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MindSDK_MM32F5270/components/canopen/CO_PDO.c

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/*
* CANopen Process Data Object.
*
* @file CO_PDO.c
* @ingroup CO_PDO
* @author Janez Paternoster
* @copyright 2004 - 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.
*/
#include "CO_driver.h"
#include "CO_SDO.h"
#include "CO_Emergency.h"
#include "CO_NMT_Heartbeat.h"
#include "CO_SYNC.h"
#include "CO_PDO.h"
/*
* Read received message from CAN module.
*
* Function will be called (by CAN receive interrupt) every time, when CAN
* message with correct identifier will be received. For more information and
* description of parameters see file CO_driver.h.
* If new message arrives and previous message wasn't processed yet, then
* previous message will be lost and overwritten by new message. That's OK with PDOs.
*/
static void CO_PDO_receive(void *object, const CO_CANrxMsg_t *msg){
CO_RPDO_t *RPDO;
RPDO = (CO_RPDO_t*)object; /* this is the correct pointer type of the first argument */
if( (RPDO->valid) &&
(*RPDO->operatingState == CO_NMT_OPERATIONAL) &&
(msg->DLC >= RPDO->dataLength))
{
if(RPDO->SYNC && RPDO->synchronous && RPDO->SYNC->CANrxToggle) {
/* copy data into second buffer and set 'new message' flag */
RPDO->CANrxData[1][0] = msg->data[0];
RPDO->CANrxData[1][1] = msg->data[1];
RPDO->CANrxData[1][2] = msg->data[2];
RPDO->CANrxData[1][3] = msg->data[3];
RPDO->CANrxData[1][4] = msg->data[4];
RPDO->CANrxData[1][5] = msg->data[5];
RPDO->CANrxData[1][6] = msg->data[6];
RPDO->CANrxData[1][7] = msg->data[7];
SET_CANrxNew(RPDO->CANrxNew[1]);
}
else {
/* copy data into default buffer and set 'new message' flag */
RPDO->CANrxData[0][0] = msg->data[0];
RPDO->CANrxData[0][1] = msg->data[1];
RPDO->CANrxData[0][2] = msg->data[2];
RPDO->CANrxData[0][3] = msg->data[3];
RPDO->CANrxData[0][4] = msg->data[4];
RPDO->CANrxData[0][5] = msg->data[5];
RPDO->CANrxData[0][6] = msg->data[6];
RPDO->CANrxData[0][7] = msg->data[7];
SET_CANrxNew(RPDO->CANrxNew[0]);
}
}
}
/*
* Configure RPDO Communication parameter.
*
* Function is called from commuincation reset or when parameter changes.
*
* Function configures following variable from CO_RPDO_t: _valid_. It also
* configures CAN rx buffer. If configuration fails, emergency message is send
* and device is not able to enter NMT operational.
*
* @param RPDO RPDO object.
* @param COB_IDUsedByRPDO _RPDO communication parameter_, _COB-ID for PDO_ variable
* from Object dictionary (index 0x1400+, subindex 1).
*/
static void CO_RPDOconfigCom(CO_RPDO_t* RPDO, uint32_t COB_IDUsedByRPDO){
uint16_t ID;
CO_ReturnError_t r;
ID = (uint16_t)COB_IDUsedByRPDO;
/* is RPDO used? */
if((COB_IDUsedByRPDO & 0xBFFFF800L) == 0 && RPDO->dataLength && ID){
/* is used default COB-ID? */
if(ID == RPDO->defaultCOB_ID) ID += RPDO->nodeId;
RPDO->valid = true;
RPDO->synchronous = (RPDO->RPDOCommPar->transmissionType <= 240) ? true : false;
}
else{
ID = 0;
RPDO->valid = false;
CLEAR_CANrxNew(RPDO->CANrxNew[0]);
CLEAR_CANrxNew(RPDO->CANrxNew[1]);
}
r = CO_CANrxBufferInit(
RPDO->CANdevRx, /* CAN device */
RPDO->CANdevRxIdx, /* rx buffer index */
ID, /* CAN identifier */
0x7FF, /* mask */
0, /* rtr */
(void*)RPDO, /* object passed to receive function */
CO_PDO_receive); /* this function will process received message */
if(r != CO_ERROR_NO){
RPDO->valid = false;
CLEAR_CANrxNew(RPDO->CANrxNew[0]);
CLEAR_CANrxNew(RPDO->CANrxNew[1]);
}
}
/*
* Configure TPDO Communication parameter.
