f56c96db3c
- Minor changes in most files - add CANopenNode.png - update doxyfile - move doc/LSSusage.md and doc/gettingStarted.md into CANopenDemo repository - update README.md
539 lines
21 KiB
C
539 lines
21 KiB
C
/**
|
|
* CANopen access from other networks - ASCII mapping (CiA 309-3 DS v3.0.0)
|
|
*
|
|
* @file CO_gateway_ascii.h
|
|
* @ingroup CO_CANopen_309_3
|
|
* @author Janez Paternoster
|
|
* @author Martin Wagner
|
|
* @copyright 2020 Janez Paternoster
|
|
*
|
|
* This file is part of CANopenNode, an opensource CANopen Stack.
|
|
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
|
|
* For more information on CANopen see <http://www.can-cia.org/>.
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CO_GATEWAY_ASCII_H
|
|
#define CO_GATEWAY_ASCII_H
|
|
|
|
#include "301/CO_driver.h"
|
|
#include "301/CO_fifo.h"
|
|
#include "301/CO_SDOclient.h"
|
|
#include "301/CO_NMT_Heartbeat.h"
|
|
#include "305/CO_LSSmaster.h"
|
|
#include "303/CO_LEDs.h"
|
|
|
|
/* default configuration, see CO_config.h */
|
|
#ifndef CO_CONFIG_GTW
|
|
#define CO_CONFIG_GTW (0)
|
|
#endif
|
|
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) || defined CO_DOXYGEN
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/**
|
|
* @defgroup CO_CANopen_309_3 Gateway ASCII mapping
|
|
* CANopen access from other networks - ASCII mapping (CiA 309-3 DSP v3.0.0)
|
|
*
|
|
* @ingroup CO_CANopen_309
|
|
* @{
|
|
* This module enables ascii command interface (CAN gateway), which can be used
|
|
* for master interaction with CANopen network. Some sort of string input/output
|
|
* stream can be used, for example serial port + terminal on microcontroller or
|
|
* stdio in OS or sockets, etc.
|
|
*
|
|
* For example, one wants to read 'Heartbeat producer time' parameter (0x1017,0)
|
|
* on remote node (with id=4). Parameter is 16-bit integer. He can can enter
|
|
* command string: `[1] 4 read 0x1017 0 i16`. CANopenNode will use SDO client,
|
|
* send request to remote node via CAN, wait for response via CAN and prints
|
|
* `[1] OK` to output stream on success.
|
|
*
|
|
* This module is usually initialized and processed in CANopen.c file.
|
|
* Application should register own callback function for reading the output
|
|
* stream. Application writes new commands with CO_GTWA_write().
|
|
*/
|
|
|
|
/**
|
|
* @defgroup CO_CANopen_309_3_Syntax Command syntax
|
|
* ASCII command syntax.
|
|
*
|
|
* @{
|
|
*
|
|
* @code{.unparsed}
|
|
Command strings start with '"["<sequence>"]"' followed by:
|
|
[[<net>] <node>] r[ead] <index> <subindex> [<datatype>] # SDO upload.
|
|
[[<net>] <node>] w[rite] <index> <subindex> <datatype> <value> # SDO download.
|
|
|
|
[[<net>] <node>] start # NMT Start node.
|
|
[[<net>] <node>] stop # NMT Stop node.
|
|
[[<net>] <node>] preop[erational] # NMT Set node to pre-operational.
|
|
[[<net>] <node>] reset node # NMT Reset node.
|
|
[[<net>] <node>] reset comm[unication] # NMT Reset communication.
|
|
|
|
[<net>] set network <value> # Set default net.
|
|
[<net>] set node <value> # Set default node.
|
|
[<net>] set sdo_timeout <value> # Configure SDO time-out.
|
|
[<net>] set sdo_block <value> # Enable/disable SDO block transfer.
|
|
|
|
help [datatype|lss] # Print this or datatype or lss help.
|
|
led # Print status LED diodes.
|
|
log # Print message log.
|
|
|
|
Response:
|
|
"["<sequence>"]" OK | <value> |
|
|
ERROR:<SDO-abort-code> | ERROR:<internal-error-code>
|
|
|
|
* Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same
|
|
is response. String is not null terminated, <CR> is optional in command.
