Lely core libraries 2.3.4
nmt_cfg.c
Go to the documentation of this file.
1
24#include "co.h"
25
26#if !LELY_NO_CO_MASTER && !LELY_NO_CO_NMT_CFG
27
28#include "nmt_cfg.h"
29#if !LELY_NO_MALLOC
30#include <lely/co/dcf.h>
31#endif
32#include <lely/co/dev.h>
33#include <lely/co/obj.h>
34#include <lely/co/val.h>
35#include <lely/util/diag.h>
36
37#include <assert.h>
38#if !LELY_NO_STDIO
39#include <inttypes.h>
40#endif
41#include <stdlib.h>
42
43#ifndef LELY_CO_NMT_CFG_RESET_TIMEOUT
48#define LELY_CO_NMT_CFG_RESET_TIMEOUT 1000
49#endif
50
54
70 co_unsigned8_t id;
72 co_unsigned32_t assignment;
76 co_unsigned32_t ac;
79#if !LELY_NO_MALLOC
82#endif
83};
84
90static int co_nmt_cfg_recv(const struct can_msg *msg, void *data);
91
97static int co_nmt_cfg_timer(const struct timespec *tp, void *data);
98
105static void co_nmt_cfg_dn_con(co_csdo_t *sdo, co_unsigned16_t idx,
106 co_unsigned8_t subidx, co_unsigned32_t ac, void *data);
107
112static void co_nmt_cfg_enter(co_nmt_cfg_t *cfg, co_nmt_cfg_state_t *next);
113
121static inline void co_nmt_cfg_emit_recv(
122 co_nmt_cfg_t *cfg, const struct can_msg *msg);
123
131static inline void co_nmt_cfg_emit_time(
132 co_nmt_cfg_t *cfg, const struct timespec *tp);
133
143static inline void co_nmt_cfg_emit_dn_con(co_nmt_cfg_t *cfg,
144 co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac);
145
153static inline void co_nmt_cfg_emit_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac);
154
169 co_nmt_cfg_t *cfg, const struct can_msg *msg);
179 co_nmt_cfg_t *cfg, const struct timespec *tp);
189 co_nmt_cfg_state_t *(*on_res)(co_nmt_cfg_t *cfg, co_unsigned32_t ac);
201 co_nmt_cfg_state_t *(*on_dn_con)(co_nmt_cfg_t *cfg, co_unsigned16_t idx,
202 co_unsigned8_t subidx, co_unsigned32_t ac);
204 void (*on_leave)(co_nmt_cfg_t *cfg);
205};
206
207#define LELY_CO_DEFINE_STATE(name, ...) \
208 static co_nmt_cfg_state_t *const name = \
209 &(co_nmt_cfg_state_t){ __VA_ARGS__ };
210
213
214// clang-format off
215LELY_CO_DEFINE_STATE(co_nmt_cfg_abort_state,
216 .on_enter = &co_nmt_cfg_abort_on_enter
217)
218// clang-format on
219
220
222
228 co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac);
229
230// clang-format off
231LELY_CO_DEFINE_STATE(co_nmt_cfg_restore_state,
232 .on_enter = &co_nmt_cfg_restore_on_enter,
233 .on_dn_con = &co_nmt_cfg_restore_on_dn_con
234)
235// clang-format on
236
237
239
242 co_nmt_cfg_t *cfg, const struct can_msg *msg);
243
246 co_nmt_cfg_t *cfg, const struct timespec *tp);
247
248// clang-format off
249LELY_CO_DEFINE_STATE(co_nmt_cfg_reset_state,
250 .on_enter = &co_nmt_cfg_reset_on_enter,
251 .on_recv = &co_nmt_cfg_reset_on_recv,
252 .on_time = &co_nmt_cfg_reset_on_time
253)
254// clang-format on
255
256#if !LELY_NO_MALLOC
257
260
266 co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac);
267
270
271// clang-format off
272LELY_CO_DEFINE_STATE(co_nmt_cfg_store_1f20_state,
276)
277// clang-format on
278
279
281
287 co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac);
288
289// clang-format off
290LELY_CO_DEFINE_STATE(co_nmt_cfg_store_1f22_state,
293)
294// clang-format on
295
296#endif // !LELY_NO_MALLOC
297
300
303 co_nmt_cfg_t *cfg, co_unsigned32_t ac);
304
305// clang-format off
306LELY_CO_DEFINE_STATE(co_nmt_cfg_user_state,
307 .on_enter = &co_nmt_cfg_user_on_enter,
308 .on_res = &co_nmt_cfg_user_on_res
309)
310// clang-format on
311
312#undef LELY_CO_DEFINE_STATE
313
314void *
315__co_nmt_cfg_alloc(void)
316{
317 void *ptr = malloc(sizeof(struct __co_nmt_cfg));
318#if !LELY_NO_ERRNO
319 if (!ptr)
320 set_errc(errno2c(errno));
321#endif
322 return ptr;
323}
324
325void
326__co_nmt_cfg_free(void *ptr)
327{
328 free(ptr);
329}
330
331struct __co_nmt_cfg *
332__co_nmt_cfg_init(struct __co_nmt_cfg *cfg, can_net_t *net, co_dev_t *dev,
333 co_nmt_t *nmt)
334{
335 assert(cfg);
336 assert(net);
337 assert(dev);
338 assert(nmt);
339
340 int errc = 0;
341
342 cfg->net = net;
343 cfg->dev = dev;
344 cfg->nmt = nmt;
345
346 cfg->state = NULL;
347
348 cfg->recv = can_recv_create();
349 if (!cfg->recv) {
350 errc = get_errc();
351 goto error_create_recv;
352 }
354
