIG_SRDO_MINIMUM_DELAY
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0U
#endif
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) || defined CO_DOXYGEN
@ -58,50 +56,22 @@ extern "C" {
* If the security protocol is used, at least one SRDO is mandatory.
*/
/** Maximum size of SRDO message, 8 for standard CAN */
#ifndef CO_SRDO_MAX_SIZE
#define CO_SRDO_MAX_SIZE 8U
#endif
/**
* SRDO communication parameter. The same as record from Object dictionary (index 0x1301-0x1340).
*/
typedef struct{
uint8_t maxSubIndex; /**< Equal to 6 */
/** Direction of the SRDO. Values:
- 0: SRDO is invalid (deleted)
- 1: SRDO is transmiting data
- 2: SRDO is receive data */
uint8_t informationDirection;
/** Refresh-time / SCT
- in tx mode (Refresh-time): transmission interval
- in rx mode (SCT): receive timeout between two SRDO */
uint16_t safetyCycleTime;
/** SRVT
- in tx mode: unsed
- in rx mode: receive timeout between first and second SRDO message */
uint8_t safetyRelatedValidationTime;
/** Transmission type. Values:
- 254: Manufacturer specific.*/
uint8_t transmissionType;
/** Communication object identifier for message received. Meaning of the specific bits:
- Bit 0-10: COB-ID for SRDO
- Bit 11-31: set to 0 for 11 bit COB-ID. */
uint32_t COB_ID1_normal;
/** Communication object identifier for message received. Meaning of the specific bits:
- Bit 0-10: COB-ID for SRDO
- Bit 11-31: set to 0 for 11 bit COB-ID. */
uint32_t COB_ID2_inverted;
}CO_SRDOCommPar_t;
/** Maximum number of entries, which can be mapped to PDO, 8 for standard CAN,
* may be less to preserve RAM usage */
#ifndef CO_SRDO_MAX_MAPPED_ENTRIES
#define CO_SRDO_MAX_MAPPED_ENTRIES 8U
#endif
#ifndef CO_SRDO_OWN_TYPES
/** Variable of type CO_SRDO_size_t contains data length in bytes of SRDO */
typedef uint8_t CO_SRDO_size_t;
#endif
typedef struct{
/** Actual number of mapped objects from 0 to 16. Only even numbers are allowed. To change mapped object,
this value must be 0. */
uint8_t numberOfMappedObjects;
/** Location and size of the mapped object.
Even index is the normal object. Odd index is the inverted object. Bit meanings `0xIIIISSLL`:
- Bit 0-7: Data Length in bits.
- Bit 8-15: Subindex from object distionary.
- Bit 16-31: Index from object distionary. */
uint32_t mappedObjects[16];
}CO_SRDOMapPar_t;
/**
* Gurad Object for SRDO
@ -111,10 +81,13 @@ typedef struct{
* - change in operation state
*/
typedef struct{
CO_NMT_internalState_t *operatingState; /**< pointer to current operation state */
CO_NMT_internalState_t operatingStatePrev; /**< last operation state */
uint8_t *configurationValid; /**< pointer to the configuration valid flag in OD */
bool operatingState;
uint8_t configurationValid;
OD_entry_t *SRDO_CRC;
uint8_t checkCRC; /**< specifies whether a CRC check should be performed */
/** Extension for OD object */
OD_extension_t OD_13FE_extension;
OD_extension_t OD_13FF_extension;
}CO_SRDOGuard_t;
/**
@ -122,19 +95,21 @@ typedef struct{
*/
typedef struct{
CO_EM_t *em; /**< From CO_SRDO_init() */
CO_SDO_t *SDO; /**< From CO_SRDO_init() */
CO_SRDOGuard_t *SRDOGuard; /**< From CO_SRDO_init() */
OD_t *OD;
uint8_t SRDO_Index; /**< From CO_SRDO_init() */
/** Number of mapped objects in SRDO */
uint8_t mappedObjectsCount;
/** Pointers to 2*8 data objects, where SRDO will be copied */
uint8_t *mapPointer[2][8];
uint8_t *mapPointer[2][CO_SRDO_MAX_SIZE];
/** Data length of the received SRDO message. Calculated from mapping */
uint8_t dataLength;
CO_SRDO_size_t dataLength;
uint8_t nodeId; /**< From CO_SRDO_init() */
uint16_t defaultCOB_ID[2]; /**< From CO_SRDO_init() */
/** 0 - invalid, 1 - tx, 2 - rx */
uint8_t valid;
const CO_SRDOCommPar_t *SRDOCommPar; /**< From CO_SRDO_init() */
const CO_SRDOMapPar_t *SRDOMapPar; /**< From CO_SRDO_init() */
const uint16_t *checksum; /**< From CO_SRDO_init() */
OD_entry_t *SRDOCommPar; /**< From CO_SRDO_init() */
OD_entry_t *SRDOMapPar; /**< From CO_SRDO_init() */
CO_CANmodule_t *CANdevRx; /**< From CO_SRDO_init() */
CO_CANmodule_t *CANdevTx; /**< From CO_SRDO_init() */
CO_CANtx_t *CANtxBuff[2]; /**< CAN transmit buffer inside CANdevTx */
@ -156,6 +131,16 @@ typedef struct{
/** From CO_SRDO_initCallbackPre() or NULL */
void *functSignalObjectPre;
#endif
/** Extension for OD object */
OD_extension_t OD_communicationParam_ext;
OD_extension_t OD_mappingParam_extension;
uint8_t CommPar_informationDirection;
uint16_t CommPar_safetyCycleTime;
uint8_t CommPar_safetyRelatedValidationTime;
uint8_t CommPar_transmissionType;
uint32_t CommPar_COB_ID1_normal;
uint32_t CommPar_COB_ID2_inverted;
}CO_SRDO_t;
/**
@ -174,11 +159,9 @@ typedef struct{
*/
CO_ReturnError_t CO_SRDOGuard_init(
CO_SRDOGuard_t *SRDOGuard,
CO_SDO_t *SDO,
CO_NMT_internalState_t *operatingState,
uint8_t *configurationValid,
uint16_t idx_SRDOvalid,
uint16_t idx_SRDOcrc);
OD_entry_t *OD_13FE_SRDOValid,
OD_entry_t *OD_13FF_SRDOCRC,
uint32_t *errInfo);
/**
* Process operation and valid state changes.
