zephyr
/
canopennode
mirror of https://github.com/zephyrproject-rtos/canopennode.git
1
0
Fork 0
Code Issues Releases Wiki Activity

Warnings omitted (#144) 

* All Warnings omitted
Now all warnings that came up in previous versions are fixed in a clean way directly in the code.
Inlcudes:
Shadowing
Missing default cases
Missing cases in switch statements
unused variables
Pointer problems
Function declarations' visibility

* Default case for NMTsendCommand
Default case was not catched before and could led to errors.

* fix typo when omitting warnings

* Omitting more warnings, and fix TIME->CANrxNew nulling

Inlcudes:
large integer implicitly truncated to unsigned type
this statement may fall through

* rename CO_this to co

* fix CO_process_SYNC name (CANopenNode master merging issue)

Co-authored-by: Michele B. <MicheleBlank@gmx-topmail.de>

----
Verified before merge. It is cleanup, no deep changes.
This commit is contained in:
Oleg 2020-01-15 15:40:30 +03:00 committed by Janez
parent 3d41f20adb
commit f2283e3ca9
9 changed files with 145 additions and 82 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

92
CANopen.c
View File

@ -149,12 +149,39 @@
#endif
#endif
/* These declarations here are needed in the case the switches for the project
change the visibility in the headers in a way that the compiler doesn't see an declaration anymore */
#if CO_NO_LSS_SERVER == 0 /* LSS Server means LSS slave */
CO_ReturnError_t CO_new(void);
CO_ReturnError_t CO_CANinit(
void *CANdriverState,
uint16_t bitRate);
CO_ReturnError_t CO_LSSinit(
uint8_t nodeId,
uint16_t bitRate);
CO_ReturnError_t CO_CANopenInit(
uint8_t nodeId);
#else /* CO_NO_LSS_SERVER == 0 */
CO_ReturnError_t CO_init(
void *CANdriverState,
uint8_t nodeId,
uint16_t bitRate);
#endif /* CO_NO_LSS_SERVER == 0 */
/* 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){
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 */
@ -162,30 +189,42 @@
NMTM_txBuff->data[0] = command;
NMTM_txBuff->data[1] = nodeID;
CO_ReturnError_t error = CO_ERROR_NO;
/* Apply NMT command also to this node, if set so. */
if(nodeID == 0 || nodeID == CO->NMT->nodeId){
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;
if((*co->NMT->emPr->errorRegister) == 0) {
co->NMT->operatingState = CO_NMT_OPERATIONAL;
}
break;
case CO_NMT_ENTER_STOPPED:
CO->NMT->operatingState = CO_NMT_STOPPED;
co->NMT->operatingState = CO_NMT_STOPPED;
break;
case CO_NMT_ENTER_PRE_OPERATIONAL:
CO->NMT->operatingState = CO_NMT_PRE_OPERATIONAL;
co->NMT->operatingState = CO_NMT_PRE_OPERATIONAL;
break;
case CO_NMT_RESET_NODE:
CO->NMT->resetCommand = CO_RESET_APP;
co->NMT->resetCommand = CO_RESET_APP;
break;
case CO_NMT_RESET_COMMUNICATION:
CO->NMT->resetCommand = CO_RESET_COMM;
co->NMT->resetCommand = CO_RESET_COMM;
break;
default:
error = CO_ERROR_ILLEGAL_ARGUMENT;
break;
}
}
