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Make SYNC optional in TPDO and RPDO.

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This commit is contained in:
Janez 2020-03-20 18:47:16 +01:00
parent 6e28914ca9
commit ffd5027cb2
7 changed files with 85 additions and 26 deletions
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62
301/CO_PDO.c
View file

@ -28,7 +28,9 @@
#include "301/CO_SDOserver.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.h"
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#include "301/CO_SYNC.h"
#endif
#include "301/CO_PDO.h"
/*
@ -51,6 +53,7 @@ static void CO_PDO_receive(void *object, void *msg){
(*RPDO->operatingState == CO_NMT_OPERATIONAL) &&
(DLC >= RPDO->dataLength))
{
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
if(RPDO->SYNC && RPDO->synchronous && RPDO->SYNC->CANrxToggle) {
/* copy data into second buffer and set 'new message' flag */
RPDO->CANrxData[1][0] = data[0];
@ -65,6 +68,7 @@ static void CO_PDO_receive(void *object, void *msg){
CO_FLAG_SET(RPDO->CANrxNew[1]);
}
else {
#endif
/* copy data into default buffer and set 'new message' flag */
RPDO->CANrxData[0][0] = data[0];
RPDO->CANrxData[0][1] = data[1];
@ -76,7 +80,9 @@ static void CO_PDO_receive(void *object, void *msg){
RPDO->CANrxData[0][7] = data[7];
CO_FLAG_SET(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
}
#endif
}
}
@ -105,13 +111,17 @@ static void CO_RPDOconfigCom(CO_RPDO_t* RPDO, uint32_t COB_IDUsedByRPDO){
/* is used default COB-ID? */
if(ID == RPDO->defaultCOB_ID) ID += RPDO->nodeId;
RPDO->valid = true;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
RPDO->synchronous = (RPDO->RPDOCommPar->transmissionType <= 240) ? true : false;
#endif
}
else{
ID = 0;
RPDO->valid = false;
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#endif
}
r = CO_CANrxBufferInit(
RPDO->CANdevRx, /* CAN device */
@ -124,7 +134,9 @@ static void CO_RPDOconfigCom(CO_RPDO_t* RPDO, uint32_t COB_IDUsedByRPDO){
if(r != CO_ERROR_NO){
RPDO->valid = false;
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#endif
}
}
@ -467,6 +479,7 @@ static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
bool_t synchronousPrev = RPDO->synchronous;
/* values from 241...253 are not valid */
@ -479,6 +492,11 @@ static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
if(RPDO->synchronous != synchronousPrev) {
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
}
#else
/* values from 0...253 are not valid */
if(*value <= 253)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
#endif
}
return CO_SDO_AB_NONE;
@ -541,16 +559,24 @@ static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
/* configure TPDO */
CO_TPDOconfigCom(TPDO, value, TPDO->CANtxBuff->syncFlag);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
TPDO->syncCounter = 255;
#endif
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
/* values from 241...253 are not valid */
if(*value >= 241 && *value <= 253)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
TPDO->CANtxBuff->syncFlag = (*value <= 240) ? 1 : 0;
TPDO->syncCounter = 255;
#else
/* values from 0...253 are not valid */
if(*value <= 253)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
#endif
}
else if(ODF_arg->subIndex == 3){ /* Inhibit_Time */
/* if PDO is valid, value can not be changed */