@ -189,7 +172,8 @@ CO_ReturnError_t CO_SRDOGuard_init(
* - bit 1 validate checksum
*/
uint8_t CO_SRDOGuard_process(
CO_SRDOGuard_t *SRDOGuard);
CO_SRDOGuard_t *SRDOGuard,
bool_t NMTisOperational);
/**
* Initialize SRDO object.
@ -220,22 +204,21 @@ uint8_t CO_SRDOGuard_process(
*/
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,
CO_SDO_t *SDO,
uint8_t nodeId,
uint16_t defaultCOB_ID,
const CO_SRDOCommPar_t *SRDOCommPar,
const CO_SRDOMapPar_t *SRDOMapPar,
const uint16_t *checksum,
uint16_t idx_SRDOCommPar,
uint16_t idx_SRDOMapPar,
OD_entry_t *SRDOCommPar,
OD_entry_t *SRDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdxNormal,
uint16_t CANdevRxIdxInverted,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdxNormal,
uint16_t CANdevTxIdxInverted);
uint16_t CANdevTxIdxInverted,
uint32_t *errInfo);
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
/**

28
CANopen.c
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@ -1187,36 +1187,32 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
if (CO_GET_CNT(SRDO) > 0) {
err = CO_SRDOGuard_init(co->SRDOGuard,
co->SDO[0],
&co->NMT->operatingState,
&OD_configurationValid,
OD_H13FE_SRDO_VALID,
OD_H13FF_SRDO_CHECKSUM);
OD_GET(H13FE, OD_H13FE_SRDO_VALID),
OD_GET(H13FF, OD_H13FF_SRDO_CHECKSUM),
errInfo);
if (err) { return err; }
OD_entry_t *SRDOcomm = OD_GET(H1301, OD_H1301_SRDO_1_PARAM);
OD_entry_t *SRDOmap = OD_GET(H1318, OD_H1381_SRDO_1_MAPPING);
OD_entry_t *SRDOmap = OD_GET(H1381, OD_H1381_SRDO_1_MAPPING);
for (int16_t i = 0; i < CO_GET_CNT(SRDO); i++) {
uint16_t CANdevRxIdx = CO_GET_CO(RX_IDX_SRDO) + 2 * i;
uint16_t CANdevTxIdx = CO_GET_CO(TX_IDX_SRDO) + 2 * i;
err = CO_SRDO_init(&co->SRDO[i],
err = CO_SRDO_init(&co->SRDO[i], i,
co->SRDOGuard,
od,
em,
co->SDO[0],
nodeId,
((i == 0) ? CO_CAN_ID_SRDO_1 : 0),
SRDOcomm++,
SRDOmap++,
&OD_safetyConfigurationChecksum[i],
OD_H1301_SRDO_1_PARAM + i,
OD_H1381_SRDO_1_MAPPING + i,
co->CANmodule,
CANdevRxIdx,
CANdevRxIdx + 1,
co->CANmodule,
CANdevTxIdx,
CANdevTxIdx + 1);
CANdevTxIdx + 1,
errInfo);
if (err) { return err; }
}
}
@ -1604,11 +1600,15 @@ void CO_process_SRDO(CO_t *co,
if (co->nodeIdUnconfigured) {
return;
}
bool_t NMTisOperational =
CO_NMT_getInternalState(co->NMT) == CO_NMT_OPERATIONAL;
uint8_t firstOperational = CO_SRDOGuard_process(co->SRDOGuard);
uint8_t firstOperational = CO_SRDOGuard_process(co->SRDOGuard,
NMTisOperational);
for (int16_t i = 0; i < CO_GET_CNT(SRDO); i++) {
CO_SRDO_process(&co->SRDO[i],
CO_SRDO_process(&co->SRDO[i],
firstOperational,
timeDifference_us,
timerNext_us);