|
|
* Comments started with '#' are ignored. They may be on the beginning of the
|
|
line or after the command string.
|
|
* 'sdo_timeout' is in milliseconds, 500 by default. Block transfer is
|
|
disabled by default.
|
|
* If '<net>' or '<node>' is not specified within commands, then value defined
|
|
by 'set network' or 'set node' command is used.
|
|
|
|
Datatypes:
|
|
b # Boolean.
|
|
i8, i16, i32, i64 # Signed integers.
|
|
u8, u16, u32, u64 # Unsigned integers.
|
|
x8, x16, x32, x64 # Unsigned integers, displayed as hexadecimal, non-standard.
|
|
r32, r64 # Real numbers.
|
|
t, td # Time of day, time difference.
|
|
vs # Visible string (between double quotes if multi-word).
|
|
os, us # Octet, unicode string, (mime-base64 (RFC2045) based, line).
|
|
d # domain (mime-base64 (RFC2045) based, one line).
|
|
hex # Hexagonal data, optionally space separated, non-standard.
|
|
|
|
LSS commands:
|
|
lss_switch_glob <0|1> # Switch state global command.
|
|
lss_switch_sel <vendorID> <product code> \\
|
|
<revisionNo> <serialNo> #Switch state selective.
|
|
lss_set_node <node> # Configure node-ID.
|
|
lss_conf_bitrate <table_selector=0> \\
|
|
<table_index> # Configure bit-rate.
|
|
lss_activate_bitrate <switch_delay_ms> # Activate new bit-rate.
|
|
lss_store # LSS store configuration.
|
|
lss_inquire_addr [<LSSSUB=0..3>] # Inquire LSS address.
|
|
lss_get_node # Inquire node-ID.
|
|
_lss_fastscan [<timeout_ms>] # Identify fastscan, non-standard.
|
|
lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\
|
|
[<scanType0> <vendorId> <scanType1> <productCode>\\
|
|
<scanType2> <revisionNo> <scanType3> <serialNo>]]]
|
|
# Node-ID configuration of all nodes.
|
|
|
|
* All LSS commands start with '\"[\"<sequence>\"]\" [<net>]'.
|
|
* <table_index>: 0=1000 kbit/s, 1=800 kbit/s, 2=500 kbit/s, 3=250 kbit/s,
|
|
4=125 kbit/s, 6=50 kbit/s, 7=20 kbit/s, 8=10 kbit/s, 9=auto
|
|
* <scanType>: 0=fastscan, 1=ignore, 2=match value in next parameter
|
|
* @endcode
|
|
*
|
|
* This help text is the same as variable contents in CO_GTWA_helpString.
|
|
* @}
|
|
*/
|
|
|
|
|
|
/** Size of response string buffer. This is intermediate buffer. If there is
|
|
* larger amount of data to transfer, then multiple transfers will occur. */
|
|
#ifndef CO_GTWA_RESP_BUF_SIZE
|
|
#define CO_GTWA_RESP_BUF_SIZE 200
|
|
#endif
|
|
|
|
|
|
/** Timeout time in microseconds for some internal states. */
|
|
#ifndef CO_GTWA_STATE_TIMEOUT_TIME_US
|
|
#define CO_GTWA_STATE_TIMEOUT_TIME_US 1200000
|
|
#endif
|
|
|
|
|
|
/**
|
|
* Response error codes as specified by CiA 309-3. Values less or equal to 0
|
|
* are used for control for some functions and are not part of the standard.
