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CANopen.c
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CANopen.c
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/*
* Main CANopenNode file.
*
* @file CANopen.c
* @ingroup CO_CANopen
* @author Janez Paternoster
* @copyright 2010 - 2023 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"
/* Get values from CO_config_t or from single default OD.h ********************/
#ifdef CO_MULTIPLE_OD
#define CO_GET_CO(obj) co->obj
#define CO_GET_CNT(obj) co->config->CNT_##obj
#define OD_GET(entry, index) co->config->ENTRY_##entry
#else
#include "OD.h"
#define CO_GET_CO(obj) CO_##obj
#define CO_GET_CNT(obj) OD_CNT_##obj
#define OD_GET(entry, index) OD_ENTRY_##entry
/* Verify parameters from "OD.h" and calculate necessary values for each object:
* - verify OD_CNT_xx or set default
* - calculate number of CANrx and CYNtx messages: CO_RX_CNT_xx and CO_TX_CNT_xx
* - set optional undefined OD_ENTRY_Hxxxx to NULL.
* - calculate indexes: CO_RX_IDX_xx and CO_TX_IDX_xx
* - calculate total count of CAN message buffers: CO_CNT_ALL_RX_MSGS and
* CO_CNT_ALL_TX_MSGS. */
#if OD_CNT_NMT != 1
#error OD_CNT_NMT from OD.h not correct!
#endif
#define CO_RX_CNT_NMT_SLV OD_CNT_NMT
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#define CO_TX_CNT_NMT_MST 1
#else
#define CO_TX_CNT_NMT_MST 0
#endif
#if OD_CNT_HB_PROD != 1
#error OD_CNT_HB_PROD from OD.h not correct!
#endif
#define CO_TX_CNT_HB_PROD OD_CNT_HB_PROD
#if !defined OD_CNT_HB_CONS
#define OD_CNT_HB_CONS 0
#elif OD_CNT_HB_CONS < 0 || OD_CNT_HB_CONS > 1
#error OD_CNT_HB_CONS from OD.h not correct!
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) && OD_CNT_HB_CONS == 1
#if OD_CNT_ARR_1016 < 1 || OD_CNT_ARR_1016 > 127
#error OD_CNT_ARR_1016 is not defined in Object Dictionary or value is wrong!
#endif
#define CO_RX_CNT_HB_CONS OD_CNT_ARR_1016
#else
#define CO_RX_CNT_HB_CONS 0
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#define CO_RX_CNT_NG_SLV 1
#define CO_TX_CNT_NG_SLV 1
#else
#define CO_RX_CNT_NG_SLV 0
#define CO_TX_CNT_NG_SLV 0
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#define CO_RX_CNT_NG_MST 1
#define CO_TX_CNT_NG_MST 1
#else
#define CO_RX_CNT_NG_MST 0
#define CO_TX_CNT_NG_MST 0
#endif
#if OD_CNT_EM != 1
#error OD_CNT_EM from OD.h not correct!
#endif
#ifndef OD_ENTRY_H1003
#define OD_ENTRY_H1003 NULL
#endif
#ifndef OD_CNT_ARR_1003
#define OD_CNT_ARR_1003 8
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if OD_CNT_EM_PROD == 1
#define CO_TX_CNT_EM_PROD OD_CNT_EM_PROD
#else
#error wrong OD_CNT_EM_PROD
#endif
#ifndef OD_ENTRY_H1015
#define OD_ENTRY_H1015 NULL
#endif
#else
#define CO_TX_CNT_EM_PROD 0
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#define CO_RX_CNT_EM_CONS 1
#else
#define CO_RX_CNT_EM_CONS 0
#endif
#if !defined OD_CNT_SDO_SRV
#define OD_CNT_SDO_SRV 1
#define OD_ENTRY_H1200 NULL
#elif OD_CNT_SDO_SRV < 1 || OD_CNT_SDO_SRV > 128
#error OD_CNT_SDO_SRV from OD.h not correct!
#endif
#define CO_RX_CNT_SDO_SRV OD_CNT_SDO_SRV
#define CO_TX_CNT_SDO_SRV OD_CNT_SDO_SRV
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if !defined OD_CNT_SDO_CLI
#define OD_CNT_SDO_CLI 0
#define OD_ENTRY_H1280 NULL
#elif OD_CNT_SDO_CLI < 0 || OD_CNT_SDO_CLI > 128
#error OD_CNT_SDO_CLI from OD.h not correct!