*
* Function is called from commuincation reset or when parameter changes.
*
* Function configures following variable from CO_TPDO_t: _valid_. It also
* configures CAN tx buffer. If configuration fails, emergency message is send
* and device is not able to enter NMT operational.
*
* @param TPDO TPDO object.
* @param COB_IDUsedByTPDO _TPDO communication parameter_, _COB-ID for PDO_ variable
* from Object dictionary (index 0x1400+, subindex 1).
* @param syncFlag Indicate, if TPDO is synchronous.
*/
static void CO_TPDOconfigCom(CO_TPDO_t* TPDO, uint32_t COB_IDUsedByTPDO, uint8_t syncFlag){
uint16_t ID;
ID = (uint16_t)COB_IDUsedByTPDO;
/* is TPDO used? */
if((COB_IDUsedByTPDO & 0xBFFFF800L) == 0 && TPDO->dataLength && ID){
/* is used default COB-ID? */
if(ID == TPDO->defaultCOB_ID) ID += TPDO->nodeId;
TPDO->valid = true;
}
else{
ID = 0;
TPDO->valid = false;
}
TPDO->CANtxBuff = CO_CANtxBufferInit(
TPDO->CANdevTx, /* CAN device */
TPDO->CANdevTxIdx, /* index of specific buffer inside CAN module */
ID, /* CAN identifier */
0, /* rtr */
TPDO->dataLength, /* number of data bytes */
syncFlag); /* synchronous message flag bit */
if(TPDO->CANtxBuff == 0){
TPDO->valid = false;
}
}
/*
* Find mapped variable in Object Dictionary.
*
* Function is called from CO_R(T)PDOconfigMap or when mapping parameter changes.
*
* @param SDO SDO object.
* @param map PDO mapping parameter.
* @param R_T 0 for RPDO map, 1 for TPDO map.
* @param ppData Pointer to returning parameter: pointer to data of mapped variable.
* @param pLength Pointer to returning parameter: *add* length of mapped variable.
* @param pSendIfCOSFlags Pointer to returning parameter: sendIfCOSFlags variable.
* @param pIsMultibyteVar Pointer to returning parameter: true for multibyte variable.
*
* @return 0 on success, otherwise SDO abort code.
*/
static uint32_t CO_PDOfindMap(
CO_SDO_t *SDO,
uint32_t map,
uint8_t R_T,
uint8_t **ppData,
uint8_t *pLength,
uint8_t *pSendIfCOSFlags,
uint8_t *pIsMultibyteVar)
{
uint16_t entryNo;
uint16_t index;
uint8_t subIndex;
uint8_t dataLen;
uint8_t objectLen;
uint8_t attr;
index = (uint16_t)(map>>16);
subIndex = (uint8_t)(map>>8);
dataLen = (uint8_t) map; /* data length in bits */
/* data length must be byte aligned */
if(dataLen&0x07) return CO_SDO_AB_NO_MAP; /* Object cannot be mapped to the PDO. */
dataLen >>= 3; /* new data length is in bytes */
*pLength += dataLen;
/* total PDO length can not be more than 8 bytes */
if(*pLength > 8) return CO_SDO_AB_MAP_LEN; /* The number and length of the objects to be mapped would exceed PDO length. */
/* is there a reference to dummy entries */
if(index <=7 && subIndex == 0){
static uint32_t dummyTX = 0;
static uint32_t dummyRX;
uint8_t dummySize = 4;
if(index<2) dummySize = 0;
else if(index==2 || index==5) dummySize = 1;
else if(index==3 || index==6) dummySize = 2;
/* is size of variable big enough for map */
if(dummySize < dataLen) return CO_SDO_AB_NO_MAP; /* Object cannot be mapped to the PDO. */
/* Data and ODE pointer */
if(R_T == 0) *ppData = (uint8_t*) &dummyRX;
else *ppData = (uint8_t*) &dummyTX;
return 0;
}
/* find object in Object Dictionary */
entryNo = CO_OD_find(SDO, index);
/* Does object exist in OD? */
if(entryNo == 0xFFFF || subIndex > SDO->OD[entryNo].maxSubIndex)
return CO_SDO_AB_NOT_EXIST; /* Object does not exist in the object dictionary. */
attr = CO_OD_getAttribute(SDO, entryNo, subIndex);
/* Is object Mappable for RPDO? */
if(R_T==0 && !((attr&CO_ODA_RPDO_MAPABLE) && (attr&CO_ODA_WRITEABLE))) return CO_SDO_AB_NO_MAP; /* Object cannot be mapped to the PDO. */
/* Is object Mappable for TPDO? */
if(R_T!=0 && !((attr&CO_ODA_TPDO_MAPABLE) && (attr&CO_ODA_READABLE))) return CO_SDO_AB_NO_MAP; /* Object cannot be mapped to the PDO. */
/* is size of variable big enough for map */
objectLen = CO_OD_getLength(SDO, entryNo, subIndex);
if(objectLen < dataLen) return CO_SDO_AB_NO_MAP; /* Object cannot be mapped to the PDO. */
/* mark multibyte variable */
*pIsMultibyteVar = (attr&CO_ODA_MB_VALUE) ? 1 : 0;
/* pointer to data */
*ppData = (uint8_t*) CO_OD_getDataPointer(SDO, entryNo, subIndex);
#ifdef CO_BIG_ENDIAN
/* skip unused MSB bytes */
if(*pIsMultibyteVar){
*ppData += objectLen - dataLen;
}
#endif
/* setup change of state flags */
if(attr&CO_ODA_TPDO_DETECT_COS){
int16_t i;
for(i=*pLength-dataLen; i<*pLength; i++){
*pSendIfCOSFlags |= 1<<i;
}
}
return 0;
}
/*
* Configure RPDO Mapping parameter.
*
* Function is called from communication reset or when parameter changes.
*
* Function configures following variables from CO_RPDO_t: _dataLength_ and
* _mapPointer_.
*
* @param RPDO RPDO object.
* @param noOfMappedObjects Number of mapped object (from OD).
*
* @return 0 on success, otherwise SDO abort code.
*/
static uint32_t CO_RPDOconfigMap(CO_RPDO_t* RPDO, uint8_t noOfMappedObjects){
int16_t i;
uint8_t length = 0;
uint32_t ret = 0;
const uint32_t* pMap = &RPDO->RPDOMapPar->mappedObject1;
for(i=noOfMappedObjects; i>0; i--){
int16_t j;
uint8_t* pData;
uint8_t dummy = 0;
uint8_t prevLength = length;
uint8_t MBvar;
uint32_t map = *(pMap++);
/* function do much checking of errors in map */
ret = CO_PDOfindMap(
RPDO->SDO,
map,
0,
&pData,
&length,
&dummy,
&MBvar);
if(ret){
length = 0;
CO_errorReport(RPDO->em, CO_EM_PDO_WRONG_MAPPING, CO_EMC_PROTOCOL_ERROR, map);
break;
}
/* write PDO data pointers */
#ifdef CO_BIG_ENDIAN
if(MBvar){
for(j=length-1; j>=prevLength; j--)
RPDO->mapPointer[j] = pData++;
}
else{
for(j=prevLength; j<length; j++)
RPDO->mapPointer[j] = pData++;
}
#else
for(j=prevLength; j<length; j++){
RPDO->mapPointer[j] = pData++;
}
#endif
}
RPDO->dataLength = length;
return ret;
}
/*
* Configure TPDO Mapping parameter.
*
* Function is called from communication reset or when parameter changes.
*
* Function configures following variables from CO_TPDO_t: _dataLength_,
* _mapPointer_ and _sendIfCOSFlags_.
*
* @param TPDO TPDO object.
* @param noOfMappedObjects Number of mapped object (from OD).
*
* @return 0 on success, otherwise SDO abort code.
*/
static uint32_t CO_TPDOconfigMap(CO_TPDO_t* TPDO, uint8_t noOfMappedObjects){
int16_t i;
uint8_t length = 0;
uint32_t ret = 0;
const uint32_t* pMap = &TPDO->TPDOMapPar->mappedObject1;
TPDO->sendIfCOSFlags = 0;
for(i=noOfMappedObjects; i>0; i--){
int16_t j;
uint8_t* pData;
uint8_t prevLength = length;
uint8_t MBvar;
uint32_t map = *(pMap++);
/* function do much checking of errors in map */
ret = CO_PDOfindMap(
TPDO->SDO,
map,
1,
&pData,
&length,
&TPDO->sendIfCOSFlags,
&MBvar);
if(ret){
length = 0;
CO_errorReport(TPDO->em, CO_EM_PDO_WRONG_MAPPING, CO_EMC_PROTOCOL_ERROR, map);
break;
}
/* write PDO data pointers */
#ifdef CO_BIG_ENDIAN
if(MBvar){
for(j=length-1; j>=prevLength; j--)
TPDO->mapPointer[j] = pData++;
}
else{
for(j=prevLength; j<length; j++)
TPDO->mapPointer[j] = pData++;
}
#else
for(j=prevLength; j<length; j++){
TPDO->mapPointer[j] = pData++;
}
#endif
}
TPDO->dataLength = length;
return ret;
}
/*
* Function for accessing _RPDO communication parameter_ (index 0x1400+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
CO_RPDO_t *RPDO;
RPDO = (CO_RPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){
uint32_t value = CO_getUint32(ODF_arg->data);
/* if default COB ID is used, write default value here */
if(((value)&0xFFFF) == RPDO->defaultCOB_ID && RPDO->defaultCOB_ID)
value += RPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!RPDO->valid) value |= 0x80000000L;
CO_setUint32(ODF_arg->data, value);
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(RPDO->restrictionFlags & 0x04)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*RPDO->operatingState == CO_NMT_OPERATIONAL && (RPDO->restrictionFlags & 0x01))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t value = CO_getUint32(ODF_arg->data);
/* bits 11...29 must be zero */
if(value & 0x3FFF8000L)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* if default COB-ID is being written, write defaultCOB_ID without nodeId */
if(((value)&0xFFFF) == (RPDO->defaultCOB_ID + RPDO->nodeId)){
value &= 0xC0000000L;
value += RPDO->defaultCOB_ID;
CO_setUint32(ODF_arg->data, value);
}
/* if PDO is valid, bits 0..29 can not be changed */
if(RPDO->valid && ((value ^ RPDO->RPDOCommPar->COB_IDUsedByRPDO) & 0x3FFFFFFFL))
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* configure RPDO */
CO_RPDOconfigCom(RPDO, value);
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
bool_t synchronousPrev = RPDO->synchronous;
/* values from 241...253 are not valid */
if(*value >= 241 && *value <= 253)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
RPDO->synchronous = (*value <= 240) ? true : false;
/* Remove old message from second buffer. */
if(RPDO->synchronous != synchronousPrev) {
CLEAR_CANrxNew(RPDO->CANrxNew[1]);
}
}
return CO_SDO_AB_NONE;
}
/*
* Function for accessing _TPDO communication parameter_ (index 0x1800+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
CO_TPDO_t *TPDO;
TPDO = (CO_TPDO_t*) ODF_arg->object;
if(ODF_arg->subIndex == 4) return CO_SDO_AB_SUB_UNKNOWN; /* Sub-index does not exist. */
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t value = CO_getUint32(ODF_arg->data);
/* if default COB ID is used, write default value here */
if(((value)&0xFFFF) == TPDO->defaultCOB_ID && TPDO->defaultCOB_ID)
value += TPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!TPDO->valid) value |= 0x80000000L;
CO_setUint32(ODF_arg->data, value);
