Merge pull request #57 from embedded-office/feature/user-abort-codes

Introduce user defined SDO abort codes in type functions (fix #56)

CHANGELOG.md

@@ -7,7 +7,14 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 
 ## [unreleased]
 
-- none
+none
+
+## [4.1.7] - 2012-07-28
+
+### Added
+
+- Introduce COObjTypeUserSDOAbort() to define amnufacturer specific SDO Abort codes within type functions
+- Add CMake toolchain files for ARM-GCC Cortex-M3, M4 and M7
 
 ## [4.1.6] - 2012-07-21
 
@@ -131,7 +138,8 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 - First Open Source Release.
 
 
-[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.1.6...HEAD
+[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.1.7...HEAD
+[4.1.7]: https://github.com/embedded-office/canopen-stack/compare/v4.1.6...v4.1.7
 [4.1.6]: https://github.com/embedded-office/canopen-stack/compare/v4.1.5...v4.1.6
 [4.1.5]: https://github.com/embedded-office/canopen-stack/compare/v4.1.4...v4.1.5
 [4.1.4]: https://github.com/embedded-office/canopen-stack/compare/v4.1.3...v4.1.4

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.15)
-project (CanopenStack VERSION 4.1.6)
+project (CanopenStack VERSION 4.1.7)
 
 # Make CANopen library
 add_subdirectory(canopen)

canopen/CMakeLists.txt

@@ -26,7 +26,7 @@ target_sources(Canopen
     source/co_if_nvm.c
     source/co_if_timer.c
     source/co_if.c
-    source/co_lss.c 
+    source/co_lss.c
     source/co_nmt.c
     source/co_obj.c
     source/co_para.c
@@ -36,21 +36,3 @@ target_sources(Canopen
     source/co_tmr.c
     source/co_ver.c
 )
-
-#---
-# enable warnings and tread as errors
-#
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    # tread all files as C files 
-    target_compile_options(Canopen PRIVATE /TC)
-  endif()
-  # enable all warnings
-  target_compile_options(Canopen PRIVATE -Wall
-                                         -Wextra
-                                         -Wpedantic
-                                         -Werror)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  target_compile_options(Canopen PRIVATE /W4
-                                         /WX)
-endif()

canopen/include/co_obj.h

@@ -852,6 +852,25 @@ CO_ERR COObjRdType(CO_OBJ *obj, struct CO_NODE_T *node, void *dst, uint32_t len,
 */
 CO_ERR COObjWrType(CO_OBJ *obj, struct CO_NODE_T *node, void *src, uint32_t len, uint32_t off);
 
+/*! \brief TYPE SPECIFIC SDO ABORT CODE
+*
+*    This function is responsible to set a user defined SDO abort code
+*    for the current transfer of an SDO server. This function is useful,
+*    when detecting an error within a type read od write function during
+*    an SDO transfer. If no SDO transfer is active, this function will
+*    do nothing.
+*
+* \param obj
+*    String object entry reference
+*
+* \param node
+*    reference to parent node
+*
+* \param abort
+*    Requested abort code (or 0 for standardized abort code)
+*/
+void COObjTypeUserSDOAbort(CO_OBJ *obj, struct CO_NODE_T *node, uint32_t abort);
+
 /*! \brief STRING OBJECT SIZE
 *
 *    This function is responsible to calculate and return the size of the

canopen/include/co_sdo_srv.h

@@ -144,6 +144,7 @@ typedef struct CO_SDO_T {
     CO_IF_FRM          *Frm;     /*!< SDO request/response CAN frame         */
     uint32_t            RxId;    /*!< SDO request CAN identifier             */
     uint32_t            TxId;    /*!< SDO response CAN identifier            */
+    uint32_t            Abort;   /*!< SDO abort code overwrite, when >0      */
     uint16_t            Idx;     /*!< Extracted Multiplexer Index            */
     uint8_t             Sub;     /*!< Extracted Multiplexer Subindex         */
     struct CO_SDO_BUF_T Buf;     /*!< Transfer buffer management structure   */

canopen/include/co_ver.h

@@ -29,7 +29,7 @@
 
 #define CO_VER_MAJOR          4
 #define CO_VER_MINOR          1
-#define CO_VER_BUILD          6
+#define CO_VER_BUILD          7
 
 /******************************************************************************
 * PUBLIC FUNCTIONS

canopen/source/co_obj.c

@@ -437,6 +437,21 @@ CO_ERR COObjWrType(CO_OBJ *obj, CO_NODE *node, void *src, uint32_t len, uint32_t
     return (result);
 }
 
+/*
+* see function definition
+*/
+void COObjTypeUserSDOAbort(CO_OBJ *obj, struct CO_NODE_T *node, uint32_t abort)
+{
+    uint8_t n;
+
+    for (n = 0; n < CO_SDOS_N; n++) {
+        if (node->Sdo[n].Obj == obj) {
+            node->Sdo[n].Abort = abort;
+            break;
+        }
+    }
+}
+
 /*
 * see function definition
 */

canopen/source/co_sdo_srv.c

@@ -122,7 +122,8 @@ CO_SDO *COSdoCheck(CO_SDO *srv, CO_IF_FRM *frm)
         while ((n < CO_SDOS_N) && (result == 0)) {
             if (CO_GET_ID(frm) == srv[n].RxId) {
                 CO_SET_ID(frm, srv[n].TxId);
-                srv[n].Frm = frm;
+                srv[n].Frm   = frm;
+                srv[n].Abort = 0;
                 if (srv[n].Obj == 0) {
                     srv[n].Idx = CO_GET_WORD(frm, 1);
                     srv[n].Sub = CO_GET_BYTE(frm, 3);
@@ -318,7 +319,11 @@ CO_ERR COSdoUploadExpedited(CO_SDO *srv)
         nodeid = srv->Node->NodeId;
         err    = COObjRdValue(srv->Obj, srv->Node, (void *)&data, CO_LONG, nodeid);
         if (err != CO_ERR_NONE) {
-            COSdoAbort(srv, CO_SDO_ERR_TOS);
+            if (srv->Abort > 0) {
+                COSdoAbort(srv, srv->Abort);
+            } else {
+                COSdoAbort(srv, CO_SDO_ERR_TOS);
+            }
             return (result);
         } else {
             cmd = (uint8_t)0x43u | (uint8_t)(((4u - size) & 0x3u) << 2u);
@@ -363,7 +368,9 @@ CO_ERR COSdoDownloadExpedited(CO_SDO *srv)
         data   = CO_GET_LONG(srv->Frm, 4);
         err    = COObjWrValue(srv->Obj, srv->Node, (void*)&data, CO_LONG, nodeid);
         if (err != CO_ERR_NONE) {
-            if (err == CO_ERR_OBJ_RANGE) {
+            if (srv->Abort > 0) {
+                COSdoAbort(srv, srv->Abort);
+            } else if (err == CO_ERR_OBJ_RANGE) {
                 COSdoAbort(srv, CO_SDO_ERR_RANGE);
             } else if (err == CO_ERR_OBJ_MAP_TYPE) {
                 COSdoAbort(srv, CO_SDO_ERR_OBJ_MAP);

docs/docs/api/object/index.md

@@ -29,6 +29,7 @@ The object component provides an interface to the individual object entries.
         +COObjWrBufCont(source, length) int16_t
         +COObjWrBufStart(source, length) int16_t
         +COObjWrValue(source, width, nodeId) int16_t
+        +COObjTypeUserSDOAbort(node, code) void
       }
 ```
 

docs/docs/usecase/dictionary.md

@@ -200,16 +200,16 @@ If a new user type didn't need to have special behavior on accessing (e.g. get-s
 The following list shows the type function prototypes. The return value of the size type function (e.g. `DemoSize()`) shall return the size of the user type in bytes. The other type functions shall return `CO_ERR_NONE` after the successful operation. If an error is detected the corresponding error codes must be returned: `CO_ERR_TYPE_RD`, `CO_ERR_TYPE_WR` or `CO_ERR_TYPE_CTRL`.
 
 ```c
-  uint32_t DemoSize (CO_OBJ *obj, uint32_t width);
-  CO_ERR   DemoRead (CO_OBJ *obj, void *buf, uint32_t len);
-  CO_ERR   DemoWrite(CO_OBJ *obj, void *buf, uint32_t len);
-  CO_ERR   DemoCtrl (CO_OBJ *obj, uint16_t id, uint32_t para);
+  uint32_t DemoSize (CO_OBJ *obj, CO_NODE *node, uint32_t width);
+  CO_ERR   DemoRead (CO_OBJ *obj, CO_NODE *node, void *buf, uint32_t len);
+  CO_ERR   DemoWrite(CO_OBJ *obj, CO_NODE *node, void *buf, uint32_t len);
+  CO_ERR   DemoCtrl (CO_OBJ *obj, CO_NODE *node, uint16_t id, uint32_t para);
 ```
 
 **Note:** The parameter `len` in the functions `DemoRead()` and `DemoWrite()` is the length of the data, given via the pointer `buf`. If you want to use the width of the object entry, you can use the following snippet:
 
 ```c
-CO_ERR DemoRead(CO_OBJ *obj, void *buf, uint32_t len)
+CO_ERR DemoRead(CO_OBJ *obj, CO_NODE *node, void *buf, uint32_t len)
 {
     uint32_t width = CO_GET_SIZE(obj->Key);
 
