Пример #1
0
int main (int argc, char *argv[]) {
    CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
    CO_ReturnError_t odStorStatus_rom, odStorStatus_eeprom;
    int CANdevice0Index = 0;
    int opt;
    bool_t firstRun = true;

    char* CANdevice = NULL;         /* CAN device, configurable by arguments. */
    int nodeId = -1;                /* Set to 1..127 by arguments */
    bool_t rebootEnable = false;    /* Configurable by arguments */
#ifndef CO_SINGLE_THREAD
    bool_t commandEnable = false;   /* Configurable by arguments */
#endif

    if(argc < 3 || strcmp(argv[1], "--help") == 0){
        printUsage(argv[0]);
        exit(EXIT_SUCCESS);
    }


    /* Get program options */
    while((opt = getopt(argc, argv, "i:p:rc:s:a:")) != -1) {
        switch (opt) {
            case 'i': nodeId = strtol(optarg, NULL, 0);     break;
            case 'p': rtPriority = strtol(optarg, NULL, 0); break;
            case 'r': rebootEnable = true;                  break;
#ifndef CO_SINGLE_THREAD
            case 'c':
                /* In case of empty string keep default name, just enable interface. */
                if(strlen(optarg) != 0) {
                    CO_command_socketPath = optarg;
                }
                commandEnable = true;
                break;
#endif
            case 's': odStorFile_rom = optarg;              break;
            case 'a': odStorFile_eeprom = optarg;           break;
            default:
                printUsage(argv[0]);
                exit(EXIT_FAILURE);
        }
    }

    if(optind < argc) {
        CANdevice = argv[optind];
        CANdevice0Index = if_nametoindex(CANdevice);
    }

    if(nodeId < 1 || nodeId > 127) {
        fprintf(stderr, "Wrong node ID (%d)\n", nodeId);
        printUsage(argv[0]);
        exit(EXIT_FAILURE);
    }

    if(rtPriority != -1 && (rtPriority < sched_get_priority_min(SCHED_FIFO)
                         || rtPriority > sched_get_priority_max(SCHED_FIFO))) {
        fprintf(stderr, "Wrong RT priority (%d)\n", rtPriority);
        printUsage(argv[0]);
        exit(EXIT_FAILURE);
    }

    if(CANdevice0Index == 0) {
        char s[120];
        snprintf(s, 120, "Can't find CAN device \"%s\"", CANdevice);
        CO_errExit(s);
    }


    printf("%s - starting CANopen device with Node ID %d(0x%02X)", argv[0], nodeId, nodeId);


    /* Verify, if OD structures have proper alignment of initial values */
    if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) {
        fprintf(stderr, "Program init - %s - Error in CO_OD_RAM.\n", argv[0]);
        exit(EXIT_FAILURE);
    }
    if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) {
        fprintf(stderr, "Program init - %s - Error in CO_OD_EEPROM.\n", argv[0]);
        exit(EXIT_FAILURE);
    }
    if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) {
        fprintf(stderr, "Program init - %s - Error in CO_OD_ROM.\n", argv[0]);
        exit(EXIT_FAILURE);
    }


    /* initialize Object Dictionary storage */
    odStorStatus_rom = CO_OD_storage_init(&odStor, (uint8_t*) &CO_OD_ROM, sizeof(CO_OD_ROM), odStorFile_rom);
    odStorStatus_eeprom = CO_OD_storage_init(&odStorAuto, (uint8_t*) &CO_OD_EEPROM, sizeof(CO_OD_EEPROM), odStorFile_eeprom);


    /* Catch signals SIGINT and SIGTERM */
    if(signal(SIGINT, sigHandler) == SIG_ERR)
        CO_errExit("Program init - SIGINIT handler creation failed");
    if(signal(SIGTERM, sigHandler) == SIG_ERR)
        CO_errExit("Program init - SIGTERM handler creation failed");

    /* increase variable each startup. Variable is automatically stored in non-volatile memory. */
    printf(", count=%u ...\n", ++OD_powerOnCounter);


    while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
/* CANopen communication reset - initialize CANopen objects *******************/
        CO_ReturnError_t err;

        printf("%s - communication reset ...\n", argv[0]);


#ifndef CO_SINGLE_THREAD
        /* Wait other threads (command interface). */
        pthread_mutex_lock(&CO_CAN_VALID_mtx);
#endif

        /* Wait rt_thread. */
        if(!firstRun) {
            CO_LOCK_OD();
            CO->CANmodule[0]->CANnormal = false;
            CO_UNLOCK_OD();
        }