#endif
#define CO_RX_CNT_SDO_CLI OD_CNT_SDO_CLI
#define CO_TX_CNT_SDO_CLI OD_CNT_SDO_CLI
#else
#define CO_RX_CNT_SDO_CLI 0
#define CO_TX_CNT_SDO_CLI 0
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if !defined OD_CNT_TIME
#define OD_CNT_TIME 0
#define OD_ENTRY_H1012 NULL
#elif OD_CNT_TIME < 0 || OD_CNT_TIME > 1
#error OD_CNT_TIME from OD.h not correct!
#endif
#define CO_RX_CNT_TIME OD_CNT_TIME
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#define CO_TX_CNT_TIME OD_CNT_TIME
#else
#define CO_TX_CNT_TIME 0
#endif
#else
#define CO_RX_CNT_TIME 0
#define CO_TX_CNT_TIME 0
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if !defined OD_CNT_SYNC
#define OD_CNT_SYNC 0
#define OD_ENTRY_H1005 NULL
#define OD_ENTRY_H1006 NULL
#elif OD_CNT_SYNC < 0 || OD_CNT_SYNC > 1
#error OD_CNT_SYNC from OD.h not correct!
#endif
#define CO_RX_CNT_SYNC OD_CNT_SYNC
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#define CO_TX_CNT_SYNC OD_CNT_SYNC
#else
#define CO_TX_CNT_SYNC 0
#endif
#ifndef OD_ENTRY_H1007
#define OD_ENTRY_H1007 NULL
#endif
#ifndef OD_ENTRY_H1019
#define OD_ENTRY_H1019 NULL
#endif
#else
#define CO_RX_CNT_SYNC 0
#define CO_TX_CNT_SYNC 0
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if !defined OD_CNT_RPDO
#define OD_CNT_RPDO 0
#define OD_ENTRY_H1400 NULL
#define OD_ENTRY_H1600 NULL
#elif OD_CNT_RPDO < 0 || OD_CNT_RPDO > 0x200
#error OD_CNT_RPDO from OD.h not correct!
#endif
#define CO_RX_CNT_RPDO OD_CNT_RPDO
#else
#define CO_RX_CNT_RPDO 0
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if !defined OD_CNT_TPDO
#define OD_CNT_TPDO 0
#define OD_ENTRY_H1800 NULL
#define OD_ENTRY_H1A00 NULL
#elif OD_CNT_TPDO < 0 || OD_CNT_TPDO > 0x200
#error OD_CNT_TPDO from OD.h not correct!
#endif
#define CO_TX_CNT_TPDO OD_CNT_TPDO
#else
#define CO_TX_CNT_TPDO 0
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#define OD_CNT_LEDS 1
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if !defined OD_CNT_GFC
#define OD_CNT_GFC 0
#define OD_ENTRY_H1300 NULL
#elif OD_CNT_GFC < 0 || OD_CNT_GFC > 1
#error OD_CNT_GFC from OD.h not correct!
#endif
#define CO_RX_CNT_GFC OD_CNT_GFC
#define CO_TX_CNT_GFC OD_CNT_GFC
#else
#define CO_RX_CNT_GFC 0
#define CO_TX_CNT_GFC 0
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if !defined OD_CNT_SRDO
#define OD_CNT_SRDO 0
#define OD_ENTRY_H1301 NULL
#define OD_ENTRY_H1381 NULL
#define OD_ENTRY_H13FE NULL
#define OD_ENTRY_H13FF NULL
#elif OD_CNT_SRDO < 0 || OD_CNT_SRDO > 64
#error OD_CNT_SRDO from OD.h not correct!
#endif
#define CO_RX_CNT_SRDO OD_CNT_SRDO
#define CO_TX_CNT_SRDO OD_CNT_SRDO
#else
#define CO_RX_CNT_SRDO 0
#define CO_TX_CNT_SRDO 0
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#define OD_CNT_LSS_SLV 1
#else
#define OD_CNT_LSS_SLV 0
#endif
#define CO_RX_CNT_LSS_SLV OD_CNT_LSS_SLV
#define CO_TX_CNT_LSS_SLV OD_CNT_LSS_SLV
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#define OD_CNT_LSS_MST 1
#else
#define OD_CNT_LSS_MST 0
#endif
#define CO_RX_CNT_LSS_MST OD_CNT_LSS_MST
#define CO_TX_CNT_LSS_MST OD_CNT_LSS_MST
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#define OD_CNT_GTWA 1
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#if !defined OD_CNT_TRACE
#define OD_CNT_TRACE 0
#elif OD_CNT_TRACE < 0
#error OD_CNT_TRACE from OD.h not correct!