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(TPDO->restrictionFlags & 0x04)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*TPDO->operatingState == CO_NMT_OPERATIONAL && (TPDO->restrictionFlags & 0x01))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t value = CO_getUint32(ODF_arg->data);
/* bits 11...29 must be zero */
if(value & 0x3FFF8000L)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* if default COB-ID is being written, write defaultCOB_ID without nodeId */
if(((value)&0xFFFF) == (TPDO->defaultCOB_ID + TPDO->nodeId)){
value &= 0xC0000000L;
value += TPDO->defaultCOB_ID;
CO_setUint32(ODF_arg->data, value);
}
/* if PDO is valid, bits 0..29 can not be changed */
if(TPDO->valid && ((value ^ TPDO->TPDOCommPar->COB_IDUsedByTPDO) & 0x3FFFFFFFL))
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* configure TPDO */
CO_TPDOconfigCom(TPDO, value, TPDO->CANtxBuff->syncFlag);
TPDO->syncCounter = 255;
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
/* 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 if(ODF_arg->subIndex == 3){ /* Inhibit_Time */
/* if PDO is valid, value can not be changed */
if(TPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
TPDO->inhibitTimer = 0;
}
else if(ODF_arg->subIndex == 5){ /* Event_Timer */
uint16_t value = CO_getUint16(ODF_arg->data);
TPDO->eventTimer = ((uint32_t) value) * 1000;
}
else if(ODF_arg->subIndex == 6){ /* SYNC start value */
uint8_t *value = (uint8_t*) ODF_arg->data;
/* if PDO is valid, value can not be changed */
if(TPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* values from 240...255 are not valid */
if(*value > 240)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
}
return CO_SDO_AB_NONE;
}
/*
* Function for accessing _RPDO mapping parameter_ (index 0x1600+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_RPDOmap(CO_ODF_arg_t *ODF_arg){
CO_RPDO_t *RPDO;
RPDO = (CO_RPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(ODF_arg->subIndex == 0){
/* If there is error in mapping, dataLength is 0, so numberOfMappedObjects is 0. */
if(!RPDO->dataLength) *value = 0;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(RPDO->restrictionFlags & 0x08)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*RPDO->operatingState == CO_NMT_OPERATIONAL && (RPDO->restrictionFlags & 0x02))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(RPDO->valid)
return CO_SDO_AB_UNSUPPORTED_ACCESS; /* Unsupported access to an object. */
/* numberOfMappedObjects */
if(ODF_arg->subIndex == 0){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(*value > 8)
return CO_SDO_AB_MAP_LEN; /* Number and length of object to be mapped exceeds PDO length. */
/* configure mapping */
return CO_RPDOconfigMap(RPDO, *value);
}
/* mappedObject */
else{
uint32_t value = CO_getUint32(ODF_arg->data);
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
uint8_t MBvar;
if(RPDO->dataLength)
return CO_SDO_AB_UNSUPPORTED_ACCESS; /* Unsupported access to an object. */
/* verify if mapping is correct */
return CO_PDOfindMap(
RPDO->SDO,
value,
0,
&pData,
&length,
&dummy,
&MBvar);
}
//return CO_SDO_AB_NONE;
}
/*
* Function for accessing _TPDO mapping parameter_ (index 0x1A00+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_TPDOmap(CO_ODF_arg_t *ODF_arg){
CO_TPDO_t *TPDO;
TPDO = (CO_TPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(ODF_arg->subIndex == 0){
/* If there is error in mapping, dataLength is 0, so numberOfMappedObjects is 0. */
if(!TPDO->dataLength) *value = 0;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(TPDO->restrictionFlags & 0x08)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*TPDO->operatingState == CO_NMT_OPERATIONAL && (TPDO->restrictionFlags & 0x02))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(TPDO->valid)
