forked from CANopenNode/CANopenNode
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CANopen.c
847 lines (736 loc) · 28.9 KB
/
CANopen.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
/*
* Main CANopen stack file. It combines Object dictionary (CO_OD) and all other
* CANopen source files. Configuration information are read from CO_OD.h file.
*
* @file CANopen.c
* @ingroup CO_CANopen
* @author Janez Paternoster
* @copyright 2010 - 2015 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/>.
*
* CANopenNode is free and open source software: you can redistribute
* it and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation, either version 2 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Following clarification and special exception to the GNU General Public
* License is included to the distribution terms of CANopenNode:
*
* Linking this library statically or dynamically with other modules is
* making a combined work based on this library. Thus, the terms and
* conditions of the GNU General Public License cover the whole combination.
*
* As a special exception, the copyright holders of this library give
* you permission to link this library with independent modules to
* produce an executable, regardless of the license terms of these
* independent modules, and to copy and distribute the resulting
* executable under terms of your choice, provided that you also meet,
* for each linked independent module, the terms and conditions of the
* license of that module. An independent module is a module which is
* not derived from or based on this library. If you modify this
* library, you may extend this exception to your version of the
* library, but you are not obliged to do so. If you do not wish
* to do so, delete this exception statement from your version.
*/
#include "CANopen.h"
/* If defined, global variables will be used, otherwise CANopen objects will
be generated with calloc(). */
/* #define CO_USE_GLOBALS */
/* If defined, the user provides an own implemetation for calculating the
* CRC16 CCITT checksum. */
/* #define CO_USE_OWN_CRC16 */
#ifndef CO_USE_GLOBALS
#include <stdlib.h> /* for malloc, free */
static uint32_t CO_memoryUsed = 0; /* informative */
#endif
/* Global variables ***********************************************************/
extern const CO_OD_entry_t CO_OD[CO_OD_NoOfElements]; /* Object Dictionary array */
static CO_t COO;
CO_t *CO = NULL;
static CO_CANrx_t *CO_CANmodule_rxArray0;
static CO_CANtx_t *CO_CANmodule_txArray0;
static CO_OD_extension_t *CO_SDO_ODExtensions;
static CO_HBconsNode_t *CO_HBcons_monitoredNodes;
#if CO_NO_TRACE > 0
static uint32_t *CO_traceTimeBuffers[CO_NO_TRACE];
static int32_t *CO_traceValueBuffers[CO_NO_TRACE];
#ifdef CO_USE_GLOBALS
#ifndef CO_TRACE_BUFFER_SIZE_FIXED
#define CO_TRACE_BUFFER_SIZE_FIXED 100
#endif
#endif
#endif
/* Verify features from CO_OD *************************************************/
/* generate error, if features are not correctly configured for this project */
#if CO_NO_NMT_MASTER > 1 \
|| CO_NO_SYNC != 1 \
|| CO_NO_EMERGENCY != 1 \
|| CO_NO_SDO_SERVER == 0 \
|| CO_NO_SDO_CLIENT > 128 \
|| (CO_NO_RPDO < 1 || CO_NO_RPDO > 0x200) \
|| (CO_NO_TPDO < 1 || CO_NO_TPDO > 0x200) \
|| ODL_consumerHeartbeatTime_arrayLength == 0 \
|| ODL_errorStatusBits_stringLength < 10 \
|| CO_NO_LSS_SERVER > 1 \
|| CO_NO_LSS_CLIENT > 1 \
|| (CO_NO_LSS_SERVER > 0 && CO_NO_LSS_CLIENT > 0)
#error Features from CO_OD.h file are not corectly configured for this project!