#endif
#endif
/* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and total
* number of them. Indexes are sorted in a way, that objects with highest
* priority of the CAN identifier are listed first. */
#define CO_RX_IDX_NMT_SLV 0
#define CO_RX_IDX_GFC (CO_RX_IDX_NMT_SLV + CO_RX_CNT_NMT_SLV)
#define CO_RX_IDX_SYNC (CO_RX_IDX_GFC + CO_RX_CNT_GFC)
#define CO_RX_IDX_EM_CONS (CO_RX_IDX_SYNC + CO_RX_CNT_SYNC)
#define CO_RX_IDX_TIME (CO_RX_IDX_EM_CONS + CO_RX_CNT_EM_CONS)
#define CO_RX_IDX_SRDO (CO_RX_IDX_TIME + CO_RX_CNT_TIME)
#define CO_RX_IDX_RPDO (CO_RX_IDX_SRDO + CO_RX_CNT_SRDO * 2)
#define CO_RX_IDX_SDO_SRV (CO_RX_IDX_RPDO + CO_RX_CNT_RPDO)
#define CO_RX_IDX_SDO_CLI (CO_RX_IDX_SDO_SRV + CO_RX_CNT_SDO_SRV)
#define CO_RX_IDX_HB_CONS (CO_RX_IDX_SDO_CLI + CO_RX_CNT_SDO_CLI)
#define CO_RX_IDX_NG_SLV (CO_RX_IDX_HB_CONS + CO_RX_CNT_HB_CONS)
#define CO_RX_IDX_NG_MST (CO_RX_IDX_NG_SLV + CO_RX_CNT_NG_SLV)
#define CO_RX_IDX_LSS_SLV (CO_RX_IDX_NG_MST + CO_RX_CNT_NG_MST)
#define CO_RX_IDX_LSS_MST (CO_RX_IDX_LSS_SLV + CO_RX_CNT_LSS_SLV)
#define CO_CNT_ALL_RX_MSGS (CO_RX_IDX_LSS_MST + CO_RX_CNT_LSS_MST)
#define CO_TX_IDX_NMT_MST 0
#define CO_TX_IDX_GFC (CO_TX_IDX_NMT_MST + CO_TX_CNT_NMT_MST)
#define CO_TX_IDX_SYNC (CO_TX_IDX_GFC + CO_TX_CNT_GFC)
#define CO_TX_IDX_EM_PROD (CO_TX_IDX_SYNC + CO_TX_CNT_SYNC)
#define CO_TX_IDX_TIME (CO_TX_IDX_EM_PROD + CO_TX_CNT_EM_PROD)
#define CO_TX_IDX_SRDO (CO_TX_IDX_TIME + CO_TX_CNT_TIME)
#define CO_TX_IDX_TPDO (CO_TX_IDX_SRDO + CO_TX_CNT_SRDO * 2)
#define CO_TX_IDX_SDO_SRV (CO_TX_IDX_TPDO + CO_TX_CNT_TPDO)
#define CO_TX_IDX_SDO_CLI (CO_TX_IDX_SDO_SRV + CO_TX_CNT_SDO_SRV)
#define CO_TX_IDX_HB_PROD (CO_TX_IDX_SDO_CLI + CO_TX_CNT_SDO_CLI)
#define CO_TX_IDX_NG_SLV (CO_TX_IDX_HB_PROD + CO_TX_CNT_HB_PROD)
#define CO_TX_IDX_NG_MST (CO_TX_IDX_NG_SLV + CO_TX_CNT_NG_SLV)
#define CO_TX_IDX_LSS_SLV (CO_TX_IDX_NG_MST + CO_TX_CNT_NG_MST)
#define CO_TX_IDX_LSS_MST (CO_TX_IDX_LSS_SLV + CO_TX_CNT_LSS_SLV)
#define CO_CNT_ALL_TX_MSGS (CO_TX_IDX_LSS_MST + CO_TX_CNT_LSS_MST)
#endif /* #ifdef #else CO_MULTIPLE_OD */
/* Objects from heap **********************************************************/
#ifndef CO_USE_GLOBALS
#include <stdlib.h>
/* Default allocation strategy ************************************************/
#if !defined(CO_alloc) || !defined(CO_free)
#if defined(CO_alloc)
#warning CO_alloc is defined but CO_free is not. using default values instead
#undef CO_alloc
#endif
#if defined(CO_free)
#warning CO_free is defined but CO_alloc is not. using default values instead
#undef CO_free
#endif
/*
* Allocate memory for number of elements, each of specific size
* Allocated memory must be reset to all zeros
*/
#define CO_alloc(num, size) calloc((num), (size))
#define CO_free(ptr) free((ptr))
#endif
/* Define macros for allocation */
#define CO_alloc_break_on_fail(var, num, size) { \
var = CO_alloc((num), (size)); \
if((var) != NULL) { mem += (size) * (num); } else { break; } }
#ifdef CO_MULTIPLE_OD
#define ON_MULTI_OD(sentence) sentence
#else
#define ON_MULTI_OD(sentence)
#endif
CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
CO_t *co = NULL;
/* return values */
CO_t *coFinal = NULL;
uint32_t mem = 0;
/* For each object:
* - allocate memory, verify allocation and calculate size of heap used
* - if CO_MULTIPLE_OD is defined:
* - use config structure
* - calculate number of CANrx and CYNtx messages: RX_CNT_xx and TX_CNT_xx
* - calculate indexes: RX_IDX_xx and TX_IDX_xx
* - calculate total count of CAN message buffers: CNT_ALL_RX_MSGS and