@@ -254,3 +254,18 @@ sequenceDiagram
     O-->>-D: value
     D-->>-A: value
 ```
+
+When you need to control the ABORT codes of SDO expedited transfers, you can use the function `COObjTypeUserSDOAbort()` to set a user defined SDO abort code within your type functions:
+
+```c
+CO_ERR DemoWrite(CO_OBJ *obj, CO_NODE *node, void *buf, uint32_t len)
+{
+    :
+  if (/* your write error condition */) {
+      /* the given abort code is considered in SDO transfers only! */
+      COObjTypeUserSDOAbort(obj, node, 0x12345678);
+      return CO_ERR_TYPE_WR;
+  }
+    :
+}
+```

driver/source/co_can_dummy.c

@@ -18,7 +18,7 @@
 * INCLUDES
 ******************************************************************************/
 
-/* TODO: rename the include file name to match the naming convention: 
+/* TODO: rename the include file name to match the naming convention:
  *   co_can_<device>.h
  */
 #include "co_can_dummy.h"
@@ -44,7 +44,7 @@ static void    DrvCanClose  (void);
 * PUBLIC VARIABLE
 ******************************************************************************/
 
-/* TODO: rename the variable to match the naming convention: 
+/* TODO: rename the variable to match the naming convention:
  *   <device>CanDriver
  */
 const CO_IF_CAN_DRV DummyCanDriver = {
@@ -67,17 +67,23 @@ static void DrvCanInit(void)
 
 static void DrvCanEnable(uint32_t baudrate)
 {
+    (void)baudrate;
+
     /* TODO: set the given baudrate to the CAN controller */
 }
 
 static int16_t DrvCanSend(CO_IF_FRM *frm)
 {
+    (void)frm;
+
     /* TODO: wait for free CAN message slot and send the given CAN frame */
     return (0u);
 }
 
 static int16_t DrvCanRead (CO_IF_FRM *frm)
 {
+    (void)frm;
+
     /* TODO: wait for a CAN frame and read CAN frame from the CAN controller */
     return (0u);
 }

driver/source/co_nvm_dummy.c

@@ -18,7 +18,7 @@
 * INCLUDES
 ******************************************************************************/
 
-/* TODO: rename the include file name to match the naming convention: 
+/* TODO: rename the include file name to match the naming convention:
  *   co_nvm_<device>.h
  */
 #include "co_nvm_dummy.h"
@@ -42,7 +42,7 @@ static uint32_t DrvNvmWrite (uint32_t start, uint8_t *buffer, uint32_t size);
 * PUBLIC VARIABLE
 ******************************************************************************/
 
-/* TODO: rename the variable to match the naming convention: 
+/* TODO: rename the variable to match the naming convention:
  *   <device>NvmDriver
  */
 const CO_IF_NVM_DRV DummyNvmDriver = {
@@ -62,12 +62,20 @@ static void DrvNvmInit(void)
 
 static uint32_t DrvNvmRead(uint32_t start, uint8_t *buffer, uint32_t size)
 {
+    (void)start;
+    (void)buffer;
+    (void)size;
+
     /* TODO: read a memory block from non-volatile memory into given buffer */
     return (0u);
 }
 
 static uint32_t DrvNvmWrite(uint32_t start, uint8_t *buffer, uint32_t size)
 {
+    (void)start;
+    (void)buffer;
+    (void)size;
+
     /* TODO: write content of given buffer into non-volatile memory */
     return (0u);
 }

driver/source/co_timer_dummy.c

@@ -18,7 +18,7 @@
 * INCLUDES
 ******************************************************************************/
 
-/* TODO: rename the include file name to match the naming convention: 
+/* TODO: rename the include file name to match the naming convention:
  *   co_timer_<device>.h
  */
 #include "co_timer_dummy.h"
@@ -44,7 +44,7 @@ static void     DrvTimerStop   (void);
 * PUBLIC VARIABLE
 ******************************************************************************/
 
-/* TODO: rename the variable to match the naming convention: 
+/* TODO: rename the variable to match the naming convention:
  *   <device>TimerDriver
  */
 const CO_IF_TIMER_DRV DummyTimerDriver = {
@@ -62,6 +62,8 @@ const CO_IF_TIMER_DRV DummyTimerDriver = {
 
 static void DrvTimerInit(uint32_t freq)
 {
+    (void)freq;
+
     /* TODO: initialize timer, clear counter and keep timer stopped */
 }
 
@@ -84,6 +86,8 @@ static uint32_t DrvTimerDelay(void)
 
 static void DrvTimerReload(uint32_t reload)
 {
+    (void)reload;
+
     /* TODO: reload timer counter value with given reload value */
 }
 

example/dynamic-od/CMakeLists.txt

@@ -22,21 +22,3 @@ target_include_directories(DynamicOD
 # specify the dependencies for this application
 #
 target_link_libraries(DynamicOD Canopen CanopenDriver)
-
-#---
-# enable warnings and tread as errors
-#
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    # tread all files as C files
-    target_compile_options(Quickstart PRIVATE /TC)
-  endif()
-  # enable all warnings
-  target_compile_options(Quickstart PRIVATE -Wall
-                                            -Wextra
-                                            -Wpedantic
-                                            -Werror)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  target_compile_options(Quickstart PRIVATE /W4
-                                            /WX)
-endif()

example/quickstart/CMakeLists.txt

@@ -21,21 +21,3 @@ target_include_directories(Quickstart
 # specify the dependencies for this application
 #
 target_link_libraries(Quickstart Canopen CanopenDriver)
-
-#---
-# enable warnings and tread as errors
-#
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    # tread all files as C files 
-    target_compile_options(Quickstart PRIVATE /TC)
-  endif()
-  # enable all warnings
-  target_compile_options(Quickstart PRIVATE -Wall
-                                            -Wextra
-                                            -Wpedantic
-                                            -Werror)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  target_compile_options(Quickstart PRIVATE /W4
-                                            /WX)
-endif()

testsuite/CMakeLists.txt

@@ -75,21 +75,3 @@ target_include_directories(CanopenTest
 # specify the dependencies for this application
 #
 target_link_libraries(CanopenTest Canopen CanopenDriver)
-
-#---
-# enable warnings and tread as errors
-#
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    # tread all files as C files 
-    target_compile_options(CanopenTest PRIVATE /TC)
-  endif()
-  # enable all warnings
-  # target_compile_options(CanopenTest PRIVATE -Wall
-  #                                            -Wextra
-  #                                            -Wpedantic
-  #                                            -Werror)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  target_compile_options(CanopenTest PRIVATE /W4
-                                             /WX)
-endif()