@ -717,7 +743,7 @@ CO_ReturnError_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
void *SYNC,
CO_NMT_internalState_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
@ -738,7 +764,9 @@ CO_ReturnError_t CO_RPDO_init(
/* Configure object variables */
RPDO->em = em;
RPDO->SDO = SDO;
RPDO->SYNC = SYNC;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
RPDO->SYNC = (CO_SYNC_t *)SYNC;
#endif
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
@ -752,7 +780,9 @@ CO_ReturnError_t CO_RPDO_init(
/* configure communication and mapping */
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#endif
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
@ -768,7 +798,7 @@ CO_ReturnError_t CO_TPDO_init(
CO_TPDO_t *TPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
void *SYNC,
CO_NMT_internalState_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
@ -789,7 +819,9 @@ CO_ReturnError_t CO_TPDO_init(
/* Configure object variables */
TPDO->em = em;
TPDO->SDO = SDO;
TPDO->SYNC = SYNC;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
TPDO->SYNC = (CO_SYNC_t *)SYNC;
#endif
TPDO->TPDOCommPar = TPDOCommPar;
TPDO->TPDOMapPar = TPDOMapPar;
TPDO->operatingState = operatingState;
@ -804,12 +836,13 @@ CO_ReturnError_t CO_TPDO_init(
/* configure communication and mapping */
TPDO->CANdevTx = CANdevTx;
TPDO->CANdevTxIdx = CANdevTxIdx;
TPDO->syncCounter = 255;
TPDO->inhibitTimer = 0;
TPDO->eventTimer = ((uint32_t) TPDOCommPar->eventTimer) * 1000;
if(TPDOCommPar->transmissionType>=254) TPDO->sendRequest = 1;
CO_TPDOconfigMap(TPDO, TPDOMapPar->numberOfMappedObjects);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
TPDO->syncCounter = 255;
CO_TPDOconfigCom(TPDO, TPDOCommPar->COB_IDUsedByTPDO, ((TPDOCommPar->transmissionType<=240) ? 1 : 0));
if((TPDOCommPar->transmissionType>240 &&
@ -817,6 +850,11 @@ CO_ReturnError_t CO_TPDO_init(
TPDOCommPar->SYNCStartValue>240){
TPDO->valid = false;
}
#else
CO_TPDOconfigCom(TPDO, TPDOCommPar->COB_IDUsedByTPDO, 0);
if(TPDOCommPar->transmissionType<254)
TPDO->valid = false;
#endif
return CO_ERROR_NO;
}
@ -898,13 +936,21 @@ int16_t CO_TPDOsend(CO_TPDO_t *TPDO){
//#define RPDO_CALLS_EXTENSION
/******************************************************************************/
void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
bool_t process_rpdo = true;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
if(RPDO->synchronous && !syncWas)
process_rpdo = false;
#endif
if(!RPDO->valid || !(*RPDO->operatingState == CO_NMT_OPERATIONAL))
{
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#endif
}
else if(!RPDO->synchronous || syncWas)
else if(process_rpdo)
{
#if defined(RPDO_CALLS_EXTENSION)
bool_t update = false;
@ -912,10 +958,12 @@ void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
uint8_t bufNo = 0;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
/* Determine, which of the two rx buffers, contains relevant message. */
if(RPDO->SYNC && RPDO->synchronous && !RPDO->SYNC->CANrxToggle) {
bufNo = 1;
}
#endif
while(CO_FLAG_READ(RPDO->CANrxNew[bufNo])){
int16_t i;
@ -1002,6 +1050,7 @@ void CO_TPDO_process(
#endif
}
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
/* Synchronous PDOs */
else if(TPDO->SYNC && syncWas){
/* send synchronous acyclic PDO */
@ -1031,6 +1080,7 @@ void CO_TPDO_process(
}
}
}
#endif
}
else{