* CNT_ALL_TX_MSGS. */
do {
#ifdef CO_MULTIPLE_OD
/* verify arguments */
if (config == NULL || config->CNT_NMT > 1 || config->CNT_HB_CONS > 1
|| config->CNT_EM > 1 || config->CNT_SDO_SRV > 128
|| config->CNT_SDO_CLI > 128 || config->CNT_SYNC > 1
|| config->CNT_RPDO > 512 || config->CNT_TPDO > 512
|| config->CNT_TIME > 1 || config->CNT_LEDS > 1
|| config->CNT_GFC > 1 || config->CNT_SRDO > 64
|| config->CNT_LSS_SLV > 1 || config->CNT_LSS_MST > 1
|| config->CNT_GTWA > 1
) {
break;
}
#else
(void) config;
#endif
/* CANopen object */
CO_alloc_break_on_fail(co, 1, sizeof(*co));
#ifdef CO_MULTIPLE_OD
co->config = config;
#endif
/* NMT_Heartbeat */
ON_MULTI_OD(uint8_t RX_CNT_NMT_SLV = 0);
ON_MULTI_OD(uint8_t TX_CNT_NMT_MST = 0);
ON_MULTI_OD(uint8_t TX_CNT_HB_PROD = 0);
if (CO_GET_CNT(NMT) == 1) {
CO_alloc_break_on_fail(co->NMT, CO_GET_CNT(NMT), sizeof(*co->NMT));
ON_MULTI_OD(RX_CNT_NMT_SLV = 1);
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
ON_MULTI_OD(TX_CNT_NMT_MST = 1);
#endif
ON_MULTI_OD(TX_CNT_HB_PROD = 1);
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_HB_CONS = 0);
if (CO_GET_CNT(HB_CONS) == 1) {
uint8_t countOfMonitoredNodes = CO_GET_CNT(ARR_1016);
CO_alloc_break_on_fail(co->HBcons, CO_GET_CNT(HB_CONS), sizeof(*co->HBcons));
CO_alloc_break_on_fail(co->HBconsMonitoredNodes, countOfMonitoredNodes, sizeof(*co->HBconsMonitoredNodes));
ON_MULTI_OD(RX_CNT_HB_CONS = countOfMonitoredNodes);
}
#endif
/* Node guarding */
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
CO_alloc_break_on_fail(co->NGslave, 1, sizeof(*co->NGslave));
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
CO_alloc_break_on_fail(co->NGmaster, 1, sizeof(*co->NGmaster));
#endif
/* Emergency */
ON_MULTI_OD(uint8_t RX_CNT_EM_CONS = 0);
ON_MULTI_OD(uint8_t TX_CNT_EM_PROD = 0);
if (CO_GET_CNT(EM) == 1) {
CO_alloc_break_on_fail(co->em, CO_GET_CNT(EM), sizeof(*co->em));
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
ON_MULTI_OD(RX_CNT_EM_CONS = 1);
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
ON_MULTI_OD(TX_CNT_EM_PROD = 1);
#endif
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
uint8_t fifoSize = CO_GET_CNT(ARR_1003) + 1;
if (fifoSize >= 2) {
CO_alloc_break_on_fail(co->em_fifo, fifoSize, sizeof(*co->em_fifo));
}
#endif
}
/* SDOserver */
ON_MULTI_OD(uint8_t RX_CNT_SDO_SRV = 0);
ON_MULTI_OD(uint8_t TX_CNT_SDO_SRV = 0);
if (CO_GET_CNT(SDO_SRV) > 0) {
CO_alloc_break_on_fail(co->SDOserver, CO_GET_CNT(SDO_SRV), sizeof(*co->SDOserver));
ON_MULTI_OD(RX_CNT_SDO_SRV = config->CNT_SDO_SRV);
ON_MULTI_OD(TX_CNT_SDO_SRV = config->CNT_SDO_SRV);
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_SDO_CLI = 0);
ON_MULTI_OD(uint8_t TX_CNT_SDO_CLI = 0);
if (CO_GET_CNT(SDO_CLI) > 0) {
CO_alloc_break_on_fail(co->SDOclient, CO_GET_CNT(SDO_CLI), sizeof(*co->SDOclient));
ON_MULTI_OD(RX_CNT_SDO_CLI = config->CNT_SDO_CLI);
ON_MULTI_OD(TX_CNT_SDO_CLI = config->CNT_SDO_CLI);
}
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_TIME = 0);
ON_MULTI_OD(uint8_t TX_CNT_TIME = 0);
if (CO_GET_CNT(TIME) == 1) {
CO_alloc_break_on_fail(co->TIME, CO_GET_CNT(TIME), sizeof(*co->TIME));
ON_MULTI_OD(RX_CNT_TIME = 1);
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
ON_MULTI_OD(TX_CNT_TIME = 1);
#endif
}
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_SYNC = 0);
ON_MULTI_OD(uint8_t TX_CNT_SYNC = 0);
if (CO_GET_CNT(SYNC) == 1) {
CO_alloc_break_on_fail(co->SYNC, CO_GET_CNT(SYNC), sizeof(*co->SYNC));
ON_MULTI_OD(RX_CNT_SYNC = 1);
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