        /* Enter CAN configuration. */
        CO_CANsetConfigurationMode(CANdevice0Index);


        /* initialize CANopen */
        err = CO_init(CANdevice0Index, nodeId, 0);
        if(err != CO_ERROR_NO) {
            char s[120];
            snprintf(s, 120, "Communication reset - CANopen initialization failed, err=%d", err);
            CO_errExit(s);
        }


        /* initialize OD objects 1010 and 1011 and verify errors. */
        CO_OD_configure(CO->SDO[0], OD_H1010_STORE_PARAM_FUNC, CO_ODF_1010, (void*)&odStor, 0, 0U);
        CO_OD_configure(CO->SDO[0], OD_H1011_REST_PARAM_FUNC, CO_ODF_1011, (void*)&odStor, 0, 0U);
        if(odStorStatus_rom != CO_ERROR_NO) {
            CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_rom);
        }
        if(odStorStatus_eeprom != CO_ERROR_NO) {
            CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_eeprom + 1000);
        }


        /* Configure callback functions for task control */
        CO_EM_initCallback(CO->em, taskMain_cbSignal);
        CO_SDO_initCallback(CO->SDO[0], taskMain_cbSignal);
        CO_SDOclient_initCallback(CO->SDOclient, taskMain_cbSignal);

        CO_SYNC_initCallback(CO->SYNC, CANrx_lockCbSync);


        /* Initialize time */
        CO_time_init(&CO_time, CO->SDO[0], &OD_time.epochTimeBaseMs, &OD_time.epochTimeOffsetMs, 0x2130);


        /* First time only initialization. */
        if(firstRun) {
            firstRun = false;

            /* Configure epoll for mainline */
            mainline_epoll_fd = epoll_create(4);
            if(mainline_epoll_fd == -1)
                CO_errExit("Program init - epoll_create mainline failed");

            /* Init mainline */
            taskMain_init(mainline_epoll_fd, &OD_performance[ODA_performance_mainCycleMaxTime]);


#ifdef CO_SINGLE_THREAD
            /* Init taskRT */
            CANrx_taskTmr_init(mainline_epoll_fd, TMR_TASK_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);

            OD_performance[ODA_performance_timerCycleTime] = TMR_TASK_INTERVAL_NS/1000; /* informative */

            /* Set priority for mainline */
            if(rtPriority > 0) {
                struct sched_param param;

                param.sched_priority = rtPriority;
                if(sched_setscheduler(0, SCHED_FIFO, &param) != 0)
                    CO_errExit("Program init - mainline set scheduler failed");
            }
#else
            /* Configure epoll for rt_thread */
            rt_thread_epoll_fd = epoll_create(2);
            if(rt_thread_epoll_fd == -1)
                CO_errExit("Program init - epoll_create rt_thread failed");

            /* Init taskRT */
            CANrx_taskTmr_init(rt_thread_epoll_fd, TMR_TASK_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);

            OD_performance[ODA_performance_timerCycleTime] = TMR_TASK_INTERVAL_NS/1000; /* informative */

            /* Create rt_thread */
            if(pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0)
                CO_errExit("Program init - rt_thread creation failed");

            /* Set priority for rt_thread */
            if(rtPriority > 0) {
                struct sched_param param;

                param.sched_priority = rtPriority;
                if(pthread_setschedparam(rt_thread_id, SCHED_FIFO, &param) != 0)
                    CO_errExit("Program init - rt_thread set scheduler failed");
            }
#endif

#ifndef CO_SINGLE_THREAD
            /* Initialize socket command interface */
            if(commandEnable) {
                if(CO_command_init() != 0) {
                    CO_errExit("Socket command interface initialization failed");
                }
                printf("%s - Command interface on socket '%s' started ...\n", argv[0], CO_command_socketPath);
            }
#endif

            /* Execute optional additional application code */
            app_programStart();
        }


        /* Execute optional additional application code */
        app_communicationReset();


        /* start CAN */
        CO_CANsetNormalMode(CO->CANmodule[0]);
#ifndef CO_SINGLE_THREAD
        pthread_mutex_unlock(&CO_CAN_VALID_mtx);
#endif


        reset = CO_RESET_NOT;

        printf("%s - running ...\n", argv[0]);


        while(reset == CO_RESET_NOT && CO_endProgram == 0) {
/* loop for normal program execution ******************************************/
            int ready;
            struct epoll_event ev;

            ready = epoll_wait(mainline_epoll_fd, &ev, 1, -1);

            if(ready != 1) {
                if(errno != EINTR) {
                    CO_error(0x11100000L + errno);
                }
            }

#ifdef CO_SINGLE_THREAD
            else if(CANrx_taskTmr_process(ev.data.fd)) {
                /* code was processed in the above function. Additional code process below */
                INCREMENT_1MS(CO_timer1ms);
                /* Detect timer large overflow */
                if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_TASK_OVERFLOW_US && rtPriority > 0) {
                    CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
                }
            }
#endif

            else if(taskMain_process(ev.data.fd, &reset, CO_timer1ms)) {
                uint16_t timer1msDiff;
                static uint16_t tmr1msPrev = 0;

                /* Calculate time difference */
                timer1msDiff = CO_timer1ms - tmr1msPrev;
                tmr1msPrev = CO_timer1ms;

                /* code was processed in the above function. Additional code process below */

                /* Execute optional additional application code */
                app_programAsync(timer1msDiff);

                CO_OD_storage_autoSave(&odStorAuto, CO_timer1ms, 60000);
            }

            else {
                /* No file descriptor was processed. */
                CO_error(0x11200000L);
            }
        }
    }


/* program exit ***************************************************************/
    /* join threads */
#ifndef CO_SINGLE_THREAD
    if(commandEnable) {
        if(CO_command_clear() != 0) {
            CO_errExit("Socket command interface removal failed");
        }
    }
#endif

    CO_endProgram = 1;
#ifndef CO_SINGLE_THREAD
    if(pthread_join(rt_thread_id, NULL) != 0) {
        CO_errExit("Program end - pthread_join failed");
    }
#endif

    /* Execute optional additional application code */
    app_programEnd();

    /* Store CO_OD_EEPROM */
    CO_OD_storage_autoSave(&odStorAuto, 0, 0);
    CO_OD_storage_autoSaveClose(&odStorAuto);

    /* delete objects from memory */
    CANrx_taskTmr_close();
    taskMain_close();
    CO_delete(CANdevice0Index);

    printf("%s on %s (nodeId=0x%02X) - finished.\n\n", argv[0], CANdevice, nodeId);

    /* Flush all buffers (and reboot) */
    if(rebootEnable && reset == CO_RESET_APP) {
        sync();
        if(reboot(LINUX_REBOOT_CMD_RESTART) != 0) {
            CO_errExit("Program end - reboot failed");
        }
    }

    exit(EXIT_SUCCESS);
}
Пример #2
0
int CO_OD_storage_saveSecure(
        uint8_t                *odAddress,
        uint32_t                odSize,
        char                   *filename)
{
    int ret = RETURN_SUCCESS;

    char *filename_old = NULL;
    uint16_t CRC = 0;

    /* Generate new string with extension '.old' and rename current file to it. */
    filename_old = malloc(strlen(filename)+10);
    if(filename_old != NULL) {
        strcpy(filename_old, filename);
        strcat(filename_old, ".old");

        remove(filename_old);
        if(rename(filename, filename_old) != 0) {
            ret = RETURN_ERROR;
        }
    } else {
        ret = RETURN_ERROR;
    }

    /* Open a new file and write data to it, including CRC. */
    if(ret == RETURN_SUCCESS) {
        FILE *fp = fopen(filename, "w");
        if(fp != NULL) {

            CO_LOCK_OD();
            fwrite((const void *)odAddress, 1, odSize, fp);
            CRC = crc16_ccitt((unsigned char*)odAddress, odSize, 0);
            CO_UNLOCK_OD();

            fwrite((const void *)&CRC, 1, 2, fp);
            fclose(fp);
        } else {
            ret = RETURN_ERROR;
        }
    }

    /* Verify data */
    if(ret == RETURN_SUCCESS) {
        void *buf = NULL;
        FILE *fp = NULL;
        uint32_t cnt = 0;
        uint16_t CRC2 = 0;

        buf = malloc(odSize + 4);
        if(buf != NULL) {
            fp = fopen(filename, "r");
            if(fp != NULL) {
                cnt = fread(buf, 1, odSize, fp);
                CRC2 = crc16_ccitt((unsigned char*)buf, odSize, 0);
                /* read also two bytes of CRC */
                cnt += fread(buf, 1, 4, fp);
                fclose(fp);
            }
            free(buf);
        }
        /* If size or CRC differs, report error */
        if(buf == NULL || fp == NULL || cnt != (odSize + 2) || CRC != CRC2) {
            ret = RETURN_ERROR;
        }
    }

    /* In case of error, set back the old file. */
    if(ret != RETURN_SUCCESS && filename_old != NULL) {
        remove(filename);
        rename(filename_old, filename);
    }

    free(filename_old);

    return ret;
}