There was a problem with block transfer, when transmitting sequence of
data. If CANsend() failed (socket buffer full), message was dropped.
Now dropped message is marked with bufferFull flag and then it is
re-transmitted later by the driver, as is in the original behaviour of
CANopenNode.
Testing and multiple fixes were made in newOD branch. This commit includes
relevant code from newOD branch, synchronized to this branch.
Following modules were updated:
- SDO client, CO_gateway_ascii, CO_fifo
- socketCAN : CO_epoll_interface, CO_main_basic
SDO client (with gateway and fifo) which was rewritten after v1.3 is now
tested and works the same as in newOD branch. Same is socketCAN. Works as here:
https://github.com/CANopenNode/CANopenSocket/tree/master/examples/basicDevice
SDO server is quite the same as in v1.3. I made no additional testing at
this point.
There are some other updates:
- CO_driver.h, CO_config.h: additional CO_CONFIG_DEBUG macro.
- CO_driver.h: fixed some typos, added optional CO_errinfo() macro.
- CO_NMT_Heartbeat: added CO_NMT_setInternalState().
- documentation synchronized.
- example/_project.xml updated, can be used as template with libedssharp.
The user may decide whether he/she wants one common callback for all
monitored nodes (CO_CONFIG_HB_CONS_CALLBACK_CHANGE) or maybe separate
callbacks configured individually for each monitored mode
(CO_CONFIG_HB_CONS_CALLBACK_MULTI). These options cannot be set
simultaneously.
This change is related to the discussion in #237
- Rename files to CO_epoll_interface
- Object oriented, more flexible, separate functions
- move epoll, timerfd and eventfd system calls from CO_driver.c to CO_epoll_interface.c
microcontroller independent module.
It includes NMT master, LSS master and SDO client interface.
Interface is non-blocking, it is added to mainline.
Example for Linux stdio and socket is included.
Added CO_fifo.h/c for fifo data buffer, used with rewritten SDO client, etc
SDO client is rewritten. Now includes r/w fifo interface to transfer data.
doc/gettingStarted.md is updated.