|
|
*/
|
|
typedef enum {
|
|
/** 0 - No error or idle */
|
|
CO_GTWA_respErrorNone = 0,
|
|
/** 100 - Request not supported */
|
|
CO_GTWA_respErrorReqNotSupported = 100,
|
|
/** 101 - Syntax error */
|
|
CO_GTWA_respErrorSyntax = 101,
|
|
/** 102 - Request not processed due to internal state */
|
|
CO_GTWA_respErrorInternalState = 102,
|
|
/** 103 - Time-out (where applicable) */
|
|
CO_GTWA_respErrorTimeOut = 103,
|
|
/** 104 - No default net set */
|
|
CO_GTWA_respErrorNoDefaultNetSet = 104,
|
|
/** 105 - No default node set */
|
|
CO_GTWA_respErrorNoDefaultNodeSet = 105,
|
|
/** 106 - Unsupported net */
|
|
CO_GTWA_respErrorUnsupportedNet = 106,
|
|
/** 107 - Unsupported node */
|
|
CO_GTWA_respErrorUnsupportedNode = 107,
|
|
/** 200 - Lost guarding message */
|
|
CO_GTWA_respErrorLostGuardingMessage = 200,
|
|
/** 201 - Lost connection */
|
|
CO_GTWA_respErrorLostConnection = 201,
|
|
/** 202 - Heartbeat started */
|
|
CO_GTWA_respErrorHeartbeatStarted = 202,
|
|
/** 203 - Heartbeat lost */
|
|
CO_GTWA_respErrorHeartbeatLost = 203,
|
|
/** 204 - Wrong NMT state */
|
|
CO_GTWA_respErrorWrongNMTstate = 204,
|
|
/** 205 - Boot-up */
|
|
CO_GTWA_respErrorBootUp = 205,
|
|
/** 300 - Error passive */
|
|
CO_GTWA_respErrorErrorPassive = 300,
|
|
/** 301 - Bus off */
|
|
CO_GTWA_respErrorBusOff = 301,
|
|
/** 303 - CAN buffer overflow */
|
|
CO_GTWA_respErrorCANbufferOverflow = 303,
|
|
/** 304 - CAN init */
|
|
CO_GTWA_respErrorCANinit = 304,
|
|
/** 305 - CAN active (at init or start-up) */
|
|
CO_GTWA_respErrorCANactive = 305,
|
|
/** 400 - PDO already used */
|
|
CO_GTWA_respErrorPDOalreadyUsed = 400,
|
|
/** 401 - PDO length exceeded */
|
|
CO_GTWA_respErrorPDOlengthExceeded = 401,
|
|
/** 501 - LSS implementation- / manufacturer-specific error */
|
|
CO_GTWA_respErrorLSSmanufacturer = 501,
|
|
/** 502 - LSS node-ID not supported */
|
|
CO_GTWA_respErrorLSSnodeIdNotSupported = 502,
|
|
/** 503 - LSS bit-rate not supported */
|
|
CO_GTWA_respErrorLSSbitRateNotSupported = 503,
|
|
/** 504 - LSS parameter storing failed */
|
|
CO_GTWA_respErrorLSSparameterStoringFailed = 504,
|
|
/** 505 - LSS command failed because of media error */
|
|
CO_GTWA_respErrorLSSmediaError = 505,
|
|
/** 600 - Running out of memory */
|
|
CO_GTWA_respErrorRunningOutOfMemory = 600
|
|
} CO_GTWA_respErrorCode_t;
|
|
|
|
|
|
/**
|
|
* Internal states of the Gateway-ascii state machine.