#endif
/* Indexes for CANopenNode message objects ************************************/
#ifdef ODL_consumerHeartbeatTime_arrayLength
#define CO_NO_HB_CONS ODL_consumerHeartbeatTime_arrayLength
#else
#define CO_NO_HB_CONS 0
#endif
#define CO_NO_HB_PROD 1 /* Producer Heartbeat Cont */
#define CO_RXCAN_NMT 0 /* index for NMT message */
#define CO_RXCAN_SYNC 1 /* index for SYNC message */
#define CO_RXCAN_EMERG (CO_RXCAN_SYNC+CO_NO_SYNC) /* index for Emergency message */
#define CO_RXCAN_RPDO (CO_RXCAN_EMERG+CO_NO_EMERGENCY) /* start index for RPDO messages */
#define CO_RXCAN_SDO_SRV (CO_RXCAN_RPDO+CO_NO_RPDO) /* start index for SDO server message (request) */
#define CO_RXCAN_SDO_CLI (CO_RXCAN_SDO_SRV+CO_NO_SDO_SERVER) /* start index for SDO client message (response) */
#define CO_RXCAN_CONS_HB (CO_RXCAN_SDO_CLI+CO_NO_SDO_CLIENT) /* start index for Heartbeat Consumer messages */
#define CO_RXCAN_LSS (CO_RXCAN_CONS_HB+CO_NO_HB_CONS) /* index for LSS rx message */
/* total number of received CAN messages */
#define CO_RXCAN_NO_MSGS (1+CO_NO_SYNC+CO_NO_EMERGENCY+CO_NO_RPDO+CO_NO_SDO_SERVER+CO_NO_SDO_CLIENT+CO_NO_HB_CONS)
#define CO_TXCAN_NMT 0 /* index for NMT master message */
#define CO_TXCAN_SYNC CO_TXCAN_NMT+CO_NO_NMT_MASTER /* index for SYNC message */
#define CO_TXCAN_EMERG (CO_TXCAN_SYNC+CO_NO_SYNC) /* index for Emergency message */
#define CO_TXCAN_TPDO (CO_TXCAN_EMERG+CO_NO_EMERGENCY) /* start index for TPDO messages */
#define CO_TXCAN_SDO_SRV (CO_TXCAN_TPDO+CO_NO_TPDO) /* start index for SDO server message (response) */
#define CO_TXCAN_SDO_CLI (CO_TXCAN_SDO_SRV+CO_NO_SDO_SERVER) /* start index for SDO client message (request) */
#define CO_TXCAN_HB (CO_TXCAN_SDO_CLI+CO_NO_SDO_CLIENT) /* index for Heartbeat message */
#define CO_TXCAN_LSS (CO_TXCAN_HB+CO_NO_HB_PROD) /* index for LSS tx message */
/* total number of transmitted CAN messages */
#define CO_TXCAN_NO_MSGS (CO_NO_NMT_MASTER+CO_NO_SYNC+CO_NO_EMERGENCY+CO_NO_TPDO+CO_NO_SDO_SERVER+CO_NO_SDO_CLIENT+CO_NO_HB_PROD+CO_NO_LSS_SERVER+CO_NO_LSS_CLIENT)
#ifdef CO_USE_GLOBALS
static CO_CANmodule_t COO_CANmodule;
static CO_CANrx_t COO_CANmodule_rxArray0[CO_RXCAN_NO_MSGS];
static CO_CANtx_t COO_CANmodule_txArray0[CO_TXCAN_NO_MSGS];
static CO_SDO_t COO_SDO[CO_NO_SDO_SERVER];
static CO_OD_extension_t COO_SDO_ODExtensions[CO_OD_NoOfElements];
static CO_EM_t COO_EM;
static CO_EMpr_t COO_EMpr;
static CO_NMT_t COO_NMT;
static CO_SYNC_t COO_SYNC;
static CO_RPDO_t COO_RPDO[CO_NO_RPDO];
static CO_TPDO_t COO_TPDO[CO_NO_TPDO];
static CO_HBconsumer_t COO_HBcons;
static CO_HBconsNode_t COO_HBcons_monitoredNodes[CO_NO_HB_CONS];
