/* * 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; } else{ ID = 0; RPDO->valid = false; RPDO->CANrxNew = 0; } 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; RPDO->CANrxNew = 0; } }
INTEGER8 CO_SDOclient_setup( CO_SDOclient_t *SDO_C, UNSIGNED32 COB_IDClientToServer, UNSIGNED32 COB_IDServerToClient, UNSIGNED8 nodeIDOfTheSDOServer) { //verify parameters if((COB_IDClientToServer&0x7FFFF800L) || (COB_IDServerToClient&0x7FFFF800L) || nodeIDOfTheSDOServer > 127) return -2; //Configure object variables SDO_C->state = 0; //setup Object Dictionary variables if((COB_IDClientToServer & 0x80000000L) || (COB_IDServerToClient & 0x80000000L) || nodeIDOfTheSDOServer == 0) { //SDO is NOT used SDO_C->ObjDict_SDOClientParameter->COB_IDClientToServer = 0x80000000L; SDO_C->ObjDict_SDOClientParameter->COB_IDServerToClient = 0x80000000L; SDO_C->ObjDict_SDOClientParameter->nodeIDOfTheSDOServer = 0; } else { if(COB_IDClientToServer == 0 || COB_IDServerToClient == 0) { SDO_C->ObjDict_SDOClientParameter->COB_IDClientToServer = 0x600 + nodeIDOfTheSDOServer; SDO_C->ObjDict_SDOClientParameter->COB_IDServerToClient = 0x580 + nodeIDOfTheSDOServer; } else { SDO_C->ObjDict_SDOClientParameter->COB_IDClientToServer = COB_IDClientToServer; SDO_C->ObjDict_SDOClientParameter->COB_IDServerToClient = COB_IDServerToClient; } SDO_C->ObjDict_SDOClientParameter->nodeIDOfTheSDOServer = nodeIDOfTheSDOServer; } //configure SDO client CAN reception CO_CANrxBufferInit( SDO_C->CANdevRx, //CAN device SDO_C->CANdevRxIdx, //rx buffer index (UNSIGNED16)SDO_C->ObjDict_SDOClientParameter->COB_IDServerToClient,//CAN identifier 0x7FF, //mask 0, //rtr (void*)SDO_C, //object passed to receive function CO_SDOclient_receive); //this function will process received message //configure SDO client CAN transmission SDO_C->CANtxBuff = CO_CANtxBufferInit( SDO_C->CANdevTx, //CAN device SDO_C->CANdevTxIdx, //index of specific buffer inside CAN module (UNSIGNED16)SDO_C->ObjDict_SDOClientParameter->COB_IDClientToServer,//CAN identifier 0, //rtr 8, //number of data bytes 0); //synchronous message flag bit return 0; }
/* * Function for accessing _COB ID SYNC Message_ (index 0x1005) from SDO server. * * For more information see file CO_SDO.h. */ static CO_SDO_abortCode_t CO_ODF_1005(CO_ODF_arg_t *ODF_arg){ CO_SYNC_t *SYNC; uint32_t value; CO_SDO_abortCode_t ret = CO_SDO_AB_NONE; SYNC = (CO_SYNC_t*) ODF_arg->object; value = CO_getUint32(ODF_arg->data); if(!ODF_arg->reading){ uint8_t configureSyncProducer = 0; /* only 11-bit CAN identifier is supported */ if(value & 0x20000000UL){ ret = CO_SDO_AB_INVALID_VALUE; } else{ /* is 'generate Sync messge' bit set? */ if(value & 0x40000000UL){ /* if bit was set before, value can not be changed */ if(SYNC->isProducer){ ret = CO_SDO_AB_DATA_DEV_STATE; } else{ configureSyncProducer = 1; } } } /* configure sync producer and consumer */ if(ret == CO_SDO_AB_NONE){ SYNC->COB_ID = (uint16_t)(value & 0x7FFU); if(configureSyncProducer){ uint8_t len = 0U; if(SYNC->counterOverflowValue != 0U){ len = 1U; SYNC->counter = 0U; SYNC->timer = 0U; } SYNC->CANtxBuff = CO_CANtxBufferInit( SYNC->CANdevTx, /* CAN device */ SYNC->CANdevTxIdx, /* index of specific buffer inside CAN module */ SYNC->COB_ID, /* CAN identifier */ 0, /* rtr */ len, /* number of data bytes */ 0); /* synchronous message flag bit */ SYNC->isProducer = true; } else{ SYNC->isProducer = false; } CO_CANrxBufferInit( SYNC->CANdevRx, /* CAN device */ SYNC->CANdevRxIdx, /* rx buffer index */ SYNC->COB_ID, /* CAN identifier */ 0x7FF, /* mask */ 0, /* rtr */ (void*)SYNC, /* object passed to receive function */ CO_SYNC_receive); /* this function will process received message */ } } return ret; }
CO_ReturnError_t CO_SYNC_init( CO_SYNC_t *SYNC, CO_EM_t *em, CO_SDO_t *SDO, uint8_t *operatingState, uint32_t COB_ID_SYNCMessage, uint32_t communicationCyclePeriod, uint8_t synchronousCounterOverflowValue, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx) { uint8_t len = 0; /* verify arguments */ if(SYNC==NULL || em==NULL || SDO==NULL || operatingState==NULL || CANdevRx==NULL || CANdevTx==NULL){ return CO_ERROR_ILLEGAL_ARGUMENT; } /* Configure object variables */ SYNC->isProducer = (COB_ID_SYNCMessage&0x40000000L) ? true : false; SYNC->COB_ID = COB_ID_SYNCMessage&0x7FF; SYNC->periodTime = communicationCyclePeriod; SYNC->periodTimeoutTime = communicationCyclePeriod / 2 * 3; /* overflow? */ if(SYNC->periodTimeoutTime < communicationCyclePeriod) SYNC->periodTimeoutTime = 0xFFFFFFFFL; SYNC->counterOverflowValue = synchronousCounterOverflowValue; if(synchronousCounterOverflowValue) len = 1; SYNC->curentSyncTimeIsInsideWindow = true; SYNC->CANrxNew = false; SYNC->timer = 0; SYNC->counter = 0; SYNC->receiveError = 0U; SYNC->em = em; SYNC->operatingState = operatingState; SYNC->cbSync = NULL; SYNC->CANdevRx = CANdevRx; SYNC->CANdevRxIdx = CANdevRxIdx; /* Configure Object dictionary entry at index 0x1005, 0x1006 and 0x1019 */ CO_OD_configure(SDO, OD_H1005_COBID_SYNC, CO_ODF_1005, (void*)SYNC, 0, 0); CO_OD_configure(SDO, OD_H1006_COMM_CYCL_PERIOD, CO_ODF_1006, (void*)SYNC, 0, 0); CO_OD_configure(SDO, OD_H1019_SYNC_CNT_OVERFLOW, CO_ODF_1019, (void*)SYNC, 0, 0); /* configure SYNC CAN reception */ CO_CANrxBufferInit( CANdevRx, /* CAN device */ CANdevRxIdx, /* rx buffer index */ SYNC->COB_ID, /* CAN identifier */ 0x7FF, /* mask */ 0, /* rtr */ (void*)SYNC, /* object passed to receive function */ CO_SYNC_receive); /* this function will process received message */ /* configure SYNC CAN transmission */ SYNC->CANdevTx = CANdevTx; SYNC->CANdevTxIdx = CANdevTxIdx; SYNC->CANtxBuff = CO_CANtxBufferInit( CANdevTx, /* CAN device */ CANdevTxIdx, /* index of specific buffer inside CAN module */ SYNC->COB_ID, /* CAN identifier */ 0, /* rtr */ len, /* number of data bytes */ 0); /* synchronous message flag bit */ return CO_ERROR_NO; }
UNSIGNED32 CO_ODF_1005( void *object, UNSIGNED16 index, UNSIGNED8 subIndex, UNSIGNED8 length, UNSIGNED16 attribute, UNSIGNED8 dir, void *dataBuff, const void *pData) { UNSIGNED8 configureSyncProducer = 0; UNSIGNED32 abortCode; CO_SYNC_t *SYNC; UNSIGNED32 COB_ID; SYNC = (CO_SYNC_t*) object; //this is the correct pointer type of the first argument memcpySwap4((UNSIGNED8*)&COB_ID, (UNSIGNED8*)dataBuff); if(dir == 1){ //Writing Object Dictionary variable //only 11-bit CAN identifier is supported if(COB_ID & 0x20000000L) return 0x06090030L; //Invalid value for parameter (download only). //is 'generate Sync messge' bit set? if(COB_ID&0x40000000L){ //if bit was set before, value can not be changed if(SYNC->isProducer) return 0x08000022L; //Data cannot be transferred or stored to the application because of the present device state. configureSyncProducer = 1; } } abortCode = CO_ODF(object, index, subIndex, length, attribute, dir, dataBuff, pData); if(abortCode == 0 && dir == 1){ SYNC->COB_ID = COB_ID&0x7FF; if(configureSyncProducer){ UNSIGNED8 len = 0; if(SYNC->counterOverflowValue){ len = 1; SYNC->counter = 0; SYNC->running = 0; SYNC->timer = 0; } SYNC->CANtxBuff = CO_CANtxBufferInit( SYNC->CANdevTx, //CAN device SYNC->CANdevTxIdx, //index of specific buffer inside CAN module SYNC->COB_ID, //CAN identifier 0, //rtr len, //number of data bytes 0); //synchronous message flag bit SYNC->isProducer = 1; } else{ SYNC->isProducer = 0; } CO_CANrxBufferInit(SYNC->CANdevRx, //CAN device SYNC->CANdevRxIdx, //rx buffer index SYNC->COB_ID, //CAN identifier 0x7FF, //mask 0, //rtr (void*)SYNC, //object passed to receive function CO_SYNC_receive); //this function will process received message } return abortCode; }
INTEGER16 CO_SYNC_init( CO_SYNC_t **ppSYNC, CO_emergencyReport_t *EM, CO_SDO_t *SDO, UNSIGNED8 *operatingState, UNSIGNED32 ObjDict_COB_ID_SYNCMessage, UNSIGNED32 ObjDict_communicationCyclePeriod, UNSIGNED8 ObjDict_synchronousCounterOverflowValue, CO_CANmodule_t *CANdevRx, UNSIGNED16 CANdevRxIdx, CO_CANmodule_t *CANdevTx, UNSIGNED16 CANdevTxIdx) { UNSIGNED8 len = 0; CO_SYNC_t *SYNC; //allocate memory if not already allocated if((*ppSYNC) == NULL){ if(((*ppSYNC) = (CO_SYNC_t*) malloc(sizeof(CO_SYNC_t))) == NULL){ return CO_ERROR_OUT_OF_MEMORY;} } SYNC = *ppSYNC; //pointer to (newly created) object //Configure object variables SYNC->isProducer = (ObjDict_COB_ID_SYNCMessage&0x40000000L) ? 1 : 0; SYNC->COB_ID = ObjDict_COB_ID_SYNCMessage&0x7FF; SYNC->periodTime = ObjDict_communicationCyclePeriod; SYNC->periodTimeoutTime = ObjDict_communicationCyclePeriod / 2 * 3; //overflow? if(SYNC->periodTimeoutTime < ObjDict_communicationCyclePeriod) SYNC->periodTimeoutTime = 0xFFFFFFFFL; SYNC->counterOverflowValue = ObjDict_synchronousCounterOverflowValue; if(ObjDict_synchronousCounterOverflowValue) len = 1; SYNC->curentSyncTimeIsInsideWindow = 1; CANdevTx->curentSyncTimeIsInsideWindow = &SYNC->curentSyncTimeIsInsideWindow; //parameter inside CAN module. SYNC->running = 0; SYNC->timer = 0; SYNC->counter = 0; SYNC->EM = EM; SYNC->operatingState = operatingState; SYNC->CANdevRx = CANdevRx; SYNC->CANdevRxIdx = CANdevRxIdx; //Configure SDO server for first argument of CO_ODF_1005, CO_ODF_1006 and CO_ODF_1019. CO_OD_configureArgumentForODF(SDO, 0x1005, (void*)SYNC); CO_OD_configureArgumentForODF(SDO, 0x1006, (void*)SYNC); CO_OD_configureArgumentForODF(SDO, 0x1019, (void*)SYNC); //configure SYNC CAN reception CO_CANrxBufferInit( CANdevRx, //CAN device CANdevRxIdx, //rx buffer index SYNC->COB_ID, //CAN identifier 0x7FF, //mask 0, //rtr (void*)SYNC, //object passed to receive function CO_SYNC_receive); //this function will process received message //configure SYNC CAN transmission SYNC->CANdevTx = CANdevTx; SYNC->CANdevTxIdx = CANdevTxIdx; SYNC->CANtxBuff = CO_CANtxBufferInit( CANdevTx, //CAN device CANdevTxIdx, //index of specific buffer inside CAN module SYNC->COB_ID, //CAN identifier 0, //rtr len, //number of data bytes 0); //synchronous message flag bit return CO_ERROR_NO; }
int16_t CO_SDO_init( CO_SDO_t *SDO, uint16_t COB_IDClientToServer, uint16_t COB_IDServerToClient, uint16_t ObjDictIndex_SDOServerParameter, CO_SDO_t *parentSDO, const CO_OD_entry_t OD[], uint16_t ODSize, CO_OD_extension_t *ODExtensions, uint8_t nodeId, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx) { /* configure own object dictionary */ if(parentSDO == NULL){ uint16_t i; SDO->ownOD = CO_true; SDO->OD = OD; SDO->ODSize = ODSize; SDO->ODExtensions = ODExtensions; /* clear pointers in ODExtensions */ for(i=0U; i<ODSize; i++){ SDO->ODExtensions[i].pODFunc = NULL; SDO->ODExtensions[i].object = NULL; SDO->ODExtensions[i].flags = NULL; } } /* copy object dictionary from parent */ else{ SDO->ownOD = CO_false; SDO->OD = parentSDO->OD; SDO->ODSize = parentSDO->ODSize; SDO->ODExtensions = parentSDO->ODExtensions; } /* Configure object variables */ SDO->nodeId = nodeId; SDO->state = CO_SDO_ST_IDLE; SDO->CANrxNew = CO_false; SDO->pFunctSignal = 0; SDO->functArg = 0; /* Configure Object dictionary entry at index 0x1200 */ if(ObjDictIndex_SDOServerParameter == OD_H1200_SDO_SERVER_PARAM){ CO_OD_configure(SDO, ObjDictIndex_SDOServerParameter, CO_ODF_1200, (void*)&SDO->nodeId, 0U, 0U); } /* configure SDO server CAN reception */ CO_CANrxBufferInit( CANdevRx, /* CAN device */ CANdevRxIdx, /* rx buffer index */ COB_IDClientToServer, /* CAN identifier */ 0x7FF, /* mask */ 0, /* rtr */ (void*)SDO, /* object passed to receive function */ CO_SDO_receive); /* this function will process received message */ /* configure SDO server CAN transmission */ SDO->CANdevTx = CANdevTx; SDO->CANtxBuff = CO_CANtxBufferInit( CANdevTx, /* CAN device */ CANdevTxIdx, /* index of specific buffer inside CAN module */ COB_IDServerToClient, /* CAN identifier */ 0, /* rtr */ 8, /* number of data bytes */ 0); /* synchronous message flag bit */ return CO_ERROR_NO; }