ON_MULTI_OD(TX_CNT_SYNC = 1);
#endif
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
ON_MULTI_OD(uint16_t RX_CNT_RPDO = 0);
if (CO_GET_CNT(RPDO) > 0) {
CO_alloc_break_on_fail(co->RPDO, CO_GET_CNT(RPDO), sizeof(*co->RPDO));
ON_MULTI_OD(RX_CNT_RPDO = config->CNT_RPDO);
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
ON_MULTI_OD(uint16_t TX_CNT_TPDO = 0);
if (CO_GET_CNT(TPDO) > 0) {
CO_alloc_break_on_fail(co->TPDO, CO_GET_CNT(TPDO), sizeof(*co->TPDO));
ON_MULTI_OD(TX_CNT_TPDO = config->CNT_TPDO);
}
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
if (CO_GET_CNT(LEDS) == 1) {
CO_alloc_break_on_fail(co->LEDs, CO_GET_CNT(LEDS), sizeof(*co->LEDs));
}
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_GFC = 0);
ON_MULTI_OD(uint8_t TX_CNT_GFC = 0);
if (CO_GET_CNT(GFC) == 1) {
CO_alloc_break_on_fail(co->GFC, CO_GET_CNT(GFC), sizeof(*co->GFC));
ON_MULTI_OD(RX_CNT_GFC = 1);
ON_MULTI_OD(TX_CNT_GFC = 1);
}
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
ON_MULTI_OD(uint8_t RX_CNT_SRDO = 0);
ON_MULTI_OD(uint8_t TX_CNT_SRDO = 0);
if (CO_GET_CNT(SRDO) > 0) {
CO_alloc_break_on_fail(co->SRDOGuard, 1, sizeof(*co->SRDOGuard));
CO_alloc_break_on_fail(co->SRDO, CO_GET_CNT(SRDO), sizeof(*co->SRDO));
ON_MULTI_OD(RX_CNT_SRDO = config->CNT_SRDO * 2);
ON_MULTI_OD(TX_CNT_SRDO = config->CNT_SRDO * 2);
}
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
ON_MULTI_OD(uint8_t RX_CNT_LSS_SLV = 0);
ON_MULTI_OD(uint8_t TX_CNT_LSS_SLV = 0);
if (CO_GET_CNT(LSS_SLV) == 1) {
CO_alloc_break_on_fail(co->LSSslave, CO_GET_CNT(LSS_SLV), sizeof(*co->LSSslave));
ON_MULTI_OD(RX_CNT_LSS_SLV = 1);
ON_MULTI_OD(TX_CNT_LSS_SLV = 1);
}
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
ON_MULTI_OD(uint8_t RX_CNT_LSS_MST = 0);
ON_MULTI_OD(uint8_t TX_CNT_LSS_MST = 0);
if (CO_GET_CNT(LSS_MST) == 1) {
CO_alloc_break_on_fail(co->LSSmaster, CO_GET_CNT(LSS_MST), sizeof(*co->LSSmaster));
ON_MULTI_OD(RX_CNT_LSS_MST = 1);
ON_MULTI_OD(TX_CNT_LSS_MST = 1);
}
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
if (CO_GET_CNT(GTWA) == 1) {
CO_alloc_break_on_fail(co->gtwa, CO_GET_CNT(GTWA), sizeof(*co->gtwa));
}
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
if (CO_GET_CNT(TRACE) > 0) {
CO_alloc_break_on_fail(co->trace, CO_GET_CNT(TRACE), sizeof(*co->trace));
}
#endif
#ifdef CO_MULTIPLE_OD
/* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and
* total number of them. Indexes are sorted in a way, that objects with
* highest priority of the CAN identifier are listed first. */
int16_t idxRx = 0;
co->RX_IDX_NMT_SLV = idxRx; idxRx += RX_CNT_NMT_SLV;
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
co->RX_IDX_GFC = idxRx; idxRx += RX_CNT_GFC;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
co->RX_IDX_SYNC = idxRx; idxRx += RX_CNT_SYNC;
#endif
co->RX_IDX_EM_CONS = idxRx; idxRx += RX_CNT_EM_CONS;
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
co->RX_IDX_TIME = idxRx; idxRx += RX_CNT_TIME;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
co->RX_IDX_SRDO = idxRx; idxRx += RX_CNT_SRDO * 2;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
co->RX_IDX_RPDO = idxRx; idxRx += RX_CNT_RPDO;
#endif
co->RX_IDX_SDO_SRV = idxRx; idxRx += RX_CNT_SDO_SRV;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
co->RX_IDX_SDO_CLI = idxRx; idxRx += RX_CNT_SDO_CLI;
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
co->RX_IDX_HB_CONS = idxRx; idxRx += RX_CNT_HB_CONS;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
co->RX_IDX_NG_SLV = idxRx; idxRx += 1;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