35
301/CO_PDO.h
View file

@ -165,7 +165,6 @@ typedef struct{
typedef struct{
CO_EM_t *em; /**< From CO_RPDO_init() */
CO_SDO_t *SDO; /**< From CO_RPDO_init() */
CO_SYNC_t *SYNC; /**< From CO_RPDO_init() */
const CO_RPDOCommPar_t *RPDOCommPar;/**< From CO_RPDO_init() */
const CO_RPDOMapPar_t *RPDOMapPar; /**< From CO_RPDO_init() */
CO_NMT_internalState_t *operatingState; /**< From CO_RPDO_init() */
@ -174,16 +173,22 @@ typedef struct{
uint8_t restrictionFlags;/**< From CO_RPDO_init() */
/** True, if PDO is enabled and valid */
bool_t valid;
/** True, if PDO synchronous (transmissionType <= 240) */
bool_t synchronous;
/** Data length of the received PDO message. Calculated from mapping */
uint8_t dataLength;
/** Pointers to 8 data objects, where PDO will be copied */
uint8_t *mapPointer[8];
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
CO_SYNC_t *SYNC; /**< From CO_RPDO_init() */
/** True, if PDO synchronous (transmissionType <= 240) */
bool_t synchronous;
/** Variable indicates, if new PDO message received from CAN bus. */
volatile void *CANrxNew[2];
/** 8 data bytes of the received message. */
uint8_t CANrxData[2][8];
#else
volatile void *CANrxNew[1];
uint8_t CANrxData[1][8];
#endif
CO_CANmodule_t *CANdevRx; /**< From CO_RPDO_init() */
uint16_t CANdevRxIdx; /**< From CO_RPDO_init() */
}CO_RPDO_t;
@ -195,7 +200,6 @@ typedef struct{
typedef struct{
CO_EM_t *em; /**< From CO_TPDO_init() */
CO_SDO_t *SDO; /**< From CO_TPDO_init() */
CO_SYNC_t *SYNC; /**< From CO_TPDO_init() */
const CO_TPDOCommPar_t *TPDOCommPar;/**< From CO_TPDO_init() */
const CO_TPDOMapPar_t *TPDOMapPar; /**< From CO_TPDO_init() */
CO_NMT_internalState_t *operatingState; /**< From CO_TPDO_init() */
@ -210,16 +214,19 @@ typedef struct{
uint8_t sendRequest;
/** Pointers to 8 data objects, where PDO will be copied */
uint8_t *mapPointer[8];
/** Each flag bit is connected with one mapPointer. If flag bit
is true, CO_TPDO_process() functiuon will send PDO if
Change of State is detected on value pointed by that mapPointer */
uint8_t sendIfCOSFlags;
/** SYNC counter used for PDO sending */
uint8_t syncCounter;
/** Inhibit timer used for inhibit PDO sending translated to microseconds */
uint32_t inhibitTimer;
/** Event timer used for PDO sending translated to microseconds */
uint32_t eventTimer;
/** Each flag bit is connected with one mapPointer. If flag bit
is true, CO_TPDO_process() functiuon will send PDO if
Change of State is detected on value pointed by that mapPointer */
uint8_t sendIfCOSFlags;
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
/** SYNC counter used for PDO sending */
uint8_t syncCounter;
CO_SYNC_t *SYNC; /**< From CO_TPDO_init() */
#endif
CO_CANmodule_t *CANdevTx; /**< From CO_TPDO_init() */
CO_CANtx_t *CANtxBuff; /**< CAN transmit buffer inside CANdev */
uint16_t CANdevTxIdx; /**< From CO_TPDO_init() */
@ -234,7 +241,7 @@ typedef struct{
* @param RPDO This object will be initialized.
* @param em Emergency object.
* @param SDO SDO server object.
* @param SYNC SYNC object.
* @param SYNC void pointer to SYNC object or NULL.
* @param operatingState Pointer to variable indicating CANopen device NMT internal state.
* @param nodeId CANopen Node ID of this device. If default COB_ID is used, value will be added.
* @param defaultCOB_ID Default COB ID for this PDO (without NodeId).
@ -260,7 +267,7 @@ CO_ReturnError_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
void *SYNC,
CO_NMT_internalState_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
@ -281,7 +288,7 @@ CO_ReturnError_t CO_RPDO_init(
* @param TPDO This object will be initialized.
* @param em Emergency object.
* @param SDO SDO object.
* @param SYNC SYNC object.
* @param SYNC void pointer to SYNC object or NULL.
* @param operatingState Pointer to variable indicating CANopen device NMT internal state.
* @param nodeId CANopen Node ID of this device. If default COB_ID is used, value will be added.
* @param defaultCOB_ID Default COB ID for this PDO (without NodeId).
@ -307,7 +314,7 @@ CO_ReturnError_t CO_TPDO_init(
CO_TPDO_t *TPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
void *SYNC,
CO_NMT_internalState_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,

4
301/CO_config.h
View file

@ -195,10 +195,12 @@ extern "C" {
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_TPDO_process().
* - CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC object inside PDO objects.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE
#endif
#define CO_CONFIG_PDO_SYNC_ENABLE 0x01
/**

2
301/CO_driver.h
View file

@ -58,7 +58,7 @@ extern "C" {
#endif
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO 0
#define CO_CONFIG_PDO CO_CONFIG_PDO_SYNC_ENABLE
#endif
#ifndef CO_CONFIG_SYNC

4
CANopen.c
View file

@ -524,7 +524,7 @@ CO_ReturnError_t CO_CANopenInit(uint8_t nodeId) {
err = CO_RPDO_init(CO->RPDO[i],
CO->em,
CO->SDO[0],
CO->SYNC,
(void *)CO->SYNC,
&CO->NMT->operatingState,
nodeId,
((i < 4) ? (CO_CAN_ID_RPDO_1 + i * 0x100) : 0),
@ -544,7 +544,7 @@ CO_ReturnError_t CO_CANopenInit(uint8_t nodeId) {
err = CO_TPDO_init(CO->TPDO[i],
CO->em,
CO->SDO[0],
CO->SYNC,
(void *)CO->SYNC,
&CO->NMT->operatingState,
nodeId,
((i < 4) ? (CO_CAN_ID_TPDO_1 + i * 0x100) : 0),

2
example/CO_driver_target.h
View file

@ -65,7 +65,7 @@ extern "C" {
#endif
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE
#endif
#ifndef CO_CONFIG_SYNC

2
socketCAN/CO_driver_target.h
View file

@ -73,7 +73,7 @@ extern "C" {
#endif
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT
#define CO_CONFIG_PDO CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE
#endif
#ifndef CO_CONFIG_SYNC