152 lines
5.2 KiB
C
152 lines
5.2 KiB
C
/**
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* CANopen Object Dictionary storage object for Linux SocketCAN.
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*
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* @file CO_OD_storage.h
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* @author Janez Paternoster
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* @copyright 2015 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CO_OD_STORAGE_H
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#define CO_OD_STORAGE_H
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#include "CO_driver.h"
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#include "CO_SDO.h"
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#include <stdio.h>
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/* For documentation see file drvTemplate/CO_OD_storage.h */
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/**
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* Callbacks for using inside @ref CO_OD_configure() function (for OD objects 1010 and 1011).
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*/
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CO_SDO_abortCode_t CO_ODF_1010(CO_ODF_arg_t *ODF_arg);
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CO_SDO_abortCode_t CO_ODF_1011(CO_ODF_arg_t *ODF_arg);
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/**
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* Save memory block to a file.
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*
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* Function renames current file to filename.old, copies contents from odAddress
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* to filename, adds two bytes of CRC code. It then verifies the written file and
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* in case of errors sets back the old file and returns error.
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*
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* Function is used with CANopen OD object at index 1010.
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*
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* @param odAddress Address of the memory block, which will be stored.
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* @param odSize Size of the above memory block.
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* @param filename Name of the file, where data will be stored.
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*
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* @return 0 on success, -1 on error.
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*/
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int CO_OD_storage_saveSecure(
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uint8_t *odAddress,
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uint32_t odSize,
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char *filename);
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/**
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* Remove OD storage file.
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*
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* Function renames current file to filename.old, then creates empty file and
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* writes two bytes "-\n" to it. When program will start next time, default values
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* are used for Object Dictionary. In case of error in renaming to .old it
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* keeps the original file and returns error.
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*
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* Writing data to file is secured with mutex CO_LOCK_OD.
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*
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* Function is used with CANopen OD object at index 1011.
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*
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* @param filename Name of the file.
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*
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* @return 0 on success, -1 on error.
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*/
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int CO_OD_storage_restoreSecure(char *filename);
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/**
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* Object Dictionary storage object.
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*
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* Object is used with CANopen OD objects at index 1010 and 1011.
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*/
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typedef struct {
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uint8_t *odAddress; /**< From CO_OD_storage_init() */
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uint32_t odSize; /**< From CO_OD_storage_init() */
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char *filename; /**< From CO_OD_storage_init() */
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/** If CO_OD_storage_autoSave() is used, file stays opened and fp is stored here. */
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FILE *fp;
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uint16_t tmr1msPrev; /**< used with CO_OD_storage_autoSave. */
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uint32_t lastSavedMs; /**< used with CO_OD_storage_autoSave. */
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} CO_OD_storage_t;
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/**
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* Initialize OD storage object and load data from file.
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*
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* Called after program startup. Load storage file and copy data to Object
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* Dictionary variables.
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*
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* @param odStor This object will be initialized.
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* @param odAddress Address of the memory block from Object dictionary, where data will be copied.
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* @param odSize Size of the above memory block.
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* @param filename Name of the file, where data are stored.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_DATA_CORRUPT (Data in file corrupt),
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* CO_ERROR_CRC (CRC from MBR does not match the CRC of OD_ROM block in file),
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* CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OUT_OF_MEMORY (malloc failed).
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*/
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CO_ReturnError_t CO_OD_storage_init(
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CO_OD_storage_t *odStor,
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uint8_t *odAddress,
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uint32_t odSize,
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char *filename);
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/**
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* Automatically save memory block if differs from file.
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*
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* Should be called cyclically by program. It first verifies, if memory block
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* differs from file and if it does, it saves it to file with two additional
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* CRC bytes. File remains opened.
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*
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* @param odStor OD storage object.
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* @param timer1ms Variable, which must increment each millisecond.
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* @param delay Delay (inhibit) time between writes to disk in milliseconds (60000 for example).
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_DATA_CORRUPT (Data in file corrupt),
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* CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OUT_OF_MEMORY (malloc failed).
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*/
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CO_ReturnError_t CO_OD_storage_autoSave(
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CO_OD_storage_t *odStor,
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uint16_t timer1ms,
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uint16_t delay);
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/**
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* Closes file opened by CO_OD_storage_autoSave.
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*
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* @param odStor OD storage object.
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*/
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void CO_OD_storage_autoSaveClose(CO_OD_storage_t *odStor);
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#endif
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