return CO_CANsend(CO->CANmodule[0], NMTM_txBuff); /* 0 = success */
if(error == CO_ERROR_NO)
return CO_CANsend(co->CANmodule[0], NMTM_txBuff); /* 0 = success */
else
{
return error;
}
}
#endif
@ -775,7 +814,7 @@ void CO_delete(void *CANdriverState){
/******************************************************************************/
CO_NMT_reset_cmd_t CO_process(
CO_t *CO,
CO_t *co,
uint16_t timeDifference_ms,
uint16_t *timerNext_ms)
{
@ -786,14 +825,14 @@ CO_NMT_reset_cmd_t CO_process(
static uint16_t ms50 = 0;
#endif /* CO_USE_LEDS */
if(CO->NMT->operatingState == CO_NMT_PRE_OPERATIONAL || CO->NMT->operatingState == CO_NMT_OPERATIONAL)
if(co->NMT->operatingState == CO_NMT_PRE_OPERATIONAL || co->NMT->operatingState == CO_NMT_OPERATIONAL)
NMTisPreOrOperational = true;
#ifdef CO_USE_LEDS
ms50 += timeDifference_ms;
if(ms50 >= 50){
ms50 -= 50;
CO_NMT_blinkingProcess50ms(CO->NMT);
CO_NMT_blinkingProcess50ms(co->NMT);
}
#endif /* CO_USE_LEDS */
if(timerNext_ms != NULL){
@ -805,7 +844,7 @@ CO_NMT_reset_cmd_t CO_process(
for(i=0; i<CO_NO_SDO_SERVER; i++){
CO_SDO_process(
CO->SDO[i],
co->SDO[i],
NMTisPreOrOperational,
timeDifference_ms,
1000,
@ -813,7 +852,7 @@ CO_NMT_reset_cmd_t CO_process(
}
CO_EM_process(
CO->emPr,
co->emPr,
NMTisPreOrOperational,
timeDifference_ms * 10,
OD_inhibitTimeEMCY,
@ -821,7 +860,7 @@ CO_NMT_reset_cmd_t CO_process(
reset = CO_NMT_process(
CO->NMT,
co->NMT,
timeDifference_ms,
OD_producerHeartbeatTime,
OD_NMTStartup,
@ -831,13 +870,13 @@ CO_NMT_reset_cmd_t CO_process(
CO_HBconsumer_process(
CO->HBcons,
co->HBcons,
NMTisPreOrOperational,
timeDifference_ms);
#if CO_NO_TIME == 1
CO_TIME_process(
CO->TIME,
co->TIME,
timeDifference_ms);
#endif
@ -848,17 +887,17 @@ CO_NMT_reset_cmd_t CO_process(
/******************************************************************************/
#if CO_NO_SYNC == 1
bool_t CO_process_SYNC(
CO_t *CO,
CO_t *co,
uint32_t timeDifference_us)
{
bool_t syncWas = false;
switch(CO_SYNC_process(CO->SYNC, timeDifference_us, OD_synchronousWindowLength)){
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]);
CO_CANclearPendingSyncPDOs(co->CANmodule[0]);
break;
}
@ -868,20 +907,20 @@ bool_t CO_process_SYNC(
/******************************************************************************/
void CO_process_RPDO(
CO_t *CO,
CO_t *co,
bool_t syncWas)
{
int16_t i;
for(i=0; i<CO_NO_RPDO; i++){
CO_RPDO_process(CO->RPDO[i], syncWas);
CO_RPDO_process(co->RPDO[i], syncWas);
}
}
/******************************************************************************/
void CO_process_TPDO(
CO_t *CO,
CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us)
{
@ -889,9 +928,8 @@ void CO_process_TPDO(
/* 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], syncWas, timeDifference_us);
if(!co->TPDO[i]->sendRequest)
co->TPDO[i]->sendRequest = CO_TPDOisCOS(co->TPDO[i]);
CO_TPDO_process(co->TPDO[i], syncWas, timeDifference_us);
}
}

