nikon/CANopenNode
1
0
Fork 0
Code Activity Actions
CANopenNode/stack/socketCAN/eeprom.c

243 lines
8.5 KiB
C
Raw Blame History

/*
* Eeprom object for Linux SocketCAN.
*
* @file eeprom.c
* @author Janez Paternoster
* @copyright 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <http://canopennode.sourceforge.net>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 2.1 of the License, or
* (at your option) any later version.
*
* 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "CO_driver.h"
#include "CO_SDO.h"
#include "CO_Emergency.h"
#include "eeprom.h"
#include "crc16-ccitt.h"
#include <string.h> /* for memcpy */
#include <stdlib.h> /* for malloc, free */
/* Store parameters ***********************************************************/
static CO_SDO_abortCode_t CO_ODF_1010(CO_ODF_arg_t *ODF_arg){
CO_EE_t *ee;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
ee = (CO_EE_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading){
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex == 1){
if(value == 0x65766173UL){
/* store parameters */
/* rename current file to .old */
remove(EE_ROM_FILENAME_OLD);
rename(EE_ROM_FILENAME, EE_ROM_FILENAME_OLD);
/* open a file */
FILE *fp = fopen(EE_ROM_FILENAME, "wb");
if(!fp){
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
/* write data to the file */
fwrite((const void *)ee->OD_ROMAddress, 1, ee->OD_ROMSize, fp);
/* write CRC to the end of the file */
uint16_t CRC = crc16_ccitt((unsigned char*)ee->OD_ROMAddress, ee->OD_ROMSize, 0);
fwrite((const void *)&CRC, 1, 2, fp);
fclose(fp);
/* verify data */
void *buf = malloc(ee->OD_ROMSize + 4);
if(buf){
fp = fopen(EE_ROM_FILENAME, "rb");
uint32_t cnt = 0;
uint16_t CRC2 = 0;
if(fp){
cnt = fread(buf, 1, ee->OD_ROMSize, fp);
CRC2 = crc16_ccitt((unsigned char*)buf, ee->OD_ROMSize, 0);
/* read also two bytes of CRC */
cnt += fread(buf, 1, 4, fp);
fclose(fp);
}
free(buf);
if(cnt == (ee->OD_ROMSize + 2) && CRC == CRC2){
/* write successful */
return CO_SDO_AB_NONE;
}
}
/* error, set back the old file */
remove(EE_ROM_FILENAME);
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
else
return CO_SDO_AB_DATA_TRANSF;
}
}
return ret;
}
/* Restore default parameters *************************************************/
static CO_SDO_abortCode_t CO_ODF_1011(CO_ODF_arg_t *ODF_arg){
CO_EE_t *ee;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
ee = (CO_EE_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading){
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex >= 1){
if(value == 0x64616F6CUL){
/* restore default parameters */
/* rename current file to .old, so it no longer exist */
remove(EE_ROM_FILENAME_OLD);
rename(EE_ROM_FILENAME, EE_ROM_FILENAME_OLD);
/* create an empty file */
FILE *fp = fopen(EE_ROM_FILENAME, "wt");
if(!fp){
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
/* write one byte '-' to the file */
fputc('-', fp);
fclose(fp);
return CO_SDO_AB_NONE;
}
else
return CO_SDO_AB_DATA_TRANSF;
}
}
return ret;
}
/******************************************************************************/
CO_ReturnError_t CO_EE_init_1(
CO_EE_t *ee,
uint8_t *SRAMAddress,
uint8_t *OD_EEPROMAddress,
uint32_t OD_EEPROMSize,
uint8_t *OD_ROMAddress,
uint32_t OD_ROMSize)
{
/* verify arguments */
if(ee==NULL || OD_EEPROMAddress==NULL || OD_ROMAddress==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* configure object variables */
ee->pSRAM = (uint32_t*)SRAMAddress;
ee->OD_EEPROMAddress = (uint32_t*) OD_EEPROMAddress;
ee->OD_EEPROMSize = OD_EEPROMSize / 4;
ee->OD_ROMAddress = OD_ROMAddress;
ee->OD_ROMSize = OD_ROMSize;
ee->OD_EEPROMCurrentIndex = 0;
ee->OD_EEPROMWriteEnable = false;
/* read the CO_OD_EEPROM from SRAM, first verify, if data are OK */
if(ee->pSRAM == 0) return CO_ERROR_OUT_OF_MEMORY;
uint32_t firstWordRAM = *(ee->OD_EEPROMAddress);
uint32_t firstWordEE = *(ee->pSRAM);
uint32_t lastWordEE = *(ee->pSRAM + ee->OD_EEPROMSize - 1);
if(firstWordRAM == firstWordEE && firstWordRAM == lastWordEE){
unsigned int i;
for(i=0; i<ee->OD_EEPROMSize; i++)
(ee->OD_EEPROMAddress)[i] = (ee->pSRAM)[i];
}
ee->OD_EEPROMWriteEnable = true;
/* read the CO_OD_ROM from file and verify CRC */
void *buf = malloc(ee->OD_ROMSize);
if(buf){
CO_ReturnError_t ret = CO_ERROR_NO;
FILE *fp = fopen(EE_ROM_FILENAME, "rb");
uint32_t cnt = 0;
uint16_t CRC[2];
if(fp){
cnt = fread(buf, 1, ee->OD_ROMSize, fp);
/* read also two bytes of CRC from file */
cnt += fread(&CRC[0], 1, 4, fp);
CRC[1] = crc16_ccitt((unsigned char*)buf, ee->OD_ROMSize, 0);
fclose(fp);
}
if(cnt == 1 && *((char*)buf) == '-'){
ret = CO_ERROR_NO; /* file is empty, default values will be used, no error */
}
else if(cnt != (ee->OD_ROMSize + 2)){
ret = CO_ERROR_DATA_CORRUPT; /* file length does not match */
}
else if(CRC[0] != CRC[1]){
ret = CO_ERROR_CRC; /* CRC does not match */
}
else{
/* no errors, copy data into object dictionary */
memcpy(ee->OD_ROMAddress, buf, ee->OD_ROMSize);
}
free(buf);
return ret;
}
else return CO_ERROR_OUT_OF_MEMORY;
return CO_ERROR_NO;
}
/******************************************************************************/
void CO_EE_init_2(
CO_EE_t *ee,
CO_ReturnError_t eeStatus,
CO_SDO_t *SDO,
CO_EM_t *em)
{
CO_OD_configure(SDO, OD_H1010_STORE_PARAM_FUNC, CO_ODF_1010, (void*)ee, 0, 0U);
CO_OD_configure(SDO, OD_H1011_REST_PARAM_FUNC, CO_ODF_1011, (void*)ee, 0, 0U);
if(eeStatus != CO_ERROR_NO){
CO_errorReport(em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)eeStatus);
}
}
/******************************************************************************/
void CO_EE_process(CO_EE_t *ee){
if(ee && ee->OD_EEPROMWriteEnable){
/* verify next word */
unsigned int i = ee->OD_EEPROMCurrentIndex;
if(++i == ee->OD_EEPROMSize) i = 0;
ee->OD_EEPROMCurrentIndex = i;
/* update SRAM */
(ee->pSRAM)[i] = (ee->OD_EEPROMAddress)[i];
}
}
View git blame Copy permalink