/*
* Function for accessing _Communication cycle period_ (index 0x1006) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_1006(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){
/* period transition from 0 to something */
if((SYNC->periodTime == 0) && (value != 0)){
SYNC->counter = 0;
}
SYNC->periodTime = value;
SYNC->periodTimeoutTime = (value / 2U) * 3U;
/* overflow? */
if(SYNC->periodTimeoutTime < value){
SYNC->periodTimeoutTime = 0xFFFFFFFFUL;
}
SYNC->timer = 0;
}
return ret;
}
static CO_SDO_abortCode_t CO_ODF_1011(CO_ODF_arg_t *ODF_arg) {
CO_EE_t *ee;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
ee = (CO_EE_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading) {
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex >= 1U) {
if(value == 0x64616F6CUL) {
/* Clear the eeprom */
}
else {
ret = CO_SDO_AB_DATA_TRANSF;
}
}
}
return ret;
}
static CO_SDO_abortCode_t CO_ODF_1010(CO_ODF_arg_t *ODF_arg) {
CO_EE_t *ee;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
ee = (CO_EE_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading) {
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex == 1U) {
if(value == 0x65766173UL) {
/* write ee->OD_ROMAddress, ee->OD_ROMSize to eeprom (blocking function) */
/* verify data */
if(0/*error*/) {
ret = CO_SDO_AB_HW;
}
}
else {
ret = CO_SDO_AB_DATA_TRANSF;
}
}
}
return ret;
}
CO_SDO_abortCode_t CO_ODF_1011(CO_ODF_arg_t *ODF_arg) {
CO_OD_storage_t *odStor;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
odStor = (CO_OD_storage_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading) {
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex >= 1) {
/* restore default parameters */
if(value == 0x64616F6CUL) {
if(CO_OD_storage_restoreSecure(odStor->filename) != 0) {
ret = CO_SDO_AB_HW;
}
}
else {
ret = CO_SDO_AB_DATA_TRANSF;
}
}
}
return ret;
}
static CO_SDO_abortCode_t CO_ODF_1014(CO_ODF_arg_t *ODF_arg){
uint8_t *nodeId;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
nodeId = (uint8_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
/* add nodeId to the value */
if(ODF_arg->reading){
CO_setUint32(ODF_arg->data, value + *nodeId);
}
return ret;
}
static CO_SDO_abortCode_t CO_ODF_1200(CO_ODF_arg_t *ODF_arg){
uint8_t *nodeId;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
nodeId = (uint8_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
/* if SDO reading Object dictionary 0x1200, add nodeId to the value */
if((ODF_arg->reading) && (ODF_arg->subIndex > 0U)){
CO_setUint32(ODF_arg->data, value + *nodeId);
}
return ret;
}
/* Restore default parameters *************************************************/
static CO_SDO_abortCode_t CO_ODF_1011(CO_ODF_arg_t *ODF_arg){
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading){
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex >= 1){
if(value == 0x64616F6CUL){
/* restore default parameters */
/* rename current file to .old, so it no longer exist */
remove(EE_ROM_FILENAME_OLD);
rename(EE_ROM_FILENAME, EE_ROM_FILENAME_OLD);
/* create an empty file */
FILE *fp = fopen(EE_ROM_FILENAME, "wt");
if(!fp){
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
/* write one byte '-' to the file */
fputc('-', fp);
fclose(fp);
return CO_SDO_AB_NONE;
}
else
return CO_SDO_AB_DATA_TRANSF;
}
}
return ret;
}
/* Store parameters ***********************************************************/
static CO_SDO_abortCode_t CO_ODF_1010(CO_ODF_arg_t *ODF_arg){
CO_EE_t *ee;
uint32_t value;
CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;
ee = (CO_EE_t*) ODF_arg->object;
value = CO_getUint32(ODF_arg->data);
if(!ODF_arg->reading){
/* don't change the old value */
CO_memcpy(ODF_arg->data, (const uint8_t*)ODF_arg->ODdataStorage, 4U);
if(ODF_arg->subIndex == 1){
if(value == 0x65766173UL){
/* store parameters */
/* rename current file to .old */
remove(EE_ROM_FILENAME_OLD);
rename(EE_ROM_FILENAME, EE_ROM_FILENAME_OLD);
/* open a file */
FILE *fp = fopen(EE_ROM_FILENAME, "wb");
if(!fp){
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
/* write data to the file */
fwrite((const void *)ee->OD_ROMAddress, 1, ee->OD_ROMSize, fp);
/* write CRC to the end of the file */
uint16_t CRC = crc16_ccitt((unsigned char*)ee->OD_ROMAddress, ee->OD_ROMSize, 0);
fwrite((const void *)&CRC, 1, 2, fp);
fclose(fp);
/* verify data */
void *buf = malloc(ee->OD_ROMSize + 4);
if(buf){
fp = fopen(EE_ROM_FILENAME, "rb");
uint32_t cnt = 0;
uint16_t CRC2 = 0;
if(fp){
cnt = fread(buf, 1, ee->OD_ROMSize, fp);
CRC2 = crc16_ccitt((unsigned char*)buf, ee->OD_ROMSize, 0);
/* read also two bytes of CRC */
cnt += fread(buf, 1, 4, fp);
fclose(fp);
}
free(buf);
if(cnt == (ee->OD_ROMSize + 2) && CRC == CRC2){
/* write successful */
return CO_SDO_AB_NONE;
}
}
/* error, set back the old file */
remove(EE_ROM_FILENAME);
rename(EE_ROM_FILENAME_OLD, EE_ROM_FILENAME);
return CO_SDO_AB_HW;
}
else
return CO_SDO_AB_DATA_TRANSF;
}
}
return ret;
}
/*
* 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;
}