#if CO_NO_LSS_SERVER == 1
static CO_LSSslave_t CO0_LSSslave;
#endif
#if CO_NO_LSS_CLIENT == 1
static CO_LSSmaster_t CO0_LSSmaster;
#endif
#if CO_NO_SDO_CLIENT != 0
static CO_SDOclient_t COO_SDOclient[CO_NO_SDO_CLIENT];
#endif
#if CO_NO_TRACE > 0
static CO_trace_t COO_trace[CO_NO_TRACE];
static uint32_t COO_traceTimeBuffers[CO_NO_TRACE][CO_TRACE_BUFFER_SIZE_FIXED];
static int32_t COO_traceValueBuffers[CO_NO_TRACE][CO_TRACE_BUFFER_SIZE_FIXED];
#endif
#endif
/* Helper function for NMT master *********************************************/
#if CO_NO_NMT_MASTER == 1
CO_CANtx_t *NMTM_txBuff = 0;
CO_ReturnError_t CO_sendNMTcommand(CO_t *CO, uint8_t command, uint8_t nodeID){
if(NMTM_txBuff == 0){
/* error, CO_CANtxBufferInit() was not called for this buffer. */
return CO_ERROR_TX_UNCONFIGURED; /* -11 */
}
NMTM_txBuff->data[0] = command;
NMTM_txBuff->data[1] = nodeID;
/* Apply NMT command also to this node, if set so. */
if(nodeID == 0 || nodeID == CO->NMT->nodeId){
switch(command){
case CO_NMT_ENTER_OPERATIONAL:
if((*CO->NMT->emPr->errorRegister) == 0) {
CO->NMT->operatingState = CO_NMT_OPERATIONAL;
}
break;
case CO_NMT_ENTER_STOPPED:
CO->NMT->operatingState = CO_NMT_STOPPED;
break;
case CO_NMT_ENTER_PRE_OPERATIONAL:
CO->NMT->operatingState = CO_NMT_PRE_OPERATIONAL;
break;
case CO_NMT_RESET_NODE:
CO->NMT->resetCommand = CO_RESET_APP;
break;
case CO_NMT_RESET_COMMUNICATION:
CO->NMT->resetCommand = CO_RESET_COMM;
break;
}
}
return CO_CANsend(CO->CANmodule[0], NMTM_txBuff); /* 0 = success */
}
#endif
#if CO_NO_TRACE > 0
static uint32_t CO_traceBufferSize[CO_NO_TRACE];
#endif
/******************************************************************************/
CO_ReturnError_t CO_new(void)
{
int16_t i;
#ifndef CO_USE_GLOBALS
uint16_t errCnt;
#endif
/* Verify parameters from CO_OD */
if( sizeof(OD_TPDOCommunicationParameter_t) != sizeof(CO_TPDOCommPar_t)
|| sizeof(OD_TPDOMappingParameter_t) != sizeof(CO_TPDOMapPar_t)
|| sizeof(OD_RPDOCommunicationParameter_t) != sizeof(CO_RPDOCommPar_t)
|| sizeof(OD_RPDOMappingParameter_t) != sizeof(CO_RPDOMapPar_t))
{
return CO_ERROR_PARAMETERS;
}
#if CO_NO_SDO_CLIENT != 0
if(sizeof(OD_SDOClientParameter_t) != sizeof(CO_SDOclientPar_t)){
return CO_ERROR_PARAMETERS;
}
#endif
/* Initialize CANopen object */
#ifdef CO_USE_GLOBALS
CO = &COO;
CO->CANmodule[0] = &COO_CANmodule;
CO_CANmodule_rxArray0 = &COO_CANmodule_rxArray0[0];
CO_CANmodule_txArray0 = &COO_CANmodule_txArray0[0];
for(i=0; i<CO_NO_SDO_SERVER; i++)
CO->SDO[i] = &COO_SDO[i];
CO_SDO_ODExtensions = &COO_SDO_ODExtensions[0];
CO->em = &COO_EM;