co->RX_IDX_NG_MST = idxRx; idxRx += 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
co->RX_IDX_LSS_SLV = idxRx; idxRx += RX_CNT_LSS_SLV;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
co->RX_IDX_LSS_MST = idxRx; idxRx += RX_CNT_LSS_MST;
#endif
co->CNT_ALL_RX_MSGS = idxRx;
int16_t idxTx = 0;
co->TX_IDX_NMT_MST = idxTx; idxTx += TX_CNT_NMT_MST;
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
co->TX_IDX_GFC = idxTx; idxTx += TX_CNT_GFC;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
co->TX_IDX_SYNC = idxTx; idxTx += TX_CNT_SYNC;
#endif
co->TX_IDX_EM_PROD = idxTx; idxTx += TX_CNT_EM_PROD;
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
co->TX_IDX_TIME = idxTx; idxTx += TX_CNT_TIME;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
co->TX_IDX_SRDO = idxTx; idxTx += TX_CNT_SRDO * 2;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
co->TX_IDX_TPDO = idxTx; idxTx += TX_CNT_TPDO;
#endif
co->TX_IDX_SDO_SRV = idxTx; idxTx += TX_CNT_SDO_SRV;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
co->TX_IDX_SDO_CLI = idxTx; idxTx += TX_CNT_SDO_CLI;
#endif
co->TX_IDX_HB_PROD = idxTx; idxTx += TX_CNT_HB_PROD;
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
co->TX_IDX_NG_SLV = idxTx; idxTx += 1;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
co->TX_IDX_NG_MST = idxTx; idxTx += 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
co->TX_IDX_LSS_SLV = idxTx; idxTx += TX_CNT_LSS_SLV;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
co->TX_IDX_LSS_MST = idxTx; idxTx += TX_CNT_LSS_MST;
#endif
co->CNT_ALL_TX_MSGS = idxTx;
#endif /* #ifdef CO_MULTIPLE_OD */
/* CANmodule */
CO_alloc_break_on_fail(co->CANmodule, 1, sizeof(*co->CANmodule));
/* CAN RX blocks */
CO_alloc_break_on_fail(co->CANrx, CO_GET_CO(CNT_ALL_RX_MSGS), sizeof(*co->CANrx));
/* CAN TX blocks */
CO_alloc_break_on_fail(co->CANtx, CO_GET_CO(CNT_ALL_TX_MSGS), sizeof(*co->CANtx));
/* finish successfully, set other parameters */
co->nodeIdUnconfigured = true;
coFinal = co;
} while (false);
if (coFinal == NULL) {
CO_delete(co);
}
if (heapMemoryUsed != NULL) {
*heapMemoryUsed = mem;
}
return coFinal;
}
void CO_delete(CO_t *co) {
if (co == NULL) {
return;
}
CO_CANmodule_disable(co->CANmodule);
/* CANmodule */
CO_free(co->CANtx);
CO_free(co->CANrx);
CO_free(co->CANmodule);
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
CO_free(co->trace);
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_free(co->gtwa);
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
CO_free(co->LSSmaster);
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
CO_free(co->LSSslave);
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
CO_free(co->SRDO);
CO_free(co->SRDOGuard);
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
CO_free(co->GFC);
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
CO_free(co->LEDs);
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
CO_free(co->TPDO);
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
CO_free(co->RPDO);
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
CO_free(co->SYNC);
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
CO_free(co->TIME);
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
free(co->SDOclient);
#endif
/* SDOserver */
CO_free(co->SDOserver);
/* Emergency */
CO_free(co->em);
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
CO_free(co->em_fifo);
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
CO_free(co->NGslave);
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