355 cfg->timer = can_timer_create();
356 if (!cfg->timer) {
357 errc = get_errc();
358 goto error_create_timer;
359 }
361
362 cfg->id = 0;
363 cfg->assignment = 0;
364
365 cfg->sdo = NULL;
366
367 cfg->ac = 0;
368
369 co_sdo_req_init(&cfg->req);
370#if !LELY_NO_MALLOC
371 cfg->dev_1f20 = NULL;
372#endif
373
374 return cfg;
375
376 // can_timer_destroy(cfg->timer);
377error_create_timer:
379error_create_recv:
380 set_errc(errc);
381 return NULL;
382}
383
384void
385__co_nmt_cfg_fini(struct __co_nmt_cfg *cfg)
386{
387 assert(cfg);
388
389#if !LELY_NO_MALLOC
390 assert(!cfg->dev_1f20);
391#endif
392 co_sdo_req_fini(&cfg->req);
393
394 co_csdo_destroy(cfg->sdo);
395
398}
399
402{
403 int errc = 0;
404
405 co_nmt_cfg_t *cfg = __co_nmt_cfg_alloc();
406 if (!cfg) {
407 errc = get_errc();
408 goto error_alloc_cfg;
409 }
410
411 if (!__co_nmt_cfg_init(cfg, net, dev, nmt)) {
412 errc = get_errc();
413 goto error_init_cfg;
414 }
415
416 return cfg;
417
418error_init_cfg:
419 __co_nmt_cfg_free(cfg);
420error_alloc_cfg:
421 set_errc(errc);
422 return NULL;
423}
424
425void
427{
428 if (cfg) {
429 __co_nmt_cfg_fini(cfg);
430 __co_nmt_cfg_free(cfg);
431 }
432}
433
434int
435co_nmt_cfg_cfg_req(co_nmt_cfg_t *cfg, co_unsigned8_t id, int timeout,
436 co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data)
437{
438 assert(cfg);
439
440 if (!id || id > CO_NUM_NODES) {
442 return -1;
443 }
444
445 if (cfg->state) {
447 return -1;
448 }
449
450 cfg->id = id;
451
452 co_csdo_destroy(cfg->sdo);
453 cfg->sdo = co_csdo_create(cfg->net, NULL, cfg->id);
454 if (!cfg->sdo)
455 return -1;
456 co_csdo_set_timeout(cfg->sdo, timeout);
457 co_csdo_set_dn_ind(cfg->sdo, dn_ind, data);
458 co_csdo_set_up_ind(cfg->sdo, up_ind, data);
459
460 co_nmt_cfg_enter(cfg, co_nmt_cfg_restore_state);
461
462 return 0;
463}
464
465int
466co_nmt_cfg_cfg_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
467{
468 assert(cfg);
469
471
472 return 0;
473}
474
475static int
476co_nmt_cfg_recv(const struct can_msg *msg, void *data)
477{
478 assert(msg);
479 co_nmt_cfg_t *cfg = data;
480 assert(cfg);
481
482 co_nmt_cfg_emit_recv(cfg, msg);
483
484 return 0;
485}
486
487static int
488co_nmt_cfg_timer(const struct timespec *tp, void *data)
489{
490 assert(tp);
491 co_nmt_cfg_t *cfg = data;
492 assert(cfg);
493
494 co_nmt_cfg_emit_time(cfg, tp);
495
496 return 0;
497}
498
499static void
500co_nmt_cfg_dn_con(co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx,
501 co_unsigned32_t ac, void *data)
502{
503 (void)sdo;
504 co_nmt_cfg_t *cfg = data;
505 assert(cfg);
506
507 co_nmt_cfg_emit_dn_con(cfg, idx, subidx, ac);
508}
509
510static void
512{
513 assert(cfg);
514
515 while (next) {
516 co_nmt_cfg_state_t *prev = cfg->state;
517 cfg->state = next;
518
519 if (prev && prev->on_leave)
520 prev->on_leave(cfg);
521
522 next = next->on_enter ? next->on_enter(cfg) : NULL;
523 }
524}
525
526static inline void
528{
529 assert(cfg);
530 assert(cfg->state);
531 assert(cfg->state->on_recv);
532
533 co_nmt_cfg_enter(cfg, cfg->state->on_recv(cfg, msg));
534}
535
536static inline void
538{
539 assert(cfg);
540 assert(cfg->state);
541 assert(cfg->state->on_time);
542
543 co_nmt_cfg_enter(cfg, cfg->state->on_time(cfg, tp));
544}
545
546static inline void
547co_nmt_cfg_emit_dn_con(co_nmt_cfg_t *cfg, co_unsigned16_t idx,
548 co_unsigned8_t subidx, co_unsigned32_t ac)
549{
550 assert(cfg);
551 assert(cfg->state);
552 assert(cfg->state->on_dn_con);
553
554 co_nmt_cfg_enter(cfg, cfg->state->on_dn_con(cfg, idx, subidx, ac));
555}
556
557static inline void
558co_nmt_cfg_emit_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
559{
560 assert(cfg);
561 assert(cfg->state);
562 assert(cfg->state->on_res);
563
564 co_nmt_cfg_enter(cfg, cfg->state->on_res(cfg, ac));
565}
566
567static co_nmt_cfg_state_t *
569{
570 assert(cfg);
571
572 can_recv_stop(cfg->recv);
573 can_timer_stop(cfg->timer);
574
575 co_nmt_cfg_con(cfg->nmt, cfg->id, cfg->ac);
576
577 return NULL;
578}
579
580static co_nmt_cfg_state_t *
582{
583 assert(cfg);
584
585 cfg->ac = 0;
586
587 // Retrieve the slave assignment for the node.
588 cfg->assignment = co_dev_get_val_u32(cfg->dev, 0x1f81, cfg->id);
589
590 // Abort the configuration request if the slave is not in the network
591 // list.
592 if (!(cfg->assignment & 0x01))
593 return co_nmt_cfg_abort_state;
594
595 // Check if the slave can be used without prior resetting (bit 7).
596 if (!(cfg->assignment & 0x80))
597#if LELY_NO_MALLOC
598 return co_nmt_cfg_user_state;
599#else
600 return co_nmt_cfg_store_1f20_state;
601#endif
602
603 // Retrieve the sub-index of object 1011 of the slave that is used to
604 // initiate the restore operation.
605 co_unsigned8_t subidx = co_dev_get_val_u8(cfg->dev, 0x1f8a, cfg->id);
606
607 // If the sub-index is 0, no restore is sent to the slave.
608 if (!subidx)
609#if LELY_NO_MALLOC
610 return co_nmt_cfg_user_state;
611#else
612 return co_nmt_cfg_store_1f20_state;
613#endif
614
615 // Write the value 'load' to sub-index of object 1011 on the slave.
616 // clang-format off
617 if (co_csdo_dn_val_req(cfg->sdo, 0x1011, subidx, CO_DEFTYPE_UNSIGNED32,
618 &(co_unsigned32_t){ UINT32_C(0x64616f6c) },
619 &co_nmt_cfg_dn_con, cfg) == -1) {
620 // clang-format on
621 cfg->ac = CO_SDO_AC_ERROR;
622 return co_nmt_cfg_abort_state;
623 }
624
625 return NULL;
626}
627
628static co_nmt_cfg_state_t *
630 co_unsigned8_t subidx, co_unsigned32_t ac)
631{
632 assert(cfg);
633 (void)idx;
634
635 if (ac) {
636 cfg->ac = ac;
637 return co_nmt_cfg_abort_state;
638 }
639
640 switch (subidx) {
641 case 0x02:
642 // Issue the NMT reset communication command after restoring
643 // communication related parameters.
645 break;
646 default:
647 // Issue the NMT reset node command after restoring application
648 // or manufacturer-specific parameters.
650 break;
651 }
652
653 return co_nmt_cfg_reset_state;
654}
655
656static co_nmt_cfg_state_t *
658{
659 assert(cfg);
660
661 // Start the CAN frame receiver for the boot-up message.
662 can_recv_start(cfg->recv, cfg->net, CO_NMT_EC_CANID(cfg->id), 0);
663 // Wait until we receive a boot-up message.
665
666 return NULL;
667}
668
669static co_nmt_cfg_state_t *
671{
672 (void)cfg;
673 (void)msg;
674
675 can_recv_stop(cfg->recv);
676#if LELY_NO_MALLOC
677 return co_nmt_cfg_user_state;
678#else
679 return co_nmt_cfg_store_1f20_state;
680#endif
681}
682
683static co_nmt_cfg_state_t *
685{
686 assert(cfg);
687 (void)tp;
688
689 cfg->ac = CO_SDO_AC_TIMEOUT;
690 return co_nmt_cfg_abort_state;
691}
692
693#if !LELY_NO_MALLOC
694
695static co_nmt_cfg_state_t *
697{
698#if LELY_NO_CO_DCF
699 (void)cfg;
700
701 return co_nmt_cfg_store_1f22_state;
702#else // !LELY_NO_CO_DCF
703 assert(cfg);
704
705 // Check if the DCF is available and the format is plain ASCII.
706 co_sub_t *sub = co_dev_find_sub(cfg->dev, 0x1f20, cfg->id);
707 if (!sub || co_dev_get_val_u8(cfg->dev, 0x1f21, cfg->id) != 0)
708 return co_nmt_cfg_store_1f22_state;
709
710 // Upload the DCF.
711 struct co_sdo_req *req = &cfg->req;
712 co_sdo_req_clear(req);
713 cfg->ac = co_sub_up_ind(sub, req);
714 if (cfg->ac) {
715#if !LELY_NO_STDIO
716 diag(DIAG_ERROR, 0,
717 "SDO abort code %08" PRIX32
718 " on upload request of object 1F20:%02X (Store DCF): %s",
719 cfg->ac, cfg->id, co_sdo_ac2str(cfg->ac));
720#endif
721 return co_nmt_cfg_abort_state;
722 }
723
724 if (!co_sdo_req_first(req) || !co_sdo_req_last(req)) {
725#if !LELY_NO_STDIO
727 "object 1F20:%02X (Store DCF) unusable for configuration request",
728 cfg->id);
729#endif
730 return co_nmt_cfg_store_1f22_state;
731 }
732
733 // Ignore an empty DCF.
734 if (!req->nbyte)
735 return co_nmt_cfg_store_1f22_state;
736
737 // Parse the DCF.
738 assert(!cfg->dev_1f20);
740 req->buf, (const char *)req->buf + req->nbyte, NULL);
741 if (!cfg->dev_1f20) {
742 cfg->ac = CO_SDO_AC_ERROR;
743 return co_nmt_cfg_abort_state;
744 }
745
746 return co_nmt_cfg_store_1f20_on_dn_con(cfg, 0, 0, 0);
747#endif // !LELY_NO_CO_DCF
748}
749
750static co_nmt_cfg_state_t *
752 co_unsigned8_t subidx, co_unsigned32_t ac)
753{
754 assert(cfg);
755 assert(cfg->dev_1f20);
756
757 if (ac) {
758 cfg->ac = ac;
759 return co_nmt_cfg_abort_state;
760 }
761
762 // Find the next (or first) sub-object in the object dictionary.
763 co_obj_t *obj;
764 co_sub_t *sub;
765 if (idx) {
766 obj = co_dev_find_obj(cfg->dev_1f20, idx);
767 assert(obj);
768 sub = co_obj_find_sub(obj, subidx);
769 assert(sub);
770 sub = co_sub_next(sub);
771 } else {
772 obj = co_dev_first_obj(cfg->dev_1f20);
773 if (!obj)
774 return co_nmt_cfg_store_1f22_state;
775 sub = co_obj_first_sub(obj);
776 }
777
778 // Find the next sub-object to be written.
779 co_unsigned16_t type;
780 const void *val;
781 for (;; sub = co_sub_next(sub)) {
782 while (!sub) {
783 obj = co_obj_next(obj);
784 if (!obj)
785 return co_nmt_cfg_store_1f22_state;
786 sub = co_obj_first_sub(obj);
787 }
788 // Skip read-only sub-objects.
790 continue;
791 // Skip file-based sub-objects.
793 continue;
794 // Skip sub-objects containing the default value.
795 type = co_sub_get_type(sub);
796 val = co_sub_get_val(sub);
797#if !LELY_NO_CO_OBJ_DEFAULT
798 const void *def = co_sub_get_def(sub);
799 if (!co_val_cmp(type, def, val))
800 continue;
801#endif
802 break;
803 }
804
805 // Write the value to the slave.
806 idx = co_obj_get_idx(obj);
807 subidx = co_sub_get_subidx(sub);
808 // clang-format off
809 if (co_csdo_dn_val_req(cfg->sdo, idx, subidx, type, val,
810 &co_nmt_cfg_dn_con, cfg) == -1) {
811 // clang-format on
812 cfg->ac = CO_SDO_AC_ERROR;
813 return co_nmt_cfg_abort_state;
814 }
815
816 return NULL;
817}
818
819static void
821{
822 assert(cfg);
823
825 cfg->dev_1f20 = NULL;
826}
827
828static co_nmt_cfg_state_t *
830{
831 assert(cfg);
832
833 co_sub_t *sub = co_dev_find_sub(cfg->dev, 0x1f22, cfg->id);
834 if (!sub)
835 return co_nmt_cfg_user_state;
836
837 // Upload the concise DCF.
838 struct co_sdo_req *req = &cfg->req;
839 co_sdo_req_clear(req);
840 cfg->ac = co_sub_up_ind(sub, req);
841 if (cfg->ac) {
842#if !LELY_NO_STDIO
843 diag(DIAG_ERROR, 0,
844 "SDO abort code %08" PRIX32
845 " on upload request of object 1F22:%02X (Concise DCF): %s",
846 cfg->ac, cfg->id, co_sdo_ac2str(cfg->ac));
847#endif
848 return co_nmt_cfg_abort_state;
849 }
850
851 if (!co_sdo_req_first(req) || !co_sdo_req_last(req)) {
853 "object 1F22:%02X (Concise DCF) unusable for configuration request",
854 cfg->id);
855 return co_nmt_cfg_user_state;
856 }
857
858 // Ignore an empty concise DCF.
859 if (!req->nbyte)
860 return co_nmt_cfg_user_state;
861
862 // Submit download requests for all entries in the concise DCF.
863 const uint_least8_t *begin = req->buf;
864 const uint_least8_t *end = begin + req->nbyte;
865 if (co_csdo_dn_dcf_req(cfg->sdo, begin, end, &co_nmt_cfg_dn_con, cfg)
866 == -1) {
867 cfg->ac = CO_SDO_AC_ERROR;
868 return co_nmt_cfg_abort_state;
869 }
870
871 return NULL;
872}
873
874static co_nmt_cfg_state_t *
876 co_unsigned8_t subidx, co_unsigned32_t ac)
877{
878 assert(cfg);
879 (void)idx;
880 (void)subidx;
881
882 if (ac) {
883 cfg->ac = ac;
884 return co_nmt_cfg_abort_state;
885 }
886
887 return co_nmt_cfg_user_state;
888}
889
890#endif // !LELY_NO_MALLOC
891
892static co_nmt_cfg_state_t *
894{
895 assert(cfg);
896
897 co_nmt_cfg_ind(cfg->nmt, cfg->id, cfg->sdo);
898
899 return NULL;
900}
901
902static co_nmt_cfg_state_t *
903co_nmt_cfg_user_on_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
904{
905 assert(cfg);
906
907 cfg->ac = ac;
908 return co_nmt_cfg_abort_state;
909}
910
911#endif // !LELY_NO_CO_MASTER && !LELY_NO_CO_NMT_CFG
This header file is part of the CANopen library; it contains the device description declarations.
co_obj_t * co_dev_find_obj(const co_dev_t *dev, co_unsigned16_t idx)
Finds an object in the object dictionary of a CANopen device.
Definition dev.c:279
co_sub_t * co_dev_find_sub(const co_dev_t *dev, co_unsigned16_t idx, co_unsigned8_t subidx)
Finds a sub-object in the object dictionary of a CANopen device.
Definition dev.c:290
#define CO_NUM_NODES
The maximum number of nodes in a CANopen network.
Definition dev.h:56
void co_dev_destroy(co_dev_t *dev)
Destroys a CANopen device, including all objects in its object dictionary.
Definition dev.c:163
co_obj_t * co_dev_first_obj(const co_dev_t *dev)
Finds the first object (with the lowest index) in the object dictionary of a CANopen device.
Definition dev.c:297
void co_csdo_set_timeout(co_csdo_t *sdo, int timeout)
Sets the timeout of a Client-SDO.
Definition csdo.c:1142
void co_csdo_set_up_ind(co_csdo_t *sdo, co_csdo_ind_t *ind, void *data)
Sets the indication function used to notify the user of the progress of the current SDO upload reques...
Definition csdo.c:1184
int co_csdo_dn_dcf_req(co_csdo_t *sdo, const uint_least8_t *begin, const uint_least8_t *end, co_csdo_dn_con_t *con, void *data)
Submits a series of download requests to a remote Server-SDO.
Definition csdo.c:1265
void co_csdo_ind_t(const co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx, size_t size, size_t nbyte, void *data)
The type of a CANopen Client-SDO request progress indication function, used to notify the user of the...
Definition csdo.h:79
void co_csdo_set_dn_ind(co_csdo_t *sdo, co_csdo_ind_t *ind, void *data)
Sets the indication function used to notify the user of the progress of the current SDO download requ...
Definition csdo.c:1164
co_csdo_t * co_csdo_create(can_net_t *net, co_dev_t *dev, co_unsigned8_t num)
Creates a new CANopen Client-SDO service.
Definition csdo.c:997
int co_csdo_dn_val_req(co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned16_t type, const void *val, co_csdo_dn_con_t *con, void *data)
Submits a download request to a remote Server-SDO.
Definition csdo.c:1241
void co_csdo_destroy(co_csdo_t *sdo)
Destroys a CANopen Client-SDO service.
Definition csdo.c:1024
This header file is part of the CANopen library; it contains the Electronic Data Sheet (EDS) and Devi...
co_dev_t * co_dev_create_from_dcf_text(const char *begin, const char *end, struct floc *at)
Creates a CANopen device from an EDS or DCF text string.
Definition dcf.c:153
This header file is part of the utilities library; it contains the diagnostic declarations.
@ DIAG_WARNING
A warning.
Definition diag.h:55
@ DIAG_ERROR
An error.
Definition diag.h:57
void diag(enum diag_severity severity, int errc, const char *format,...)
Emits a diagnostic message.
Definition diag.c:171
@ ERRNUM_INVAL
Invalid argument.
Definition errnum.h:132
@ ERRNUM_INPROGRESS
Operation in progress.
Definition errnum.h:128
int get_errc(void)
Returns the last (thread-specific) native error code set by a system call or library function.
Definition errnum.c:932
void set_errc(int errc)
Sets the current (thread-specific) native error code to errc.
Definition errnum.c:944
int errno2c(int errnum)
Transforms a standard C error number to a native error code.
Definition errnum.c:46
void set_errnum(errnum_t errnum)
Sets the current (thread-specific) platform-independent error number to errnum.
Definition errnum.h:424
int co_sdo_req_first(const struct co_sdo_req *req)
Returns 1 if the specified request includes the first segment, and 0 otherwise.
Definition sdo.h:343
void co_sdo_req_fini(struct co_sdo_req *req)
Finalizes a CANopen SDO upload/download request.
Definition sdo.c:121
#define CO_SDO_AC_ERROR
SDO abort code: General error.
Definition sdo.h:150
void co_sdo_req_clear(struct co_sdo_req *req)
Clears a CANopen SDO upload/download request, including its buffer.
Definition sdo.c:129
const char * co_sdo_ac2str(co_unsigned32_t ac)
Returns a string describing an SDO abort code.
Definition sdo.c:57
int co_sdo_req_last(const struct co_sdo_req *req)
Returns 1 if the specified request includes the last segment, and 0 otherwise.
Definition sdo.h:349
void co_sdo_req_init(struct co_sdo_req *req)
Initializes a CANopen SDO upload/download request.
Definition sdo.c:109
#define CO_SDO_AC_TIMEOUT
SDO abort code: SDO protocol timed out.
Definition sdo.h:66
void can_timer_stop(can_timer_t *timer)
Stops a CAN timer and unregisters it with a network interface.
Definition net.c:462
can_timer_t * can_timer_create(void)
Creates a new CAN timer.
Definition net.c:376
void can_timer_set_func(can_timer_t *timer, can_timer_func_t *func, void *data)
Sets the callback function invoked when a CAN timer is triggered.
Definition net.c:422
void can_recv_stop(can_recv_t *recv)
Stops a CAN frame receiver from processing frames and unregisters it with the network interface.
Definition net.c:609
void can_recv_set_func(can_recv_t *recv, can_recv_func_t *func, void *data)
Sets the callback function used to process CAN frames with a receiver.
Definition net.c:578
void can_recv_destroy(can_recv_t *recv)
Destroys a CAN frame receiver.
Definition net.c:558
void can_timer_timeout(can_timer_t *timer, can_net_t *net, int timeout)
Starts a CAN timer and registers it with a network interface.
Definition net.c:478
void can_recv_start(can_recv_t *recv, can_net_t *net, uint_least32_t id, uint_least8_t flags)
Registers a CAN frame receiver with a network interface and starts processing frames.
Definition net.c:587
can_recv_t * can_recv_create(void)
Creates a new CAN frame receiver.
Definition net.c:533
void can_timer_destroy(can_timer_t *timer)
Destroys a CAN timer.
Definition net.c:401
void co_nmt_cfg_ind(co_nmt_t *nmt, co_unsigned8_t id, co_csdo_t *sdo)
The CANopen NMT 'update configuration' indication function, invoked when a configuration request is r...
Definition nmt.c:2375
void co_nmt_cfg_con(co_nmt_t *nmt, co_unsigned8_t id, co_unsigned32_t ac)
The CANopen NMT 'configuration request' confirmation function, invoked when a configuration request c...
Definition nmt.c:2389
#define CO_NMT_EC_CANID(id)
The CAN identifier used for both node guarding and heartbeat monitoring.
Definition nmt.h:76
#define CO_NMT_CS_RESET_NODE
The NMT command specifier 'reset node'.
Definition nmt.h:49
int co_nmt_cs_req(co_nmt_t *nmt, co_unsigned8_t cs, co_unsigned8_t id)
Submits an NMT request to a slave.
Definition nmt.c:1806
#define CO_NMT_CS_RESET_COMM
The NMT command specifier 'reset communication'.
Definition nmt.h:52
static co_nmt_cfg_state_t * co_nmt_cfg_store_1f20_on_dn_con(co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac)
The 'SDO download confirmation' transition function of the 'store object 1F20' state.
Definition nmt_cfg.c:751
static co_nmt_cfg_state_t * co_nmt_cfg_store_1f22_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'store object 1F22' state.
Definition nmt_cfg.c:829
static void co_nmt_cfg_enter(co_nmt_cfg_t *cfg, co_nmt_cfg_state_t *next)
Enters the specified state of a 'configuration request; and invokes the exit and entry functions.
Definition nmt_cfg.c:511
static co_nmt_cfg_state_t * co_nmt_cfg_abort_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'abort' state.
Definition nmt_cfg.c:568
static co_nmt_cfg_state_t * co_nmt_cfg_reset_on_recv(co_nmt_cfg_t *cfg, const struct can_msg *msg)
The 'CAN frame received' transition function of the 'reset' state.
Definition nmt_cfg.c:670
void co_nmt_cfg_destroy(co_nmt_cfg_t *cfg)
Destroys a CANopen NMT 'configuration request'.
Definition nmt_cfg.c:426
static co_nmt_cfg_state_t * co_nmt_cfg_user_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'user-defined configuration' state.
Definition nmt_cfg.c:893
static co_nmt_cfg_state_t * co_nmt_cfg_reset_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'reset' state.
Definition nmt_cfg.c:657
int co_nmt_cfg_cfg_req(co_nmt_cfg_t *cfg, co_unsigned8_t id, int timeout, co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data)
Starts a CANopen NMT 'configuration request'.
Definition nmt_cfg.c:435
static co_nmt_cfg_state_t * co_nmt_cfg_store_1f20_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'store object 1F20' state.
Definition nmt_cfg.c:696
static int co_nmt_cfg_recv(const struct can_msg *msg, void *data)
The CAN receive callback function for a 'configuration request'.
Definition nmt_cfg.c:476
static co_nmt_cfg_state_t * co_nmt_cfg_user_on_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
The 'result received' function of the 'user-defined configuration' state.
Definition nmt_cfg.c:903
static co_nmt_cfg_state_t * co_nmt_cfg_restore_on_dn_con(co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac)
The 'SDO download confirmation' transition function of the 'restore configuration' state.
Definition nmt_cfg.c:629
co_nmt_cfg_t * co_nmt_cfg_create(can_net_t *net, co_dev_t *dev, co_nmt_t *nmt)
Creates a new CANopen NMT 'configuration request'.
Definition nmt_cfg.c:401
static co_nmt_cfg_state_t * co_nmt_cfg_reset_on_time(co_nmt_cfg_t *cfg, const struct timespec *tp)
The 'timeout' transition function of the 'reset' state.
Definition nmt_cfg.c:684
static void co_nmt_cfg_emit_recv(co_nmt_cfg_t *cfg, const struct can_msg *msg)
Invokes the 'CAN frame received' transition function of the current state of a 'configuration request...
Definition nmt_cfg.c:527
int co_nmt_cfg_cfg_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
Indicates the result of the 'update configuration' step of an NMT 'configuration request'.
Definition nmt_cfg.c:466
static co_nmt_cfg_state_t * co_nmt_cfg_restore_on_enter(co_nmt_cfg_t *cfg)
The entry function of the 'restore configuration' state.
Definition nmt_cfg.c:581
static co_nmt_cfg_state_t * co_nmt_cfg_store_1f22_on_dn_con(co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac)
The 'SDO download confirmation' transition function of the 'store object 1F22' state.
Definition nmt_cfg.c:875
static int co_nmt_cfg_timer(const struct timespec *tp, void *data)
The CAN timer callback function for a 'configuration request'.
Definition nmt_cfg.c:488
static void co_nmt_cfg_dn_con(co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac, void *data)
The CANopen SDO download confirmation callback function for a 'configuration request'.
Definition nmt_cfg.c:500
static void co_nmt_cfg_emit_dn_con(co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac)
Invokes the 'SDO download confirmation' transition function of the current state of a 'configuration ...
Definition nmt_cfg.c:547
#define LELY_CO_NMT_CFG_RESET_TIMEOUT
The timeout (in milliseconds) after sending the NMT 'reset communication' or 'reset node' command.
Definition nmt_cfg.c:48
static void co_nmt_cfg_store_1f20_on_leave(co_nmt_cfg_t *cfg)
The exit function of the 'store object 1F20' state.
Definition nmt_cfg.c:820
static void co_nmt_cfg_emit_time(co_nmt_cfg_t *cfg, const struct timespec *tp)
Invokes the 'timeout' transition function of the current state of a 'configuration request'.
Definition nmt_cfg.c:537
static void co_nmt_cfg_emit_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
Invokes the 'result received' transition function of the current state of a 'configuration request'.
Definition nmt_cfg.c:558
This is the internal header file of the NMT 'configuration request' declarations.
This header file is part of the CANopen library; it contains the object dictionary declarations.
co_sub_t * co_obj_first_sub(const co_obj_t *obj)
Finds the first sub-object (with the lowest sub-index) in a CANopen object.
Definition obj.c:249
co_unsigned8_t co_sub_get_subidx(const co_sub_t *sub)
Returns the sub-index of a CANopen sub-object.
Definition obj.c:559
co_unsigned16_t co_obj_get_idx(const co_obj_t *obj)
Returns the index of a CANopen object.
Definition obj.c:164
const void * co_sub_get_def(const co_sub_t *sub)
Returns a pointer to the default value of a CANopen sub-object.
Definition obj.c:683
const void * co_sub_get_val(const co_sub_t *sub)
Returns a pointer to the current value of a CANopen sub-object.
Definition obj.c:712
co_unsigned32_t co_sub_up_ind(const co_sub_t *sub, struct co_sdo_req *req)
Invokes the upload indication function of a CANopen sub-object, registered with co_sub_set_up_ind().