CO->emPr = &COO_EMpr;
CO->NMT = &COO_NMT;
CO->SYNC = &COO_SYNC;
for(i=0; i<CO_NO_RPDO; i++)
CO->RPDO[i] = &COO_RPDO[i];
for(i=0; i<CO_NO_TPDO; i++)
CO->TPDO[i] = &COO_TPDO[i];
CO->HBcons = &COO_HBcons;
CO_HBcons_monitoredNodes = &COO_HBcons_monitoredNodes[0];
#if CO_NO_LSS_SERVER == 1
CO->LSSslave = &CO0_LSSslave;
#endif
#if CO_NO_LSS_CLIENT == 1
CO->LSSmaster = &CO0_LSSmaster;
#endif
#if CO_NO_SDO_CLIENT != 0
for(i=0; i<CO_NO_SDO_CLIENT; i++) {
CO->SDOclient[i] = &COO_SDOclient[i];
}
#endif
#if CO_NO_TRACE > 0
for(i=0; i<CO_NO_TRACE; i++) {
CO->trace[i] = &COO_trace[i];
CO_traceTimeBuffers[i] = &COO_traceTimeBuffers[i][0];
CO_traceValueBuffers[i] = &COO_traceValueBuffers[i][0];
CO_traceBufferSize[i] = CO_TRACE_BUFFER_SIZE_FIXED;
}
#endif
#else
if(CO == NULL){ /* Use malloc only once */
CO = &COO;
CO->CANmodule[0] = (CO_CANmodule_t *) calloc(1, sizeof(CO_CANmodule_t));
CO_CANmodule_rxArray0 = (CO_CANrx_t *) calloc(CO_RXCAN_NO_MSGS, sizeof(CO_CANrx_t));
CO_CANmodule_txArray0 = (CO_CANtx_t *) calloc(CO_TXCAN_NO_MSGS, sizeof(CO_CANtx_t));
for(i=0; i<CO_NO_SDO_SERVER; i++){
CO->SDO[i] = (CO_SDO_t *) calloc(1, sizeof(CO_SDO_t));
}
CO_SDO_ODExtensions = (CO_OD_extension_t*) calloc(CO_OD_NoOfElements, sizeof(CO_OD_extension_t));
CO->em = (CO_EM_t *) calloc(1, sizeof(CO_EM_t));
CO->emPr = (CO_EMpr_t *) calloc(1, sizeof(CO_EMpr_t));
CO->NMT = (CO_NMT_t *) calloc(1, sizeof(CO_NMT_t));
CO->SYNC = (CO_SYNC_t *) calloc(1, sizeof(CO_SYNC_t));
for(i=0; i<CO_NO_RPDO; i++){
CO->RPDO[i] = (CO_RPDO_t *) calloc(1, sizeof(CO_RPDO_t));
}
for(i=0; i<CO_NO_TPDO; i++){
CO->TPDO[i] = (CO_TPDO_t *) calloc(1, sizeof(CO_TPDO_t));
}
CO->HBcons = (CO_HBconsumer_t *) calloc(1, sizeof(CO_HBconsumer_t));
CO_HBcons_monitoredNodes = (CO_HBconsNode_t *) calloc(CO_NO_HB_CONS, sizeof(CO_HBconsNode_t));
#if CO_NO_LSS_SERVER == 1
CO->LSSslave = (CO_LSSslave_t *) calloc(1, sizeof(CO_LSSslave_t));
#endif
#if CO_NO_LSS_CLIENT == 1
CO->LSSmaster = (CO_LSSmaster_t *) calloc(1, sizeof(CO_LSSmaster_t));
#endif
#if CO_NO_SDO_CLIENT != 0
for(i=0; i<CO_NO_SDO_CLIENT; i++){
CO->SDOclient[i] = (CO_SDOclient_t *) calloc(1, sizeof(CO_SDOclient_t));
}
#endif
#if CO_NO_TRACE > 0
for(i=0; i<CO_NO_TRACE; i++) {
CO->trace[i] = (CO_trace_t *) calloc(1, sizeof(CO_trace_t));
CO_traceTimeBuffers[i] = (uint32_t *) calloc(OD_traceConfig[i].size, sizeof(uint32_t));
CO_traceValueBuffers[i] = (int32_t *) calloc(OD_traceConfig[i].size, sizeof(int32_t));
if(CO_traceTimeBuffers[i] != NULL && CO_traceValueBuffers[i] != NULL) {
CO_traceBufferSize[i] = OD_traceConfig[i].size;
} else {
CO_traceBufferSize[i] = 0;
}
}
#endif
}