|
|
*/
|
|
typedef enum {
|
|
/** Gateway is idle, no command is processing. This state is starting point
|
|
* for new commands, which are parsed here. */
|
|
CO_GTWA_ST_IDLE = 0x00U,
|
|
/** SDO 'read' (upload) */
|
|
CO_GTWA_ST_READ = 0x10U,
|
|
/** SDO 'write' (download) */
|
|
CO_GTWA_ST_WRITE = 0x11U,
|
|
/** SDO 'write' (download) - aborted, purging remaining data */
|
|
CO_GTWA_ST_WRITE_ABORTED = 0x12U,
|
|
/** LSS 'lss_switch_glob' */
|
|
CO_GTWA_ST_LSS_SWITCH_GLOB = 0x20U,
|
|
/** LSS 'lss_switch_sel' */
|
|
CO_GTWA_ST_LSS_SWITCH_SEL = 0x21U,
|
|
/** LSS 'lss_set_node' */
|
|
CO_GTWA_ST_LSS_SET_NODE = 0x22U,
|
|
/** LSS 'lss_conf_bitrate' */
|
|
CO_GTWA_ST_LSS_CONF_BITRATE = 0x23U,
|
|
/** LSS 'lss_store' */
|
|
CO_GTWA_ST_LSS_STORE = 0x24U,
|
|
/** LSS 'lss_inquire_addr' or 'lss_get_node' */
|
|
CO_GTWA_ST_LSS_INQUIRE = 0x25U,
|
|
/** LSS 'lss_inquire_addr', all parameters */
|
|
CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL = 0x26U,
|
|
/** LSS '_lss_fastscan' */
|
|
CO_GTWA_ST__LSS_FASTSCAN = 0x30U,
|
|
/** LSS 'lss_allnodes' */
|
|
CO_GTWA_ST_LSS_ALLNODES = 0x31U,
|
|
/** print message 'log' */
|
|
CO_GTWA_ST_LOG = 0x80U,
|
|
/** print 'help' text */
|
|
CO_GTWA_ST_HELP = 0x81U,
|
|
/** print 'status' of the node */
|
|
CO_GTWA_ST_LED = 0x82U
|
|
} CO_GTWA_state_t;
|
|
|
|
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
|
|
/*
|
|
* CANopen Gateway-ascii data types structure
|
|
*/
|
|
typedef struct {
|
|
/** Data type syntax, as defined in CiA309-3 */
|
|
char* syntax;
|
|
/** Data type length in bytes, 0 if size is not known */
|
|
size_t length;
|
|
/** Function, which reads data of specific data type from fifo buffer and
|
|
* writes them as corresponding ascii string. It is a pointer to
|
|
* #CO_fifo_readU82a function or similar and is used with SDO upload. For
|
|
* description of parameters see #CO_fifo_readU82a */
|
|
size_t (*dataTypePrint)(CO_fifo_t *fifo,
|
|
char *buf,
|
|
size_t count,
|
|
bool_t end);
|
|
/** Function, which reads ascii-data of specific data type from fifo buffer
|
|
* and copies them to another fifo buffer as binary data. It is a pointer to
|
|
* #CO_fifo_cpyTok2U8 function or similar and is used with SDO download. For
|
|
* description of parameters see #CO_fifo_cpyTok2U8 */
|
|
size_t (*dataTypeScan)(CO_fifo_t *dest,
|
|
CO_fifo_t *src,
|
|
CO_fifo_st *status);
|
|
} CO_GTWA_dataType_t;
|
|
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
|
|
|
|
|
|
/**
|
|
* CANopen Gateway-ascii object
|
|
*/
|
|
typedef struct {
|
|
/** Pointer to external function for reading response from Gateway-ascii
|
|
* object. Pointer is initialized in CO_GTWA_initRead().
|
|
*
|
|
* @param object Void pointer to custom object
|
|
* @param buf Buffer from which data can be read
|
|
* @param count Count of bytes available inside buffer
|
|
* @param [out] connectionOK different than 0 indicates connection is OK.
|
|
*
|
|
* @return Count of bytes actually transferred.
|
|
*/
|
|
size_t (*readCallback)(void *object,
|
|
const char *buf,
|
|
size_t count,
|
|
uint8_t *connectionOK);
|
|
/** Pointer to object, which will be used inside readCallback, from
|
|
* CO_GTWA_init() */
|
|
void *readCallbackObject;
|
|
/** Sequence number of the command */
|
|
uint32_t sequence;
|
|
/** Default CANopen Net number is undefined (-1) at startup */
|
|
int32_t net_default;
|
|
/** Default CANopen Node ID number is undefined (-1) at startup */
|
|
int16_t node_default;
|
|
/** Current CANopen Net number */
|
|
uint16_t net;
|
|
/** Current CANopen Node ID */
|
|
uint8_t node;
|
|
/** CO_fifo_t object for command (not pointer) */
|
|
CO_fifo_t commFifo;
|
|
/** Command buffer of usable size @ref CO_CONFIG_GTWA_COMM_BUF_SIZE */
|
|
uint8_t commBuf[CO_CONFIG_GTWA_COMM_BUF_SIZE + 1];
|
|
/** Response buffer of usable size @ref CO_GTWA_RESP_BUF_SIZE */
|
|
char respBuf[CO_GTWA_RESP_BUF_SIZE];
|
|
/** Actual size of data in respBuf */
|
|
size_t respBufCount;
|
|
/** If only part of data has been successfully written into external
|
|
* application (with readCallback()), then Gateway-ascii object will stay
|
|
* in current state. This situation is indicated with respHold variable and
|
|
* respBufOffset indicates offset to untransferred data inside respBuf. */
|
|
size_t respBufOffset;
|
|
/** See respBufOffset above */
|
|
bool_t respHold;
|
|
/** Sum of time difference from CO_GTWA_process() in case of respHold */
|
|
uint32_t timeDifference_us_cumulative;
|
|
/** Current state of the gateway object */
|
|
CO_GTWA_state_t state;
|
|
/** Timeout timer for the current state */
|
|
uint32_t stateTimeoutTmr;
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
|
|
/** SDO client object from CO_GTWA_init() */
|
|
CO_SDOclient_t *SDO_C;
|
|
/** Timeout time for SDO transfer in milliseconds, if no response */
|
|
uint16_t SDOtimeoutTime;
|
|
/** SDO block transfer enabled? */
|
|
bool_t SDOblockTransferEnable;
|
|
/** Indicate status of data copy from / to SDO buffer. If reading, true
|
|
* indicates, that response has started. If writing, true indicates, that
|
|
* SDO buffer contains only part of data and more data will follow. */
|
|
bool_t SDOdataCopyStatus;
|
|
/** Data type of variable in current SDO communication */
|
|
const CO_GTWA_dataType_t *SDOdataType;
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) || defined CO_DOXYGEN
|
|
/** NMT object from CO_GTWA_init() */
|
|
CO_NMT_t *NMT;
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
|
|
/** LSSmaster object from CO_GTWA_init() */
|
|
CO_LSSmaster_t *LSSmaster;
|
|
/** 128 bit number, uniquely identifying each node */
|
|
CO_LSS_address_t lssAddress;
|
|
/** LSS Node-ID parameter */
|
|
uint8_t lssNID;
|
|
/** LSS bitrate parameter */
|
|
uint16_t lssBitrate;
|
|
/** LSS inquire parameter */
|
|
CO_LSS_cs_t lssInquireCs;
|
|
/** LSS fastscan parameter */
|
|
CO_LSSmaster_fastscan_t lssFastscan;
|
|
/** LSS allnodes sub state parameter */
|
|
uint8_t lssSubState;
|
|
/** LSS allnodes node count parameter */
|
|
uint8_t lssNodeCount;
|
|
/** LSS allnodes store parameter */
|
|
bool_t lssStore;
|
|
/** LSS allnodes timeout parameter */
|
|
uint16_t lssTimeout_ms;
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) || defined CO_DOXYGEN
|
|
/** Message log buffer of usable size @ref CO_CONFIG_GTWA_LOG_BUF_SIZE */
|
|
uint8_t logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1];
|
|
/** CO_fifo_t object for message log (not pointer) */
|
|
CO_fifo_t logFifo;
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) || defined CO_DOXYGEN
|
|
/** Offset, when printing help text */
|
|
const char *helpString;
|
|
size_t helpStringOffset;
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
|
|
/** CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init()*/
|
|
CO_LEDs_t *LEDs;
|
|
uint8_t ledStringPreviousIndex;
|
|
#endif
|
|
} CO_GTWA_t;
|
|
|
|
|
|
/**
|
|
* Initialize Gateway-ascii object
|
|
*
|
|
* @param gtwa This object will be initialized
|
|
* @param SDO_C SDO client object
|
|
* @param SDOclientTimeoutTime_ms Default timeout in milliseconds, 500 typically
|
|
* @param SDOclientBlockTransfer If true, block transfer will be set by default
|
|
* @param NMT NMT object
|
|
* @param LSSmaster LSS master object
|
|
* @param LEDs LEDs object
|
|
* @param dummy dummy argument, set to 0
|
|
*
|
|
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT
|
|
*/
|
|
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
|
|
CO_SDOclient_t* SDO_C,
|
|
uint16_t SDOclientTimeoutTime_ms,
|
|
bool_t SDOclientBlockTransfer,
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) || defined CO_DOXYGEN
|
|
CO_NMT_t *NMT,
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
|
|
CO_LSSmaster_t *LSSmaster,
|
|
#endif
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
|
|
CO_LEDs_t *LEDs,
|
|
#endif
|
|
uint8_t dummy);
|
|
|
|
|
|
/**
|
|
* Initialize read callback in Gateway-ascii object
|
|
*
|
|
* Callback will be used for transfer data to output stream of the application.