CO_free(co->NGmaster);
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
CO_free(co->HBconsMonitoredNodes);
CO_free(co->HBcons);
#endif
/* NMT_Heartbeat */
CO_free(co->NMT);
/* CANopen object */
CO_free(co);
}
#endif /* #ifndef CO_USE_GLOBALS */
/* Objects as globals *********************************************************/
#ifdef CO_USE_GLOBALS
#ifdef CO_MULTIPLE_OD
#error CO_MULTIPLE_OD can not be used with CO_USE_GLOBALS
#endif
static CO_t COO;
static CO_CANmodule_t COO_CANmodule;
static CO_CANrx_t COO_CANmodule_rxArray[CO_CNT_ALL_RX_MSGS];
static CO_CANtx_t COO_CANmodule_txArray[CO_CNT_ALL_TX_MSGS];
static CO_NMT_t COO_NMT;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
static CO_HBconsumer_t COO_HBcons;
static CO_HBconsNode_t COO_HBconsMonitoredNodes[OD_CNT_ARR_1016];
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
static CO_nodeGuardingSlave_t COO_NGslave;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
static CO_nodeGuardingMaster_t COO_NGmaster;
#endif
static CO_EM_t COO_EM;
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
static CO_EM_fifo_t COO_EM_FIFO[CO_GET_CNT(ARR_1003) + 1];
#endif
static CO_SDOserver_t COO_SDOserver[OD_CNT_SDO_SRV];
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
static CO_SDOclient_t COO_SDOclient[OD_CNT_SDO_CLI];
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
static CO_TIME_t COO_TIME;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
static CO_SYNC_t COO_SYNC;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
static CO_RPDO_t COO_RPDO[OD_CNT_RPDO];
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
static CO_TPDO_t COO_TPDO[OD_CNT_TPDO];
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
static CO_LEDs_t COO_LEDs;
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
static CO_GFC_t COO_GFC;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
static CO_SRDOGuard_t COO_SRDOGuard;
static CO_SRDO_t COO_SRDO[OD_CNT_SRDO];
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
static CO_LSSslave_t COO_LSSslave;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
static CO_LSSmaster_t COO_LSSmaster;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
static CO_GTWA_t COO_gtwa;
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#ifndef CO_TRACE_BUFFER_SIZE_FIXED
#define CO_TRACE_BUFFER_SIZE_FIXED 100
#endif
static CO_trace_t COO_trace[OD_CNT_TRACE];
static uint32_t COO_traceTimeBuffers[OD_CNT_TRACE][CO_TRACE_BUFFER_SIZE_FIXED];
static int32_t COO_traceValueBuffers[OD_CNT_TRACE][CO_TRACE_BUFFER_SIZE_FIXED];
#endif
CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
(void)config; (void)heapMemoryUsed;
CO_t *co = &COO;
co->CANmodule = &COO_CANmodule;
co->CANrx = &COO_CANmodule_rxArray[0];
co->CANtx = &COO_CANmodule_txArray[0];
co->NMT = &COO_NMT;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
co->HBcons = &COO_HBcons;
co->HBconsMonitoredNodes = &COO_HBconsMonitoredNodes[0];
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
co->NGslave = &COO_NGslave;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
co->NGmaster = &COO_NGmaster;
#endif
co->em = &COO_EM;
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
co->em_fifo = &COO_EM_FIFO[0];
#endif
co->SDOserver = &COO_SDOserver[0];
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
co->SDOclient = &COO_SDOclient[0];
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
co->TIME = &COO_TIME;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
co->SYNC = &COO_SYNC;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