Definition obj.c:1066
co_sub_t * co_obj_find_sub(const co_obj_t *obj, co_unsigned8_t subidx)
Finds a sub-object in a CANopen object.
Definition obj.c:240
unsigned int co_sub_get_flags(const co_sub_t *sub)
Returns the object flags of a CANopen sub-object.
Definition obj.c:818
co_obj_t * co_obj_next(const co_obj_t *obj)
Finds the next object in the object dictionary of a CANopen device.
Definition obj.c:147
#define CO_OBJ_FLAGS_DOWNLOAD_FILE
If a write access is performed for the object, the data is stored in a file.
Definition obj.h:102
co_sub_t * co_sub_next(const co_sub_t *sub)
Finds the next sub-object in a CANopen object.
Definition obj.c:542
#define CO_ACCESS_WRITE
The object can be written.
Definition obj.h:60
unsigned int co_sub_get_access(const co_sub_t *sub)
Returns the access type of a CANopen sub-object.
Definition obj.c:778
co_unsigned16_t co_sub_get_type(const co_sub_t *sub)
Returns the data type of a CANopen sub-object.
Definition obj.c:603
This is the internal header file of the CANopen library.
This header file is part of the C11 and POSIX compatibility library; it includes <stdlib....
A CAN network interface.
Definition net.c:37
A CAN frame receiver.
Definition net.c:86
A CAN timer.
Definition net.c:63
A CANopen Client-SDO.
Definition csdo.c:71
A CANopen device.
Definition dev.h:30
A CANopen NMT 'configuration request' state.
Definition nmt_cfg.c:156
void(* on_leave)(co_nmt_cfg_t *cfg)
A pointer to the function invoked when the current state is left.
Definition nmt_cfg.c:204
co_nmt_cfg_state_t *(* on_enter)(co_nmt_cfg_t *cfg)
A pointer to the function invoked when a new state is entered.
Definition nmt_cfg.c:158
co_nmt_cfg_state_t *(* on_dn_con)(co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac)
A pointer to the transition function invoked when an SDO download request completes.
Definition nmt_cfg.c:201
co_nmt_cfg_state_t *(* on_res)(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
A pointer to the transition function invoked when an NMT'update configuration' step completes.
Definition nmt_cfg.c:189
co_nmt_cfg_state_t *(* on_recv)(co_nmt_cfg_t *cfg, const struct can_msg *msg)
A pointer to the transition function invoked when a CAN frame has been received.
Definition nmt_cfg.c:168
co_nmt_cfg_state_t *(* on_time)(co_nmt_cfg_t *cfg, const struct timespec *tp)
A pointer to the transition function invoked when a timeout occurs.
Definition nmt_cfg.c:178
A CANopen NMT 'configuration request' service.
Definition nmt_cfg.c:56
co_nmt_t * nmt
A pointer to an NMT master service.
Definition nmt_cfg.c:62
co_nmt_cfg_state_t * state
A pointer to the current state.
Definition nmt_cfg.c:64
can_timer_t * timer
A pointer to the CAN timer.
Definition nmt_cfg.c:68
co_unsigned32_t ac
The SDO abort code.
Definition nmt_cfg.c:76
co_dev_t * dev
A pointer to a CANopen device.
Definition nmt_cfg.c:60
co_unsigned32_t assignment
The NMT slave assignment (object 1F81).
Definition nmt_cfg.c:72
co_dev_t * dev_1f20
The object dictionary stored in object 1F20 (Store DCF).
Definition nmt_cfg.c:81
can_net_t * net
A pointer to a CAN network interface.
Definition nmt_cfg.c:58
co_unsigned8_t id
The node-ID.
Definition nmt_cfg.c:70
struct co_sdo_req req
The CANopen SDO upload request used for reading sub-objects.
Definition nmt_cfg.c:78
can_recv_t * recv
A pointer to the CAN frame receiver.
Definition nmt_cfg.c:66
co_csdo_t * sdo
A pointer to the Client-SDO used to access slave objects.
Definition nmt_cfg.c:74
A CANopen NMT master/slave service.
Definition nmt.c:148
A CANopen object.
Definition obj.h:31
A CANopen sub-object.
Definition obj.h:53
A CAN or CAN FD format frame.
Definition msg.h:87
A CANopen SDO upload/download request.
Definition sdo.h:181
const void * buf
A pointer to the next bytes to be uploaded/downloaded.
Definition sdo.h:189
size_t nbyte
The number of bytes available at buf.
Definition sdo.h:191
A time type with nanosecond resolution.
Definition time.h:88
#define CO_DEFTYPE_UNSIGNED32
The data type (and object index) of a 32-bit unsigned integer.
Definition type.h:50
This header file is part of the CANopen library; it contains the CANopen value declarations.
int co_val_cmp(co_unsigned16_t type, const void *v1, const void *v2)
Compares two values of the specified data type.
Definition val.c:369