return CO_SDO_AB_UNSUPPORTED_ACCESS; /* Unsupported access to an object. */
/* numberOfMappedObjects */
if(ODF_arg->subIndex == 0){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(*value > 8)
return CO_SDO_AB_MAP_LEN; /* Number and length of object to be mapped exceeds PDO length. */
/* configure mapping */
return CO_TPDOconfigMap(TPDO, *value);
}
/* mappedObject */
else{
uint32_t value = CO_getUint32(ODF_arg->data);
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
uint8_t MBvar;
if(TPDO->dataLength)
return CO_SDO_AB_UNSUPPORTED_ACCESS; /* Unsupported access to an object. */
/* verify if mapping is correct */
return CO_PDOfindMap(
TPDO->SDO,
value,
1,
&pData,
&length,
&dummy,
&MBvar);
}
//return CO_SDO_AB_NONE;
}
/******************************************************************************/
CO_ReturnError_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_RPDOCommPar_t *RPDOCommPar,
const CO_RPDOMapPar_t *RPDOMapPar,
uint16_t idx_RPDOCommPar,
uint16_t idx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx)
{
/* verify arguments */
if(RPDO==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
RPDOCommPar==NULL || RPDOMapPar==NULL || CANdevRx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
RPDO->em = em;
RPDO->SDO = SDO;
RPDO->SYNC = SYNC;
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
RPDO->nodeId = nodeId;
RPDO->defaultCOB_ID = defaultCOB_ID;
RPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1400+ and 0x1600+ */
CO_OD_configure(SDO, idx_RPDOCommPar, CO_ODF_RPDOcom, (void*)RPDO, 0, 0);
CO_OD_configure(SDO, idx_RPDOMapPar, CO_ODF_RPDOmap, (void*)RPDO, 0, 0);
/* configure communication and mapping */
CLEAR_CANrxNew(RPDO->CANrxNew[0]);
CLEAR_CANrxNew(RPDO->CANrxNew[1]);
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
CO_RPDOconfigMap(RPDO, RPDOMapPar->numberOfMappedObjects);
CO_RPDOconfigCom(RPDO, RPDOCommPar->COB_IDUsedByRPDO);
return CO_ERROR_NO;
}
/******************************************************************************/
CO_ReturnError_t CO_TPDO_init(
CO_TPDO_t *TPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
CO_SYNC_t *SYNC,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_TPDOCommPar_t *TPDOCommPar,
const CO_TPDOMapPar_t *TPDOMapPar,
uint16_t idx_TPDOCommPar,
uint16_t idx_TPDOMapPar,
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx)
{
/* verify arguments */
if(TPDO==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
TPDOCommPar==NULL || TPDOMapPar==NULL || CANdevTx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
TPDO->em = em;
TPDO->SDO = SDO;
TPDO->SYNC = SYNC;
TPDO->TPDOCommPar = TPDOCommPar;
TPDO->TPDOMapPar = TPDOMapPar;
TPDO->operatingState = operatingState;
TPDO->nodeId = nodeId;
TPDO->defaultCOB_ID = defaultCOB_ID;
TPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1800+ and 0x1A00+ */
CO_OD_configure(SDO, idx_TPDOCommPar, CO_ODF_TPDOcom, (void*)TPDO, 0, 0);
CO_OD_configure(SDO, idx_TPDOMapPar, CO_ODF_TPDOmap, (void*)TPDO, 0, 0);
/* 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);
CO_TPDOconfigCom(TPDO, TPDOCommPar->COB_IDUsedByTPDO, ((TPDOCommPar->transmissionType<=240) ? 1 : 0));
if((TPDOCommPar->transmissionType>240 &&
TPDOCommPar->transmissionType<254) ||
TPDOCommPar->SYNCStartValue>240){
TPDO->valid = false;
}
return CO_ERROR_NO;
}
/******************************************************************************/
uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO){
/* Prepare TPDO data automatically from Object Dictionary variables */
uint8_t* pPDOdataByte;
uint8_t** ppODdataByte;
pPDOdataByte = &TPDO->CANtxBuff->data[TPDO->dataLength];
ppODdataByte = &TPDO->mapPointer[TPDO->dataLength];
switch(TPDO->dataLength){
case 8: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x80)) return 1; // fallthrough
case 7: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x40)) return 1; // fallthrough
case 6: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x20)) return 1; // fallthrough
case 5: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x10)) return 1; // fallthrough
case 4: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x08)) return 1; // fallthrough
case 3: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x04)) return 1; // fallthrough
case 2: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x02)) return 1; // fallthrough
case 1: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x01)) return 1; // fallthrough
}
return 0;
}
//#define TPDO_CALLS_EXTENSION
/******************************************************************************/
int16_t CO_TPDOsend(CO_TPDO_t *TPDO){
int16_t i;
uint8_t* pPDOdataByte;
uint8_t** ppODdataByte;
#ifdef TPDO_CALLS_EXTENSION
if(TPDO->SDO->ODExtensions){
/* for each mapped OD, check mapping to see if an OD extension is available, and call it if it is */
const uint32_t* pMap = &TPDO->TPDOMapPar->mappedObject1;
CO_SDO_t *pSDO = TPDO->SDO;
for(i=TPDO->TPDOMapPar->numberOfMappedObjects; i>0; i--){
uint32_t map = *(pMap++);
uint16_t index = (uint16_t)(map>>16);
uint8_t subIndex = (uint8_t)(map>>8);
uint16_t entryNo = CO_OD_find(pSDO, index);
if ( entryNo == 0xFFFF ) continue;
CO_OD_extension_t *ext = &pSDO->ODExtensions[entryNo];
if( ext->pODFunc == NULL) continue;
CO_ODF_arg_t ODF_arg;
memset((void*)&ODF_arg, 0, sizeof(CO_ODF_arg_t));
ODF_arg.reading = true;
ODF_arg.index = index;
ODF_arg.subIndex = subIndex;
ODF_arg.object = ext->object;
ODF_arg.attribute = CO_OD_getAttribute(pSDO, entryNo, subIndex);
ODF_arg.pFlags = CO_OD_getFlagsPointer(pSDO, entryNo, subIndex);
ODF_arg.data = CO_OD_getDataPointer(pSDO, entryNo, subIndex); //https://github.com/CANopenNode/CANopenNode/issues/100
ODF_arg.dataLength = CO_OD_getLength(pSDO, entryNo, subIndex);
ext->pODFunc(&ODF_arg);
}
}
#endif
i = TPDO->dataLength;
pPDOdataByte = &TPDO->CANtxBuff->data[0];
ppODdataByte = &TPDO->mapPointer[0];
/* Copy data from Object dictionary. */
for(; i>0; i--) {
*(pPDOdataByte++) = **(ppODdataByte++);
}
TPDO->sendRequest = 0;
return CO_CANsend(TPDO->CANdevTx, TPDO->CANtxBuff);
}
//#define RPDO_CALLS_EXTENSION
/******************************************************************************/
void CO_RPDO_process(CO_RPDO_t *RPDO, bool_t syncWas){
if(!RPDO->valid || !(*RPDO->operatingState == CO_NMT_OPERATIONAL))
{
CLEAR_CANrxNew(RPDO->CANrxNew[0]);
CLEAR_CANrxNew(RPDO->CANrxNew[1]);
}
else if(!RPDO->synchronous || syncWas)
{
#if defined(RPDO_CALLS_EXTENSION)
bool_t update = false;
#endif /* defined(RPDO_CALLS_EXTENSION) */
uint8_t bufNo = 0;
/* Determine, which of the two rx buffers, contains relevant message. */
if(RPDO->SYNC && RPDO->synchronous && !RPDO->SYNC->CANrxToggle) {
bufNo = 1;
}
while(IS_CANrxNew(RPDO->CANrxNew[bufNo])){
int16_t i;
uint8_t* pPDOdataByte;
uint8_t** ppODdataByte;
i = RPDO->dataLength;
pPDOdataByte = &RPDO->CANrxData[bufNo][0];
ppODdataByte = &RPDO->mapPointer[0];