co->RPDO = &COO_RPDO[0];
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
co->TPDO = &COO_TPDO[0];
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
co->LEDs = &COO_LEDs;
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
co->GFC = &COO_GFC;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
co->SRDOGuard = &COO_SRDOGuard;
co->SRDO = &COO_SRDO[0];
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
co->LSSslave = &COO_LSSslave;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
co->LSSmaster = &COO_LSSmaster;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
co->gtwa = &COO_gtwa;
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
co->trace = &COO_trace[0];
co->traceTimeBuffers = &COO_traceTimeBuffers[0][0];
co->traceValueBuffers = &COO_traceValueBuffers[0][0];
co->traceBufferSize = CO_TRACE_BUFFER_SIZE_FIXED;
#endif
return co;
}
void CO_delete(CO_t *co) {
if (co == NULL) {
return;
}
CO_CANmodule_disable(co->CANmodule);
}
#endif /* #ifdef CO_USE_GLOBALS */
/* Helper functions ***********************************************************/
bool_t CO_isLSSslaveEnabled(CO_t *co) {
(void) co; /* may be unused */
bool_t en = false;
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
if (CO_GET_CNT(LSS_SLV) == 1) { en = true; }
#endif
return en;
}
/******************************************************************************/
CO_ReturnError_t CO_CANinit(CO_t *co, void *CANptr, uint16_t bitRate) {
CO_ReturnError_t err;
if (co == NULL) { return CO_ERROR_ILLEGAL_ARGUMENT; }
co->CANmodule->CANnormal = false;
CO_CANsetConfigurationMode(CANptr);
/* CANmodule */
err = CO_CANmodule_init(co->CANmodule,
CANptr,
co->CANrx,
CO_GET_CO(CNT_ALL_RX_MSGS),
co->CANtx,
CO_GET_CO(CNT_ALL_TX_MSGS),
bitRate);
return err;
}
/******************************************************************************/
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
CO_ReturnError_t CO_LSSinit(CO_t *co,
CO_LSS_address_t *lssAddress,
uint8_t *pendingNodeID,
uint16_t *pendingBitRate)
{
CO_ReturnError_t err;
if (co == NULL || CO_GET_CNT(LSS_SLV) != 1) {
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* LSSslave */
err = CO_LSSslave_init(co->LSSslave,
lssAddress,
pendingBitRate,
pendingNodeID,
co->CANmodule,
CO_GET_CO(RX_IDX_LSS_SLV),
CO_CAN_ID_LSS_MST,
co->CANmodule,
CO_GET_CO(TX_IDX_LSS_SLV),
CO_CAN_ID_LSS_SLV);
return err;
}
#endif /* (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE */
/******************************************************************************/
CO_ReturnError_t CO_CANopenInit(CO_t *co,
CO_NMT_t *NMT,
CO_EM_t *em,
OD_t *od,
OD_entry_t *OD_statusBits,
CO_NMT_control_t NMTcontrol,
uint16_t firstHBTime_ms,
uint16_t SDOserverTimeoutTime_ms,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
uint8_t nodeId,
uint32_t *errInfo)
{
(void)SDOclientTimeoutTime_ms; (void)SDOclientBlockTransfer;
CO_ReturnError_t err;
if (co == NULL
|| (CO_GET_CNT(NMT) == 0 && NMT == NULL)
|| (CO_GET_CNT(EM) == 0 && em == NULL)
) {
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* alternatives */
if (CO_GET_CNT(NMT) == 0) {
co->NMT = NMT;
}
if (em == NULL) {
em = co->em;
}
/* Verify CANopen Node-ID */
co->nodeIdUnconfigured = false;
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
if (CO_GET_CNT(LSS_SLV) == 1 && nodeId == CO_LSS_NODE_ID_ASSIGNMENT) {
co->nodeIdUnconfigured = true;
}
else
#endif
if (nodeId < 1 || nodeId > 127) {
return CO_ERROR_ILLEGAL_ARGUMENT;
}
else { /* MISRA C 2004 14.10 */ }
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE