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canopennode/CANopen.c

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/*
* 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 - 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 "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_TIME > 1 \
|| 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_TIME (CO_RXCAN_EMERG+CO_NO_EMERGENCY) /* index for TIME message */
#define CO_RXCAN_RPDO (CO_RXCAN_TIME+CO_NO_TIME) /* 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_TIME + \
CO_NO_RPDO + \
CO_NO_SDO_SERVER + \
CO_NO_SDO_CLIENT + \
CO_NO_HB_CONS + \
CO_NO_LSS_SERVER + \
CO_NO_LSS_CLIENT + \
0 \
)
#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_TIME (CO_TXCAN_EMERG+CO_NO_EMERGENCY) /* index for TIME message */
#define CO_TXCAN_TPDO (CO_TXCAN_TIME+CO_NO_TIME) /* 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_TIME + \
CO_NO_TPDO + \
CO_NO_SDO_SERVER + \
CO_NO_SDO_CLIENT + \
CO_NO_HB_PROD + \
CO_NO_LSS_SERVER + \
CO_NO_LSS_CLIENT + \
0\
)
#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;
#if CO_NO_SYNC == 1
static CO_SYNC_t COO_SYNC;
#endif
#if CO_NO_TIME == 1
static CO_TIME_t COO_TIME;
#endif
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
/* 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){
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;
CO_ReturnError_t error = CO_ERROR_NO;
/* 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;
default:
error = CO_ERROR_ILLEGAL_ARGUMENT;
break;
}
}
if(error == CO_ERROR_NO)
return CO_CANsend(co->CANmodule[0], NMTM_txBuff); /* 0 = success */
else
{
return error;
}
}
#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_memset((uint8_t*)CO, 0, sizeof(CO_t));
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;
#if CO_NO_SYNC == 1
CO->SYNC = &COO_SYNC;
#endif
#if CO_NO_TIME == 1
CO->TIME = &COO_TIME;
#endif
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));
#if CO_NO_SYNC == 1
CO->SYNC = (CO_SYNC_t *) calloc(1, sizeof(CO_SYNC_t));
#endif
#if CO_NO_TIME == 1
CO->TIME = (CO_TIME_t *) calloc(1, sizeof(CO_TIME_t));
#endif
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)
#if CO_NO_SYNC == 1
+ sizeof(CO_SYNC_t)
#endif
#if CO_NO_TIME == 1
+ sizeof(CO_TIME_t)
#endif
+ 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_NO_SYNC == 1
if(CO->SYNC == NULL) errCnt++;
#endif
#if CO_NO_TIME == 1
if(CO->TIME == NULL) errCnt++;
#endif
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(
void *CANdriverState,
uint16_t bitRate)
{
CO_ReturnError_t err;
CO->CANmodule[0]->CANnormal = false;
CO_CANsetConfigurationMode(CANdriverState);
err = CO_CANmodule_init(
CO->CANmodule[0],
CANdriverState,
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,
(uint16_t)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
#if CO_NO_SYNC == 1
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;}
#endif
#if CO_NO_TIME == 1
err = CO_TIME_init(
CO->TIME,
CO->em,
CO->SDO[0],
&CO->NMT->operatingState,
OD_COB_ID_TIME,
0,
CO->CANmodule[0],
CO_RXCAN_TIME,
CO->CANmodule[0],
CO_TXCAN_TIME);
if(err){return err;}
#endif
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->SYNC,
&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(
void *CANdriverState,
uint8_t nodeId,
uint16_t bitRate)
{
CO_ReturnError_t err;
err = CO_new();
if (err) {
return err;
}
err = CO_CANinit(CANdriverState, bitRate);
if (err) {
CO_delete(CANdriverState);
return err;
}
err = CO_CANopenInit(nodeId);
if (err) {
CO_delete(CANdriverState);
return err;
}
return CO_ERROR_NO;
}
/******************************************************************************/
void CO_delete(void *CANdriverState){
#ifndef CO_USE_GLOBALS
int16_t i;
#endif
CO_CANsetConfigurationMode(CANdriverState);
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 != 0
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]);
}
#if CO_NO_SYNC == 1
free(CO->SYNC);
#endif
#if CO_NO_TIME == 1
free(CO->TIME);
#endif
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;
#ifdef CO_USE_LEDS
static uint16_t ms50 = 0;
#endif /* CO_USE_LEDS */
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);
}
#endif /* CO_USE_LEDS */
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);
#if CO_NO_TIME == 1
CO_TIME_process(
co->TIME,
timeDifference_ms);
#endif
return reset;
}
/******************************************************************************/
#if CO_NO_SYNC == 1
bool_t CO_process_SYNC(
CO_t *co,
uint32_t timeDifference_us)
{
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;
}
return syncWas;
}
#endif
/******************************************************************************/
void CO_process_RPDO(
CO_t *co,
bool_t syncWas)
{
int16_t i;
for(i=0; i<CO_NO_RPDO; i++){
CO_RPDO_process(co->RPDO[i], 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], syncWas, timeDifference_us);
}
}
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