Merge pull request #55 from embedded-office/feature/update-2021-07

finish feature/update 2021 07

CHANGELOG.md

@@ -7,7 +7,25 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 
 ## [unreleased]
 
-nothing
+- none
+
+## [4.1.6] - 2012-07-21
+
+### Added
+
+- Explain the possible PDO transmission options
+- Add Example which describes how to setup and use a dynamic object dictionary
+- Add type functions for EMCY COB-ID (1014) and SYNC COB-ID (1005)
+
+### Changed
+
+- Clarify the arguments in type functions read() and write()
+
+### Fixed
+
+- PDO Timer Config when entering the OPERATE state multiple times
+- Fix the random bogus frame passed to function when no CAN frame is received
+- Fix issues in SDO block upload and download protocol
 
 ## [4.1.5] - 2021-02-11
 
@@ -113,7 +131,8 @@ nothing
 - First Open Source Release.
 
 
-[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.1.5...HEAD
+[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.1.6...HEAD
+[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
 [4.1.3]: https://github.com/embedded-office/canopen-stack/compare/v4.1.2...v4.1.3

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.15)
-project (CanopenStack VERSION 4.1.5)
+project (CanopenStack VERSION 4.1.6)
 
 # Make CANopen library
 add_subdirectory(canopen)

canopen/include/co_emcy.h

@@ -34,8 +34,13 @@ extern "C" {
 /******************************************************************************
 * PUBLIC DEFINES
 ******************************************************************************/
-
-#define CO_TEMCY      (CO_OBJ_TYPE *)&COTEmcy  /*!< Object Type EMCY History */
+
+#define CO_EMCY_COBID_OFF    ((uint32_t)1 << 31)    /*!< marked as unused    */
+#define CO_EMCY_COBID_EXT    ((uint32_t)1 << 29)    /*!< extended format     */
+#define CO_EMCY_COBID_MASK   ((uint32_t)0x1FFFFFFF) /*!< identifier mask     */
+
+#define CO_TEMCY   ((const CO_OBJ_TYPE *)&COTEmcy)    /*!< EMCY History      */
+#define CO_TEMCYID ((const CO_OBJ_TYPE *)&COTEmcyId)  /*!< Dynamic COB-ID    */
 
 #define CO_EMCY_STORAGE  (1+((CO_EMCY_N-1)/8))  /*!< bytes for CO_EMCY_N bit */
 
@@ -96,7 +101,7 @@ extern "C" {
 /******************************************************************************
 * PUBLIC CONSTANTS
 ******************************************************************************/
-    
+
 /*! \brief OBJECT TYPE EMCY HISTORY
 *
 *    This type is responsible for the access to the EMCY history.
@@ -318,7 +323,7 @@ int16_t COEmcyGetErr(CO_EMCY *emcy, uint8_t err);
 * \retval  =1    the error state has changed
 */
 int16_t COEmcySetErr(CO_EMCY *emcy, uint8_t err, uint8_t state);
-    
+
 /*! \brief  SEND EMCY MESSAGE
 *
 *    This function transmits the EMCY message to the configured CANbus.
@@ -459,6 +464,29 @@ CO_ERR COTypeEmcyRead(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf, u
 */
 CO_ERR COTypeEmcyWrite(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf, uint32_t len);
 
+/*! \brief EMCY COB-ID WRITE ACCESS
+*
+*    This function is responsible for the correct write access for the
+*    EMCY COB-ID object entry (1014h). The access to bit 0 to 29 is only
+*    allowed when bit 31 is set to 1.
+*
+* \param obj
+*    EMCY COB-ID object entry reference
+*
+* \param node
+*    reference to parent node
+*
+* \param buf
+*    Pointer to buffer memory
+*
+* \param len
+*    Length of buffer memory
+*
+* \retval  CO_ERR_NONE        EMCY COB-ID object entry is written
+* \retval  CO_ERR_OBJ_RANGE   an error is detected and function aborted
+*/
+CO_ERR COTypeEmcyIdWrite(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf, uint32_t len);
+
 #ifdef __cplusplus               /* for compatibility with C++ environments  */
 }
 #endif

canopen/include/co_err.h

@@ -24,7 +24,7 @@ extern "C" {
 /******************************************************************************
 * PUBLIC DEFINES
 ******************************************************************************/
-    
+
 #ifndef CO_ERR_BASE
 #define CO_ERR_BASE    0x0100    /*!< First CANopen stack error code         */
 #endif
@@ -95,7 +95,8 @@ typedef enum CO_ERR_T {
     CO_ERR_RPDO_COM_OBJ,         /*!< config error in RPDO communication     */
     CO_ERR_RPDO_MAP_OBJ,         /*!< config error in RPDO mapping           */
 
-    CO_ERR_SDO_ABORT,            /*!< error during in SDO request            */
+    CO_ERR_SDO_SILENT,           /*!< no SDO response (e.g. block transfer)  */
+    CO_ERR_SDO_ABORT,            /*!< error in SDO request with ABORT resp.  */
     CO_ERR_SDO_READ,             /*!< error during in SDO block reading      */
     CO_ERR_SDO_WRITE,            /*!< error during in SDO block writing      */
 

canopen/include/co_pdo.h

@@ -36,7 +36,7 @@ extern "C" {
 #define CO_TPDO_COBID_OFF    ((uint32_t)1 << 31)    /*!< marked as unused    */
 #define CO_TPDO_COBID_REMOTE ((uint32_t)1 << 30)    /*!< RTR is not allowed  */
 #define CO_TPDO_COBID_EXT    ((uint32_t)1 << 29)    /*!< extended format     */
-    
+
 #define CO_RPDO_COBID_OFF    ((uint32_t)1 << 31)    /*!< marked as unused    */
 #define CO_RPDO_COBID_EXT    ((uint32_t)1 << 29)    /*!< extended format     */
 
@@ -47,7 +47,7 @@ extern "C" {
 #define CO_TPDO_FLG_S_E     0x05   /*!< PDO synced + event occured           */
 #define CO_TPDO_FLG_SI_     0x06   /*!< PDO synced + TX inhibited            */
 #define CO_TPDO_FLG_SIE     0x07   /*!< PDO synved + event occured + TX inh. */
-    
+
 #define CO_RPDO_FLG__E      0x01                    /*!< enabled RPDO        */
 #define CO_RPDO_FLG_S_      0x02                    /*!< synchronized RPDO   */
 
@@ -58,7 +58,7 @@ extern "C" {
 #define CO_TEVENT   ((const CO_OBJ_TYPE *)&COTEvent)   /*!< TPDO Event Timer     */
 #define CO_TPDONUM  ((const CO_OBJ_TYPE *)&COTPdoMapN) /*!< Dynamic Map Numbers  */
 #define CO_TPDOMAP  ((const CO_OBJ_TYPE *)&COTPdoMap)  /*!< Dynamic Mapping      */
-#define CO_TPDOID   ((const CO_OBJ_TYPE *)&COTPdoId)   /*!< Dynamic Identifier   */
+#define CO_TPDOID   ((const CO_OBJ_TYPE *)&COTPdoId)   /*!< Dynamic COB-ID       */
 #define CO_TPDOTYPE ((const CO_OBJ_TYPE *)&COTPdoType) /*!< Dynamic Transm. Type */
 
 /******************************************************************************

canopen/include/co_sdo_srv.h

@@ -39,10 +39,11 @@ extern "C" {
 #define CO_SDO_ERR_SEQ_NUM      0x05040003    /*!< Invalid Sequence number                */
 #define CO_SDO_ERR_RD           0x06010001    /*!< Attempt to read a write only object    */
 #define CO_SDO_ERR_WR           0x06010002    /*!< Attempt to write a read only object    */
-#define CO_SDO_ERR_OBJ          0x06020000    /*!< Object doesn't exist in dictionary      */
+#define CO_SDO_ERR_OBJ          0x06020000    /*!< Object doesn't exist in dictionary     */
+#define CO_SDO_ERR_HW_ACCESS    0x06060000    /*!< Access failed due to an hardware error */
 #define CO_SDO_ERR_LEN_HIGH     0x06070012    /*!< Length of parameter too high           */
 #define CO_SDO_ERR_LEN_SMALL    0x06070013    /*!< Length of parameter too small          */
-#define CO_SDO_ERR_SUB          0x06090011    /*!< Subindex doesn't exist in dictionary    */
+#define CO_SDO_ERR_SUB          0x06090011    /*!< Subindex doesn't exist in dictionary   */
 #define CO_SDO_ERR_RANGE        0x06090030    /*!< Value range of parameter exceeded      */
 #define CO_SDO_ERR_TOS          0x08000020    /*!< Data can't be transfered or stored     */
 #define CO_SDO_ERR_TOS_STATE    0x08000022    /*!< Data can't be transfered or stored,    */
@@ -72,7 +73,7 @@ extern "C" {
 *    designed to provide the feature of changing a SDO identifier.
 */
 extern const CO_OBJ_TYPE COTSdoId;
-    
+
 /******************************************************************************
 * PUBLIC TYPES
 ******************************************************************************/
@@ -127,6 +128,7 @@ typedef struct CO_SDO_BLK_T {
     uint32_t                Len;        /*!< remaining block length in byte  */
     uint8_t                 SegNum;     /*!< number of segments in block     */
     uint8_t                 SegCnt;     /*!< current segment number          */
+    uint8_t                 SegOk;      /*!< last successfull sent segment   */
     uint8_t                 LastValid;  /*!< valid bytes in last segment     */
 
 } CO_SDO_BLK;
@@ -261,10 +263,14 @@ CO_ERR COSdoGetObject(CO_SDO *srv, uint16_t mode);
 * \param width
 *    Parameter size in byte (or 0 if unknown)
 *
-* \retval  =0    Abort for known width
+* \param strict
+*    Controls the lower boundary check. If this argument is false, a width
+*    smaller than the object size is allowed.
+*
+* \retval  =0    Invalid width, abort frame in SDO server is set
 * \retval  >0    Size of Object
 */
-uint32_t COSdoGetSize(CO_SDO *srv, uint32_t width);
+uint32_t COSdoGetSize(CO_SDO *srv, uint32_t width, bool strict);
 
 /*! \brief  EXPEDITED UPLOAD PROTOCOL
 *

canopen/include/co_sync.h

@@ -34,9 +34,15 @@ extern "C" {
 * PUBLIC DEFINES
 ******************************************************************************/
 
+#define CO_SYNC_COBID_OFF    ((uint32_t)1 << 30)    /*!< generator flag      */
+#define CO_SYNC_COBID_EXT    ((uint32_t)1 << 29)    /*!< extended format     */
+#define CO_SYNC_COBID_MASK   ((uint32_t)0x1FFFFFFF) /*!< identifier mask     */
+
 #define CO_SYNC_FLG_TX    0x01    /*!< message type indication  TPDO         */
 #define CO_SYNC_FLG_RX    0x02    /*!< message type indication: RPDO         */
 
+#define CO_TSYNCID ((const CO_OBJ_TYPE *)&COTSyncId)  /*!< Dynamic COB-ID    */
+
 /******************************************************************************
 * PUBLIC TYPES
 ******************************************************************************/
@@ -153,6 +159,29 @@ int16_t COSyncUpdate(CO_SYNC *sync, CO_IF_FRM *frm);
 */
 void COSyncRestart(CO_SYNC *sync);
 
+/*! \brief SYNC COB-ID WRITE ACCESS
+*
+*    This function is responsible for the correct write access for the
+*    SYNC COB-ID object entry (1005h). The access to bit 0 to 29 is only
+*    allowed when bit 30 is set to 0.
+*
+* \param obj
+*    SYNC COB-ID object entry reference
+*
+* \param node
+*    reference to parent node
+*
+* \param buf
+*    Pointer to buffer memory
+*
+* \param len
+*    Length of buffer memory
+*
+* \retval  CO_ERR_NONE        SYNC COB-ID object entry is written
+* \retval  CO_ERR_OBJ_RANGE   an error is detected and function aborted
+*/
+CO_ERR COTypeSyncIdWrite(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf, uint32_t len);
+
 /******************************************************************************
 * CALLBACK FUNCTIONS
 ******************************************************************************/

canopen/include/co_ver.h

@@ -29,7 +29,7 @@
 
 #define CO_VER_MAJOR          4
 #define CO_VER_MINOR          1
-#define CO_VER_BUILD          5
+#define CO_VER_BUILD          6
 
 /******************************************************************************
 * PUBLIC FUNCTIONS

canopen/source/co_core.c

@@ -54,7 +54,7 @@ void CONodeInit(CO_NODE *node, CO_NODE_SPEC *spec)
     COSdoInit(node->Sdo, node);
     COTPdoClear(node->TPdo, node);
     CORPdoClear(node->RPdo, node);
-    COEmcyInit(&node->Emcy, node, spec->EmcyCode); 
+    COEmcyInit(&node->Emcy, node, spec->EmcyCode);
     COSyncInit(&node->Sync, node);
     COLssInit(&node->Lss, node);
     COIfCanEnable(&node->If, node->Baudrate);
@@ -149,21 +149,23 @@ void CONodeProcess(CO_NODE *node)
         allowed = 0;
     } else {
         allowed = node->Nmt.Allowed;
-    }
-
-    result = COLssCheck(&node->Lss, &frm);
-    if (result != 0) {
-        if (result > 0) {
-            (void)COIfCanSend(&node->If, &frm);
+        result  = COLssCheck(&node->Lss, &frm);
+        if (result != 0) {
+            if (result > 0) {
+                (void)COIfCanSend(&node->If, &frm);
+            }
+            allowed = 0;
         }
-        allowed = 0;
     }
 
     if ((allowed & CO_SDO_ALLOWED) != 0) {
         srv = COSdoCheck(node->Sdo, &frm);
         if (srv != 0) {
-            (void)COSdoResponse(srv);
-            (void)COIfCanSend(&node->If, &frm);
+            CO_ERR err = COSdoResponse(srv);
+            if ((err == CO_ERR_NONE     ) ||
+                (err == CO_ERR_SDO_ABORT)) {
+                (void)COIfCanSend(&node->If, &frm);
+            }
             allowed = 0;
         }
     }

canopen/source/co_emcy.c

@@ -26,6 +26,7 @@
 ******************************************************************************/
 
 const CO_OBJ_TYPE COTEmcy = { 0, 0, COTypeEmcyRead, COTypeEmcyWrite };
+const CO_OBJ_TYPE COTEmcyId = { 0, 0, 0, COTypeEmcyIdWrite };
 
 /******************************************************************************
 * FUNCTIONS
@@ -312,7 +313,7 @@ int16_t COEmcySetErr(CO_EMCY *emcy, uint8_t err, uint8_t state)
 */
 void COEmcySend(CO_EMCY *emcy, uint8_t err, CO_EMCY_USR *usr, uint8_t state)
 {
-    CO_IF_FRM    frm; 
+    CO_IF_FRM    frm;
     CO_NODE     *node;
     CO_DICT      *dir;
     CO_EMCY_TBL *data;
@@ -525,3 +526,31 @@ CO_ERR COTypeEmcyWrite(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf,
 
     return (result);
 }
+
+/*
+* see function definition
+*/
+CO_ERR COTypeEmcyIdWrite(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buf, uint32_t len)
+{
+    CO_ERR    result = CO_ERR_NONE;
+    uint32_t  nid;
+    uint32_t  oid;
+
+    (void)len;
+    (void)node;
+    nid = *(uint32_t*)buf;
+    (void)COObjRdDirect(obj, &oid, CO_LONG);
+
+    /* when current entry is active, bits 0 to 29 shall not be changed */
+    if ((oid & CO_EMCY_COBID_OFF) == (uint32_t)0) {
+        if ((nid & CO_EMCY_COBID_MASK) != (oid & CO_EMCY_COBID_MASK)) {
+            result = CO_ERR_OBJ_RANGE;
+        } else {
+            result = COObjWrDirect(obj, &nid, CO_LONG);
+        }
+    } else {
+        result = COObjWrDirect(obj, &nid, CO_LONG);
+    }
+
+    return (result);
+}

canopen/source/co_nmt.c

@@ -94,11 +94,11 @@ void CONmtReset(CO_NMT *nmt, CO_NMT_RESET type)
     }
 
     if (type == CO_RESET_NODE) {
-        CONodeParaLoad(nmt->Node, CO_RESET_NODE);     
+        CONodeParaLoad(nmt->Node, CO_RESET_NODE);
     }
 
     if (type <= CO_RESET_COM) {
-        CONodeParaLoad(nmt->Node, CO_RESET_COM);      
+        CONodeParaLoad(nmt->Node, CO_RESET_COM);
         err = COLssLoad(&nmt->Node->Baudrate, &nmt->Node->NodeId);
         if (err != CO_ERR_NONE) {
             nmt->Node->Error = CO_ERR_LSS_LOAD;
@@ -126,11 +126,11 @@ void CONmtSetMode(CO_NMT *nmt, CO_MODE mode)
         CONodeFatalError();
         return;
     }
-    if (mode == CO_OPERATIONAL) {
-        COTPdoInit(nmt->Node->TPdo, nmt->Node);
-        CORPdoInit(nmt->Node->RPdo, nmt->Node);
-    }
     if (nmt->Mode != mode) {
+        if (mode == CO_OPERATIONAL) {
+            COTPdoInit(nmt->Node->TPdo, nmt->Node);
+            CORPdoInit(nmt->Node->RPdo, nmt->Node);
+        }
         CONmtModeChange(nmt, mode);
     }
     nmt->Mode    = mode;