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;
}
/* 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;
}
void CO_EM_process(
CO_EMpr_t *emPr,
CO_bool_t NMTisPreOrOperational,
uint16_t timeDifference_100us,
uint16_t emInhTime)
{
CO_EM_t *em = emPr->em;
uint8_t errorRegister;
/* verify errors from driver and other */
CO_CANverifyErrors(emPr->CANdev);
if(em->wrongErrorReport != 0U){
CO_errorReport(em, CO_EM_WRONG_ERROR_REPORT, CO_EMC_SOFTWARE_INTERNAL, (uint32_t)em->wrongErrorReport);
em->wrongErrorReport = 0U;
}
/* calculate Error register */
errorRegister = 0U;
/* generic error */
if(em->errorStatusBits[5]){
errorRegister |= CO_ERR_REG_GENERIC_ERR;
}
/* communication error (overrun, error state) */
if(em->errorStatusBits[2] || em->errorStatusBits[3]){
errorRegister |= CO_ERR_REG_COMM_ERR;
}
*emPr->errorRegister = (*emPr->errorRegister & 0xEEU) | errorRegister;
/* inhibit time */
if(emPr->inhibitEmTimer < emInhTime){
emPr->inhibitEmTimer += timeDifference_100us;
}
/* send Emergency message. */
if( NMTisPreOrOperational &&
!emPr->CANtxBuff->bufferFull &&
emPr->inhibitEmTimer >= emInhTime &&
(em->bufReadPtr != em->bufWritePtr || em->bufFull))
{
uint32_t preDEF; /* preDefinedErrorField */
/* add error register */
em->bufReadPtr[2] = *emPr->errorRegister;
/* copy data to CAN emergency message */
CO_memcpy(emPr->CANtxBuff->data, em->bufReadPtr, 8U);
CO_memcpy((uint8_t*)&preDEF, em->bufReadPtr, 4U);
em->bufReadPtr += 8;
/* Update read buffer pointer and reset inhibit timer */
if(em->bufReadPtr == em->bufEnd){
em->bufReadPtr = em->buf;
}
emPr->inhibitEmTimer = 0U;
/* verify message buffer overflow, then clear full flag */
if(em->bufFull == 2U){
em->bufFull = 0U; /* will be updated below */
CO_errorReport(em, CO_EM_EMERGENCY_BUFFER_FULL, CO_EMC_GENERIC, 0U);
}
else{
em->bufFull = 0;
}
/* write to 'pre-defined error field' (object dictionary, index 0x1003) */
if(emPr->preDefErr){
uint8_t i;
if(emPr->preDefErrNoOfErrors < emPr->preDefErrSize)
emPr->preDefErrNoOfErrors++;
for(i=emPr->preDefErrNoOfErrors-1; i>0; i--)
emPr->preDefErr[i] = emPr->preDefErr[i-1];
emPr->preDefErr[0] = preDEF;
}
/* send CAN message */
CO_CANsend(emPr->CANdev, emPr->CANtxBuff);
}
return;
}
/* 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;
}