|
|
* It will be called from CO_GTWA_process() zero or multiple times, depending on
|
|
* the data available. If readCallback is uninitialized or NULL, then output
|
|
* data will be purged.
|
|
*
|
|
* @param gtwa This object will be initialized
|
|
* @param readCallback Pointer to external function for reading response from
|
|
* Gateway-ascii object. See #CO_GTWA_t for parameters.
|
|
* @param readCallbackObject Pointer to object, which will be used inside
|
|
* readCallback
|
|
*/
|
|
void CO_GTWA_initRead(CO_GTWA_t* gtwa,
|
|
size_t (*readCallback)(void *object,
|
|
const char *buf,
|
|
size_t count,
|
|
uint8_t *connectionOK),
|
|
void *readCallbackObject);
|
|
|
|
|
|
/**
|
|
* Get free write buffer space
|
|
*
|
|
* @param gtwa This object
|
|
*
|
|
* @return number of available bytes
|
|
*/
|
|
static inline size_t CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
|
|
return CO_fifo_getSpace(>wa->commFifo);
|
|
}
|
|
|
|
|
|
/**
|
|
* Write command into CO_GTWA_t object.
|
|
*
|
|
* This function copies ascii command from buf into internal fifo buffer.
|
|
* Command must be closed with '\n' character. Function returns number of bytes
|
|
* successfully copied. If there is not enough space in destination, not all
|
|
* bytes will be copied and data can be refilled later (in case of large SDO
|
|
* download).
|
|
*
|
|
* @param gtwa This object
|
|
* @param buf Buffer which will be copied
|
|
* @param count Number of bytes in buf
|
|
*
|
|
* @return number of bytes actually written.
|
|
*/
|
|
static inline size_t CO_GTWA_write(CO_GTWA_t* gtwa,
|
|
const char *buf,
|
|
size_t count)
|
|
{
|
|
return CO_fifo_write(>wa->commFifo, (const uint8_t *)buf, count, NULL);
|
|
}
|
|
|
|
|
|
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) || defined CO_DOXYGEN
|
|
/**
|
|
* Print message log string into fifo buffer
|
|
*
|
|
* This function enables recording of system log messages including CANopen
|
|
* events. Function can be called by application for recording any message.
|
|
* Message is copied to internal fifo buffer. In case fifo is full, old messages
|
|
* will be owerwritten. Message log fifo can be read with non-standard command
|
|
* "log". After log is read, it is emptied.
|
|
*
|
|
* @param gtwa This object
|
|
* @param message Null terminated string
|
|
*/
|
|
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message);
|
|
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
|
|
|
|
|
|
/**
|
|
* Process Gateway-ascii object
|
|
*
|
|
* This is non-blocking function and must be called cyclically
|
|
*
|
|
* @param gtwa This object will be initialized.
|
|
* @param enable If true, gateway operates normally. If false, gateway is
|
|
* completely disabled and no command interaction is possible. Can be connected
|
|
* to hardware switch, for example.
|
|
* @param timeDifference_us Time difference from previous function call in
|
|
* [microseconds].
|
|
* @param [out] timerNext_us info to OS - see CO_process().
|
|
*
|
|
* @return CO_ReturnError_t: CO_ERROR_NO on success or CO_ERROR_ILLEGAL_ARGUMENT
|
|
*/
|
|
void CO_GTWA_process(CO_GTWA_t *gtwa,
|
|
bool_t enable,
|
|
uint32_t timeDifference_us,
|
|
uint32_t *timerNext_us);
|
|
|
|
/** @} */ /* CO_CANopen_309_3 */
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /*__cplusplus*/
|
|
|
|
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
|
|
|
|
#endif /* CO_GATEWAY_ASCII_H */
|