20
CANopen.h
View File

@ -154,7 +154,7 @@ typedef struct{
* object. Follow the code in CANopen.c file. If macro CO_NO_NMT_MASTER is 1,
* function CO_sendNMTcommand can be used to send NMT master message.
*
* @param CO CANopen object.
* @param co CANopen object.
* @param command NMT command.
* @param nodeID Node ID.
*
@ -162,7 +162,7 @@ typedef struct{
* @return other: same as CO_CANsend().
*/
#if CO_NO_NMT_MASTER == 1
CO_ReturnError_t CO_sendNMTcommand(CO_t *CO, uint8_t command, uint8_t nodeID);
CO_ReturnError_t CO_sendNMTcommand(CO_t *co, uint8_t command, uint8_t nodeID);
#endif
@ -254,7 +254,7 @@ void CO_delete(void *CANdriverState);
* Function must be called cyclically. It processes all "asynchronous" CANopen
* objects.
*
* @param CO This object
* @param co CANopen object.
* @param timeDifference_ms Time difference from previous function call in [milliseconds].
* @param timerNext_ms Return value - info to OS - maximum delay after function
* should be called next time in [milliseconds]. Value can be used for OS
@ -266,7 +266,7 @@ void CO_delete(void *CANdriverState);
* @return #CO_NMT_reset_cmd_t from CO_NMT_process().
*/
CO_NMT_reset_cmd_t CO_process(
CO_t *CO,
CO_t *co,
uint16_t timeDifference_ms,
uint16_t *timerNext_ms);
@ -278,13 +278,13 @@ CO_NMT_reset_cmd_t CO_process(
* Function must be called cyclically from real time thread with constant
* interval (1ms typically). It processes SYNC CANopen objects.
*
* @param CO This object.
* @param co CANopen object.
* @param timeDifference_us Time difference from previous function call in [microseconds].
*
* @return True, if CANopen SYNC message was just received or transmitted.
*/
bool_t CO_process_SYNC(
CO_t *CO,
CO_t *co,
uint32_t timeDifference_us);
#endif
@ -294,11 +294,11 @@ bool_t CO_process_SYNC(
* Function must be called cyclically from real time thread with constant.
* interval (1ms typically). It processes receive PDO CANopen objects.
*
* @param CO This object.
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or transmitted.
*/
void CO_process_RPDO(
CO_t *CO,
CO_t *co,
bool_t syncWas);
/**
@ -307,12 +307,12 @@ void CO_process_RPDO(
* Function must be called cyclically from real time thread with constant.
* interval (1ms typically). It processes transmit PDO CANopen objects.
*
* @param CO This object.
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or transmitted.
* @param timeDifference_us Time difference from previous function call in [microseconds].
*/
void CO_process_TPDO(
CO_t *CO,
CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us);

6
stack/CO_Emergency.c
View File

@ -309,12 +309,12 @@ void CO_EM_process(
/* write to 'pre-defined error field' (object dictionary, index 0x1003) */
if(emPr->preDefErr){
uint8_t i;
uint8_t j;
if(emPr->preDefErrNoOfErrors < emPr->preDefErrSize)
emPr->preDefErrNoOfErrors++;
for(i=emPr->preDefErrNoOfErrors-1; i>0; i--)
emPr->preDefErr[i] = emPr->preDefErr[i-1];
for(j=emPr->preDefErrNoOfErrors-1; j>0; j--)
emPr->preDefErr[j] = emPr->preDefErr[j-1];
emPr->preDefErr[0] = preDEF;
}

5
stack/CO_LSSmaster.c
View File

@ -804,6 +804,7 @@ static CO_LSSmaster_return_t CO_LSSmaster_FsScanInitiate(
case CO_LSSmaster_FS_MATCH:
/* No scanning requested */
return CO_LSSmaster_SCAN_FINISHED;
case CO_LSSmaster_FS_SKIP:
default:
return CO_LSSmaster_SCAN_FAILED;
}
@ -833,6 +834,7 @@ static CO_LSSmaster_return_t CO_LSSmaster_FsScanWait(
case CO_LSSmaster_FS_MATCH:
/* No scanning requested */
return CO_LSSmaster_SCAN_FINISHED;
case CO_LSSmaster_FS_SKIP:
default:
return CO_LSSmaster_SCAN_FAILED;
}
@ -890,6 +892,7 @@ static CO_LSSmaster_return_t CO_LSSmaster_FsVerifyInitiate(
/* ID given by user */
LSSmaster->fsIdNumber = idNumberCheck;
break;
case CO_LSSmaster_FS_SKIP:
default:
return CO_LSSmaster_SCAN_FAILED;
}
@ -1089,6 +1092,8 @@ CO_LSSmaster_return_t CO_LSSmaster_IdentifyFastscan(
}
}
break;
default:
break;
}
if (ret != CO_LSSmaster_WAIT_SLAVE) {