CO_memoryUsed = sizeof(CO_CANmodule_t)
+ sizeof(CO_CANrx_t) * CO_RXCAN_NO_MSGS
+ sizeof(CO_CANtx_t) * CO_TXCAN_NO_MSGS
+ sizeof(CO_SDO_t) * CO_NO_SDO_SERVER
+ sizeof(CO_OD_extension_t) * CO_OD_NoOfElements
+ sizeof(CO_EM_t)
+ sizeof(CO_EMpr_t)
+ sizeof(CO_NMT_t)
+ sizeof(CO_SYNC_t)
+ sizeof(CO_RPDO_t) * CO_NO_RPDO
+ sizeof(CO_TPDO_t) * CO_NO_TPDO
+ sizeof(CO_HBconsumer_t)
+ sizeof(CO_HBconsNode_t) * CO_NO_HB_CONS
#if CO_NO_LSS_SERVER == 1
+ sizeof(CO_LSSslave_t)
#endif
#if CO_NO_LSS_CLIENT == 1
+ sizeof(CO_LSSmaster_t)
#endif
#if CO_NO_SDO_CLIENT != 0
+ sizeof(CO_SDOclient_t) * CO_NO_SDO_CLIENT
#endif
+ 0;
#if CO_NO_TRACE > 0
CO_memoryUsed += sizeof(CO_trace_t) * CO_NO_TRACE;
for(i=0; i<CO_NO_TRACE; i++) {
CO_memoryUsed += CO_traceBufferSize[i] * 8;
}
#endif
errCnt = 0;
if(CO->CANmodule[0] == NULL) errCnt++;
if(CO_CANmodule_rxArray0 == NULL) errCnt++;
if(CO_CANmodule_txArray0 == NULL) errCnt++;
for(i=0; i<CO_NO_SDO_SERVER; i++){
if(CO->SDO[i] == NULL) errCnt++;
}
if(CO_SDO_ODExtensions == NULL) errCnt++;
if(CO->em == NULL) errCnt++;
if(CO->emPr == NULL) errCnt++;
if(CO->NMT == NULL) errCnt++;
if(CO->SYNC == NULL) errCnt++;
for(i=0; i<CO_NO_RPDO; i++){
if(CO->RPDO[i] == NULL) errCnt++;
}
for(i=0; i<CO_NO_TPDO; i++){
if(CO->TPDO[i] == NULL) errCnt++;
}
if(CO->HBcons == NULL) errCnt++;
if(CO_HBcons_monitoredNodes == NULL) errCnt++;
#if CO_NO_LSS_SERVER == 1
if(CO->LSSslave == NULL) errCnt++;
#endif
#if CO_NO_LSS_CLIENT == 1
if(CO->LSSmaster == NULL) errCnt++;
#endif
#if CO_NO_SDO_CLIENT != 0
for(i=0; i<CO_NO_SDO_CLIENT; i++){
if(CO->SDOclient[i] == NULL) errCnt++;
}
#endif
#if CO_NO_TRACE > 0
for(i=0; i<CO_NO_TRACE; i++) {
if(CO->trace[i] == NULL) errCnt++;
}
#endif
if(errCnt != 0) return CO_ERROR_OUT_OF_MEMORY;
#endif
return CO_ERROR_NO;
}
/******************************************************************************/
CO_ReturnError_t CO_CANinit(
int32_t CANbaseAddress,
uint16_t bitRate)
{
CO_ReturnError_t err;
CO->CANmodule[0]->CANnormal = false;
CO_CANsetConfigurationMode(CANbaseAddress);
err = CO_CANmodule_init(
CO->CANmodule[0],
CANbaseAddress,
CO_CANmodule_rxArray0,
CO_RXCAN_NO_MSGS,
CO_CANmodule_txArray0,
CO_TXCAN_NO_MSGS,
bitRate);
return err;
}
/******************************************************************************/
#if CO_NO_LSS_SERVER == 1
CO_ReturnError_t CO_LSSinit(
uint8_t nodeId,
uint16_t bitRate)
{
CO_LSS_address_t lssAddress;
CO_ReturnError_t err;
lssAddress.identity.productCode = OD_identity.productCode;
lssAddress.identity.revisionNumber = OD_identity.revisionNumber;
lssAddress.identity.serialNumber = OD_identity.serialNumber;