/* Copy data to Object dictionary. If between the copy operation CANrxNew
* is set to true by receive thread, then copy the latest data again. */
CLEAR_CANrxNew(RPDO->CANrxNew[bufNo]);
for(; i>0; i--) {
**(ppODdataByte++) = *(pPDOdataByte++);
}
#if defined(RPDO_CALLS_EXTENSION)
update = true;
#endif /* defined(RPDO_CALLS_EXTENSION) */
}
#ifdef RPDO_CALLS_EXTENSION
if(update && RPDO->SDO->ODExtensions){
int16_t i;
/* for each mapped OD, check mapping to see if an OD extension is available, and call it if it is */
const uint32_t* pMap = &RPDO->RPDOMapPar->mappedObject1;
CO_SDO_t *pSDO = RPDO->SDO;
for(i=RPDO->RPDOMapPar->numberOfMappedObjects; i>0; i--){
uint32_t map = *(pMap++);
uint16_t index = (uint16_t)(map>>16);
uint8_t subIndex = (uint8_t)(map>>8);
uint16_t entryNo = CO_OD_find(pSDO, index);
if ( entryNo == 0xFFFF ) continue;
CO_OD_extension_t *ext = &pSDO->ODExtensions[entryNo];
if( ext->pODFunc == NULL) continue;
CO_ODF_arg_t ODF_arg;
memset((void*)&ODF_arg, 0, sizeof(CO_ODF_arg_t));
ODF_arg.reading = false;
ODF_arg.index = index;
ODF_arg.subIndex = subIndex;
ODF_arg.object = ext->object;
ODF_arg.attribute = CO_OD_getAttribute(pSDO, entryNo, subIndex);
ODF_arg.pFlags = CO_OD_getFlagsPointer(pSDO, entryNo, subIndex);
ODF_arg.data = CO_OD_getDataPointer(pSDO, entryNo, subIndex); //https://github.com/CANopenNode/CANopenNode/issues/100
ODF_arg.dataLength = CO_OD_getLength(pSDO, entryNo, subIndex);
ext->pODFunc(&ODF_arg);
}
}
#endif
}
}
/******************************************************************************/
void CO_TPDO_process(
CO_TPDO_t *TPDO,
bool_t syncWas,
uint32_t timeDifference_us)
{
if(TPDO->valid && *TPDO->operatingState == CO_NMT_OPERATIONAL){
/* Send PDO by application request or by Event timer */
if(TPDO->TPDOCommPar->transmissionType >= 253){
if(TPDO->inhibitTimer == 0 && (TPDO->sendRequest || (TPDO->TPDOCommPar->eventTimer && TPDO->eventTimer == 0))){
if(CO_TPDOsend(TPDO) == CO_ERROR_NO){
/* successfully sent */
TPDO->inhibitTimer = ((uint32_t) TPDO->TPDOCommPar->inhibitTime) * 100;
TPDO->eventTimer = ((uint32_t) TPDO->TPDOCommPar->eventTimer) * 1000;
}
}
}
/* Synchronous PDOs */
else if(TPDO->SYNC && syncWas){
/* send synchronous acyclic PDO */
if(TPDO->TPDOCommPar->transmissionType == 0){
if(TPDO->sendRequest) CO_TPDOsend(TPDO);
}
/* send synchronous cyclic PDO */
else{
/* is the start of synchronous TPDO transmission */
if(TPDO->syncCounter == 255){
if(TPDO->SYNC->counterOverflowValue && TPDO->TPDOCommPar->SYNCStartValue)
TPDO->syncCounter = 254; /* SYNCStartValue is in use */
else
TPDO->syncCounter = TPDO->TPDOCommPar->transmissionType;
}
/* if the SYNCStartValue is in use, start first TPDO after SYNC with matched SYNCStartValue. */
if(TPDO->syncCounter == 254){
if(TPDO->SYNC->counter == TPDO->TPDOCommPar->SYNCStartValue){
TPDO->syncCounter = TPDO->TPDOCommPar->transmissionType;
CO_TPDOsend(TPDO);
}
}
/* Send PDO after every N-th Sync */
else if(--TPDO->syncCounter == 0){
TPDO->syncCounter = TPDO->TPDOCommPar->transmissionType;
CO_TPDOsend(TPDO);
}
}
}
}
else{
/* Not operational or valid. Force TPDO first send after operational or valid. */
if(TPDO->TPDOCommPar->transmissionType>=254) TPDO->sendRequest = 1;
else TPDO->sendRequest = 0;
}
/* update timers */
TPDO->inhibitTimer = (TPDO->inhibitTimer > timeDifference_us) ? (TPDO->inhibitTimer - timeDifference_us) : 0;
TPDO->eventTimer = (TPDO->eventTimer > timeDifference_us) ? (TPDO->eventTimer - timeDifference_us) : 0;
}
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