6
stack/CO_NMT_Heartbeat.c
View File

@ -66,6 +66,8 @@ static void CO_NMT_receive(void *object, const CO_CANrxMsg_t *msg){
case CO_NMT_RESET_COMMUNICATION:
NMT->resetCommand = CO_RESET_COMM;
break;
default:
break;
}
if(NMT->pFunctNMT!=NULL && currentOperatingState!=NMT->operatingState){
@ -168,6 +170,7 @@ void CO_NMT_blinkingProcess50ms(CO_NMT_t *NMT){
case 4: NMT->LEDdoubleFlash = -104; break;
case -100: NMT->LEDdoubleFlash = 100; break;
case 104: NMT->LEDdoubleFlash = -20; break;
default: break;
}
switch(++NMT->LEDtripleFlash){
@ -176,6 +179,7 @@ void CO_NMT_blinkingProcess50ms(CO_NMT_t *NMT){
case 104: NMT->LEDtripleFlash = -114; break;
case -110: NMT->LEDtripleFlash = 110; break;
case 114: NMT->LEDtripleFlash = -20; break;
default: break;
}
switch(++NMT->LEDquadrupleFlash){
@ -186,6 +190,7 @@ void CO_NMT_blinkingProcess50ms(CO_NMT_t *NMT){
case 114: NMT->LEDquadrupleFlash = -124; break;
case -120: NMT->LEDquadrupleFlash = 120; break;
case 124: NMT->LEDquadrupleFlash = -20; break;
default: break;
}
}
#endif /* CO_USE_LEDS */
@ -252,6 +257,7 @@ CO_NMT_reset_cmd_t CO_NMT_process(
case CO_NMT_STOPPED: NMT->LEDgreenRun = NMT->LEDsingleFlash; break;
case CO_NMT_PRE_OPERATIONAL: NMT->LEDgreenRun = NMT->LEDblinking; break;
case CO_NMT_OPERATIONAL: NMT->LEDgreenRun = 1; break;
default: break;
}

79
stack/CO_PDO.c
View File

@ -422,14 +422,16 @@ static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){
uint32_t *value = (uint32_t*) ODF_arg->data;
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(((value)&0xFFFF) == RPDO->defaultCOB_ID && RPDO->defaultCOB_ID)
value += RPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!RPDO->valid) *value |= 0x80000000L;
if(!RPDO->valid) value |= 0x80000000L;
CO_setUint32(ODF_arg->data, value);
}
return CO_SDO_AB_NONE;
}
@ -441,24 +443,25 @@ static CO_SDO_abortCode_t CO_ODF_RPDOcom(CO_ODF_arg_t *ODF_arg){
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 = (uint32_t*) ODF_arg->data;
uint32_t value = CO_getUint32(ODF_arg->data);
/* bits 11...29 must be zero */
if(*value & 0x3FFF8000L)
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;
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))
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);
CO_RPDOconfigCom(RPDO, value);
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
uint8_t *value = (uint8_t*) ODF_arg->data;
@ -495,14 +498,16 @@ static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
if(ODF_arg->subIndex == 1){ /* COB_ID */
uint32_t *value = (uint32_t*) ODF_arg->data;
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(((value)&0xFFFF) == TPDO->defaultCOB_ID && TPDO->defaultCOB_ID)
value += TPDO->nodeId;
/* If PDO is not valid, set bit 31 */
if(!TPDO->valid) *value |= 0x80000000L;
if(!TPDO->valid) value |= 0x80000000L;
CO_setUint32(ODF_arg->data, value);
}
return CO_SDO_AB_NONE;
}
@ -514,24 +519,26 @@ static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
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 = (uint32_t*) ODF_arg->data;
uint32_t value = CO_getUint32(ODF_arg->data);
/* bits 11...29 must be zero */
if(*value & 0x3FFF8000L)
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;
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))
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);
CO_TPDOconfigCom(TPDO, value, TPDO->CANtxBuff->syncFlag);
TPDO->syncCounter = 255;
}
else if(ODF_arg->subIndex == 2){ /* Transmission_type */
@ -551,9 +558,9 @@ static CO_SDO_abortCode_t CO_ODF_TPDOcom(CO_ODF_arg_t *ODF_arg){
TPDO->inhibitTimer = 0;
}
else if(ODF_arg->subIndex == 5){ /* Event_Timer */
uint16_t *value = (uint16_t*) ODF_arg->data;
uint16_t value = CO_getUint16(ODF_arg->data);
TPDO->eventTimer = ((uint32_t) *value) * 1000;
TPDO->eventTimer = ((uint32_t) value) * 1000;
}
else if(ODF_arg->subIndex == 6){ /* SYNC start value */
uint8_t *value = (uint8_t*) ODF_arg->data;
@ -613,7 +620,7 @@ static CO_SDO_abortCode_t CO_ODF_RPDOmap(CO_ODF_arg_t *ODF_arg){
/* mappedObject */
else{
uint32_t *value = (uint32_t*) ODF_arg->data;
uint32_t value = CO_getUint32(ODF_arg->data);
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
@ -625,7 +632,7 @@ static CO_SDO_abortCode_t CO_ODF_RPDOmap(CO_ODF_arg_t *ODF_arg){
/* verify if mapping is correct */
return CO_PDOfindMap(
RPDO->SDO,
*value,
value,
0,
&pData,
&length,
@ -679,7 +686,7 @@ static CO_SDO_abortCode_t CO_ODF_TPDOmap(CO_ODF_arg_t *ODF_arg){
/* mappedObject */
else{
uint32_t *value = (uint32_t*) ODF_arg->data;
uint32_t value = CO_getUint32(ODF_arg->data);
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
@ -691,7 +698,7 @@ static CO_SDO_abortCode_t CO_ODF_TPDOmap(CO_ODF_arg_t *ODF_arg){
/* verify if mapping is correct */
return CO_PDOfindMap(
TPDO->SDO,
*value,
value,
1,
&pData,
&length,
@ -824,14 +831,14 @@ uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO){
ppODdataByte = &TPDO->mapPointer[TPDO->dataLength];
switch(TPDO->dataLength){
case 8: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x80)) return 1;
case 7: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x40)) return 1;
case 6: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x20)) return 1;
case 5: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x10)) return 1;
case 4: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x08)) return 1;
case 3: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x04)) return 1;
case 2: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x02)) return 1;
case 1: if(*(--pPDOdataByte) != **(--ppODdataByte) && (TPDO->sendIfCOSFlags&0x01)) return 1;
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;

15
stack/CO_SDO.c
View File

@ -1172,8 +1172,8 @@ int8_t CO_SDO_process(
/* indicate data size, if known */
if(SDO->ODF_arg.dataLengthTotal != 0U){
uint32_t len = SDO->ODF_arg.dataLengthTotal;
CO_memcpySwap4(&SDO->CANtxBuff->data[4], &len);
uint32_t dlentot = SDO->ODF_arg.dataLengthTotal;
CO_memcpySwap4(&SDO->CANtxBuff->data[4], &dlentot);
SDO->CANtxBuff->data[0] = 0x41U;
}
else{
@ -1285,8 +1285,8 @@ int8_t CO_SDO_process(
/* indicate data size, if known */
if(SDO->ODF_arg.dataLengthTotal != 0U){
uint32_t len = SDO->ODF_arg.dataLengthTotal;
CO_memcpySwap4(&SDO->CANtxBuff->data[4], &len);
uint32_t dlentot = SDO->ODF_arg.dataLengthTotal;
CO_memcpySwap4(&SDO->CANtxBuff->data[4], &dlentot);
SDO->CANtxBuff->data[0] = 0xC6U;
}
else{
@ -1313,6 +1313,7 @@ int8_t CO_SDO_process(
SDO->state = CO_SDO_ST_UPLOAD_BL_SUBBLOCK;
/* continue in next case */
}
// fallthrough
case CO_SDO_ST_UPLOAD_BL_SUBBLOCK:{
/* is block confirmation received */
@ -1450,6 +1451,12 @@ int8_t CO_SDO_process(
SDO->state = CO_SDO_ST_IDLE;
break;
}
case CO_SDO_ST_IDLE:
{
/* Nothing to do it seems */
break;
}
default:{
CO_SDO_abort(SDO, CO_SDO_AB_DEVICE_INCOMPAT);/* general internal incompatibility in the device */

2
stack/CO_TIME.c
View File

@ -133,7 +133,7 @@ uint8_t CO_TIME_process(
if(TIME->CANrxNew){
TIME->timer = 0;
ret = 1;
TIME->CANrxNew = false;
CLEAR_CANrxNew(TIME->CANrxNew);
}
/* TIME producer */

2
stack/drvTemplate/CO_driver.c
View File

@ -77,7 +77,7 @@ CO_ReturnError_t CO_CANmodule_init(
for(i=0U; i<rxSize; i++){
rxArray[i].ident = 0U;
rxArray[i].mask = 0xFFFFFFFFU;
rxArray[i].mask = (uint16_t)0xFFFFFFFFU;
rxArray[i].object = NULL;
rxArray[i].pFunct = NULL;
}