lssAddress.identity.vendorID = OD_identity.vendorID;
err = CO_LSSslave_init(
CO->LSSslave,
lssAddress,
bitRate,
nodeId,
CO->CANmodule[0],
CO_RXCAN_LSS,
CO_CAN_ID_LSS_SRV,
CO->CANmodule[0],
CO_TXCAN_LSS,
CO_CAN_ID_LSS_CLI);
return err;
}
#endif /* CO_NO_LSS_SERVER == 1 */
/******************************************************************************/
CO_ReturnError_t CO_CANopenInit(
uint8_t nodeId)
{
int16_t i;
CO_ReturnError_t err;
/* Verify CANopen Node-ID */
if(nodeId<1 || nodeId>127) {
return CO_ERROR_PARAMETERS;
}
for (i=0; i<CO_NO_SDO_SERVER; i++)
{
uint32_t COB_IDClientToServer;
uint32_t COB_IDServerToClient;
if(i==0){
/*Default SDO server must be located at first index*/
COB_IDClientToServer = CO_CAN_ID_RSDO + nodeId;
COB_IDServerToClient = CO_CAN_ID_TSDO + nodeId;
}else{
COB_IDClientToServer = OD_SDOServerParameter[i].COB_IDClientToServer;
COB_IDServerToClient = OD_SDOServerParameter[i].COB_IDServerToClient;
}
err = CO_SDO_init(
CO->SDO[i],
COB_IDClientToServer,
COB_IDServerToClient,
OD_H1200_SDO_SERVER_PARAM+i,
i==0 ? 0 : CO->SDO[0],
&CO_OD[0],
CO_OD_NoOfElements,
CO_SDO_ODExtensions,
nodeId,
CO->CANmodule[0],
CO_RXCAN_SDO_SRV+i,
CO->CANmodule[0],
CO_TXCAN_SDO_SRV+i);
}
if(err){return err;}
err = CO_EM_init(
CO->em,
CO->emPr,
CO->SDO[0],
&OD_errorStatusBits[0],
ODL_errorStatusBits_stringLength,
&OD_errorRegister,
&OD_preDefinedErrorField[0],
ODL_preDefinedErrorField_arrayLength,
CO->CANmodule[0],
CO_RXCAN_EMERG,
CO->CANmodule[0],
CO_TXCAN_EMERG,
CO_CAN_ID_EMERGENCY + nodeId);
if(err){return err;}
err = CO_NMT_init(
CO->NMT,
CO->emPr,
nodeId,
500,
CO->CANmodule[0],
CO_RXCAN_NMT,
CO_CAN_ID_NMT_SERVICE,
CO->CANmodule[0],
CO_TXCAN_HB,
CO_CAN_ID_HEARTBEAT + nodeId);
if(err){return err;}
#if CO_NO_NMT_MASTER == 1
NMTM_txBuff = CO_CANtxBufferInit(/* return pointer to 8-byte CAN data buffer, which should be populated */
CO->CANmodule[0], /* pointer to CAN module used for sending this message */
CO_TXCAN_NMT, /* index of specific buffer inside CAN module */
0x0000, /* CAN identifier */
0, /* rtr */
2, /* number of data bytes */
0); /* synchronous message flag bit */
#endif
#if CO_NO_LSS_CLIENT == 1
err = CO_LSSmaster_init(
CO->LSSmaster,
CO_LSSmaster_DEFAULT_TIMEOUT,
CO->CANmodule[0],
CO_RXCAN_LSS,
CO_CAN_ID_LSS_CLI,
CO->CANmodule[0],
CO_TXCAN_LSS,
CO_CAN_ID_LSS_SRV);
if(err){return err;}
#endif
err = CO_SYNC_init(
CO->SYNC,
CO->em,
CO->SDO[0],
&CO->NMT->operatingState,
OD_COB_ID_SYNCMessage,
OD_communicationCyclePeriod,
OD_synchronousCounterOverflowValue,
CO->CANmodule[0],
CO_RXCAN_SYNC,
CO->CANmodule[0],
CO_TXCAN_SYNC);
if(err){return err;}
for(i=0; i<CO_NO_RPDO; i++){
CO_CANmodule_t *CANdevRx = CO->CANmodule[0];
uint16_t CANdevRxIdx = CO_RXCAN_RPDO + i;
err = CO_RPDO_init(
CO->RPDO[i],
CO->em,
CO->SDO[0],
CO->SYNC,
&CO->NMT->operatingState,
nodeId,
((i<4) ? (CO_CAN_ID_RPDO_1+i*0x100) : 0),
0,
(CO_RPDOCommPar_t*) &OD_RPDOCommunicationParameter[i],
(CO_RPDOMapPar_t*) &OD_RPDOMappingParameter[i],
OD_H1400_RXPDO_1_PARAM+i,
OD_H1600_RXPDO_1_MAPPING+i,
CANdevRx,
CANdevRxIdx);
if(err){return err;}
}
for(i=0; i<CO_NO_TPDO; i++){
err = CO_TPDO_init(
CO->TPDO[i],
CO->em,
CO->SDO[0],
&CO->NMT->operatingState,
nodeId,
((i<4) ? (CO_CAN_ID_TPDO_1+i*0x100) : 0),
0,
(CO_TPDOCommPar_t*) &OD_TPDOCommunicationParameter[i],
(CO_TPDOMapPar_t*) &OD_TPDOMappingParameter[i],
OD_H1800_TXPDO_1_PARAM+i,
OD_H1A00_TXPDO_1_MAPPING+i,
CO->CANmodule[0],
CO_TXCAN_TPDO+i);
if(err){return err;}
}
err = CO_HBconsumer_init(
CO->HBcons,
CO->em,
CO->SDO[0],
&OD_consumerHeartbeatTime[0],
CO_HBcons_monitoredNodes,
CO_NO_HB_CONS,
CO->CANmodule[0],
CO_RXCAN_CONS_HB);
if(err){return err;}
#if CO_NO_SDO_CLIENT != 0
for(i=0; i<CO_NO_SDO_CLIENT; i++){
err = CO_SDOclient_init(
CO->SDOclient[i],
CO->SDO[0],
(CO_SDOclientPar_t*) &OD_SDOClientParameter[i],
CO->CANmodule[0],
CO_RXCAN_SDO_CLI+i,
CO->CANmodule[0],
CO_TXCAN_SDO_CLI+i);
if(err){return err;}
}
#endif
#if CO_NO_TRACE > 0
for(i=0; i<CO_NO_TRACE; i++) {
CO_trace_init(
CO->trace[i],
CO->SDO[0],
OD_traceConfig[i].axisNo,
CO_traceTimeBuffers[i],
CO_traceValueBuffers[i],
CO_traceBufferSize[i],
&OD_traceConfig[i].map,
&OD_traceConfig[i].format,
&OD_traceConfig[i].trigger,
&OD_traceConfig[i].threshold,
&OD_trace[i].value,
&OD_trace[i].min,
&OD_trace[i].max,
&OD_trace[i].triggerTime,
OD_INDEX_TRACE_CONFIG + i,
OD_INDEX_TRACE + i);
}
#endif
return CO_ERROR_NO;
}
/******************************************************************************/
CO_ReturnError_t CO_init(
int32_t CANbaseAddress,
uint8_t nodeId,
uint16_t bitRate)
{
CO_ReturnError_t err;
err = CO_new();
if (err) {
return err;
}
err = CO_CANinit(CANbaseAddress, bitRate);
if (err) {
CO_delete(CANbaseAddress);
return err;
}
err = CO_CANopenInit(nodeId);
if (err) {
CO_delete(CANbaseAddress);
return err;
}
return CO_ERROR_NO;
}
/******************************************************************************/
void CO_delete(int32_t CANbaseAddress){
#ifndef CO_USE_GLOBALS
int16_t i;
#endif
CO_CANsetConfigurationMode(CANbaseAddress);
CO_CANmodule_disable(CO->CANmodule[0]);
#ifndef CO_USE_GLOBALS
#if CO_NO_TRACE > 0
for(i=0; i<CO_NO_TRACE; i++) {
free(CO->trace[i]);
free(CO_traceTimeBuffers[i]);
free(CO_traceValueBuffers[i]);
}
#endif
#if CO_NO_SDO_CLIENT == 1
for(i=0; i<CO_NO_SDO_CLIENT; i++) {
free(CO->SDOclient[i]);
}
#endif
#if CO_NO_LSS_SERVER == 1
free(CO->LSSslave);
#endif
#if CO_NO_LSS_CLIENT == 1
free(CO->LSSmaster);
#endif
free(CO_HBcons_monitoredNodes);
free(CO->HBcons);
for(i=0; i<CO_NO_RPDO; i++){
free(CO->RPDO[i]);
}
for(i=0; i<CO_NO_TPDO; i++){
free(CO->TPDO[i]);
}
free(CO->SYNC);
free(CO->NMT);
free(CO->emPr);
free(CO->em);
free(CO_SDO_ODExtensions);
for(i=0; i<CO_NO_SDO_SERVER; i++){
free(CO->SDO[i]);
}
free(CO_CANmodule_txArray0);
free(CO_CANmodule_rxArray0);
free(CO->CANmodule[0]);
CO = NULL;
#endif
}
/******************************************************************************/
CO_NMT_reset_cmd_t CO_process(
CO_t *CO,
uint16_t timeDifference_ms,
uint16_t *timerNext_ms)
{
uint8_t i;
bool_t NMTisPreOrOperational = false;
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
static uint16_t ms50 = 0;
if(CO->NMT->operatingState == CO_NMT_PRE_OPERATIONAL || CO->NMT->operatingState == CO_NMT_OPERATIONAL)
NMTisPreOrOperational = true;
ms50 += timeDifference_ms;
if(ms50 >= 50){
ms50 -= 50;
CO_NMT_blinkingProcess50ms(CO->NMT);
}
if(timerNext_ms != NULL){
if(*timerNext_ms > 50){
*timerNext_ms = 50;
}
}
for(i=0; i<CO_NO_SDO_SERVER; i++){
CO_SDO_process(
CO->SDO[i],
NMTisPreOrOperational,
timeDifference_ms,
1000,
timerNext_ms);
}
CO_EM_process(
CO->emPr,
NMTisPreOrOperational,
timeDifference_ms * 10,
OD_inhibitTimeEMCY,
timerNext_ms);
reset = CO_NMT_process(
CO->NMT,
timeDifference_ms,
OD_producerHeartbeatTime,
OD_NMTStartup,
OD_errorRegister,
OD_errorBehavior,
timerNext_ms);
CO_HBconsumer_process(
CO->HBcons,
NMTisPreOrOperational,
timeDifference_ms);
return reset;
}
/******************************************************************************/
bool_t CO_process_SYNC_RPDO(
CO_t *CO,
uint32_t timeDifference_us)
{
int16_t i;
bool_t syncWas = false;
switch(CO_SYNC_process(CO->SYNC, timeDifference_us, OD_synchronousWindowLength)){
case 1: //immediately after the SYNC message
syncWas = true;
break;
case 2: //outside SYNC window
CO_CANclearPendingSyncPDOs(CO->CANmodule[0]);
break;
}
for(i=0; i<CO_NO_RPDO; i++){
CO_RPDO_process(CO->RPDO[i], syncWas);
}
return syncWas;
}
/******************************************************************************/
void CO_process_TPDO(
CO_t *CO,
bool_t syncWas,
uint32_t timeDifference_us)
{
int16_t i;
/* Verify PDO Change Of State and process PDOs */
for(i=0; i<CO_NO_TPDO; i++){
if(!CO->TPDO[i]->sendRequest) CO->TPDO[i]->sendRequest = CO_TPDOisCOS(CO->TPDO[i]);
CO_TPDO_process(CO->TPDO[i], CO->SYNC, syncWas, timeDifference_us);
}
}