Merge branch 'martinwag-neuberger-master'

CANopen.h

@@ -83,13 +83,18 @@ extern "C" {
     #include "CO_SYNC.h"
     #include "CO_PDO.h"
     #include "CO_HBconsumer.h"
-#if CO_NO_SDO_CLIENT == 1
+#if CO_NO_SDO_CLIENT != 0
     #include "CO_SDOmaster.h"
 #endif
 #if CO_NO_TRACE > 0
     #include "CO_trace.h"
 #endif
-
+#if CO_NO_LSS_SERVER == 1
+    #include "CO_LSSslave.h"
+#endif
+#if CO_NO_LSS_CLIENT == 1
+    #include "CO_LSSmaster.h"
+#endif
 
 /**
  * Default CANopen identifiers.
@@ -114,7 +119,9 @@ typedef enum{
      CO_CAN_ID_RPDO_4            = 0x500,   /**< 0x500, Default RPDO5 (+nodeID) */
      CO_CAN_ID_TSDO              = 0x580,   /**< 0x580, SDO response from server (+nodeID) */
      CO_CAN_ID_RSDO              = 0x600,   /**< 0x600, SDO request from client (+nodeID) */
-     CO_CAN_ID_HEARTBEAT         = 0x700    /**< 0x700, Heartbeat message */
+     CO_CAN_ID_HEARTBEAT         = 0x700,   /**< 0x700, Heartbeat message */
+     CO_CAN_ID_LSS_CLI           = 0x7E4,   /**< 0x7E4, LSS response from server to client */
+     CO_CAN_ID_LSS_SRV           = 0x7E5    /**< 0x7E5, LSS request from client to server */
 }CO_Default_CAN_ID_t;
 
 
@@ -131,8 +138,14 @@ typedef struct{
     CO_RPDO_t          *RPDO[CO_NO_RPDO];/**< RPDO objects */
     CO_TPDO_t          *TPDO[CO_NO_TPDO];/**< TPDO objects */
     CO_HBconsumer_t    *HBcons;         /**<  Heartbeat consumer object*/
-#if CO_NO_SDO_CLIENT == 1
-    CO_SDOclient_t     *SDOclient;      /**< SDO client object */
+#if CO_NO_LSS_SERVER == 1
+    CO_LSSslave_t      *LSSslave;       /**< LSS server/slave object */
+#endif
+#if CO_NO_LSS_CLIENT == 1
+    CO_LSSmaster_t     *LSSmaster;      /**< LSS master/client object */
+#endif
+#if CO_NO_SDO_CLIENT != 0
+    CO_SDOclient_t     *SDOclient[CO_NO_SDO_CLIENT]; /**< SDO client object */
 #endif
 #if CO_NO_TRACE > 0
     CO_trace_t         *trace[CO_NO_TRACE]; /**< Trace object for monitoring variables */
@@ -158,18 +171,72 @@ typedef struct{
  * @return other: same as CO_CANsend().
  */
 #if CO_NO_NMT_MASTER == 1
-    uint8_t CO_sendNMTcommand(CO_t *CO, uint8_t command, uint8_t nodeID);
+    CO_ReturnError_t CO_sendNMTcommand(CO_t *CO, uint8_t command, uint8_t nodeID);
 #endif
 
 
+#if CO_NO_LSS_SERVER == 1
+/**
+ * Allocate and initialize memory for CANopen object
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
+ * CO_ERROR_OUT_OF_MEMORY
+ */
+CO_ReturnError_t CO_new(void);
+
+
+/**
+ * Initialize CAN driver
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @param CANbaseAddress Address of the CAN module, passed to CO_CANmodule_init().
+ * @param bitRate CAN bit rate.
+ * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
+ * CO_ERROR_ILLEGAL_BAUDRATE, CO_ERROR_OUT_OF_MEMORY
+ */
+CO_ReturnError_t CO_CANinit(
+        int32_t                 CANbaseAddress,
+        uint16_t                bitRate);
+
+
+/**
+ * Initialize CANopen LSS slave
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @param nodeId Node ID of the CANopen device (1 ... 127) or CO_LSS_NODE_ID_ASSIGNMENT
+ * @param bitRate CAN bit rate.
+ * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
+ */
+CO_ReturnError_t CO_LSSinit(
+        uint8_t                 nodeId,
+        uint16_t                bitRate);
+
+
+/**
+ * Initialize CANopen stack.
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @param nodeId Node ID of the CANopen device (1 ... 127).
+ * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT
+ */
+CO_ReturnError_t CO_CANopenInit(
+        uint8_t                 nodeId);
+
+
+#else /* CO_NO_LSS_SERVER == 1 */
 /**
  * Initialize CANopen stack.
  *
  * Function must be called in the communication reset section.
  *
  * @param CANbaseAddress Address of the CAN module, passed to CO_CANmodule_init().
  * @param nodeId Node ID of the CANopen device (1 ... 127).
- * @param nodeId CAN bit rate.
+ * @param bitRate CAN bit rate.
  *
  * @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
  * CO_ERROR_OUT_OF_MEMORY, CO_ERROR_ILLEGAL_BAUDRATE
@@ -179,6 +246,8 @@ CO_ReturnError_t CO_init(
         uint8_t                 nodeId,
         uint16_t                bitRate);
 
+#endif /* CO_NO_LSS_SERVER == 1 */
+
 
 /**
  * Delete CANopen object and free memory. Must be called at program exit.

Doxyfile

@@ -341,7 +341,7 @@ IDL_PROPERTY_SUPPORT = YES
 # all members of a group must be documented explicitly.
 # The default value is: NO.
 
-DISTRIBUTE_GROUP_DOC = NO
+DISTRIBUTE_GROUP_DOC = YES
 
 # Set the SUBGROUPING tag to YES to allow class member groups of the same type
 # (for instance a group of public functions) to be put as a subgroup of that

Makefile

@@ -26,6 +26,8 @@ SOURCES =       $(STACKDRV_SRC)/CO_driver.c     \
                 $(STACK_SRC)/CO_PDO.c           \
                 $(STACK_SRC)/CO_HBconsumer.c    \
                 $(STACK_SRC)/CO_SDOmaster.c     \
+                $(STACK_SRC)/CO_LSSmaster.c     \
+                $(STACK_SRC)/CO_LSSslave.c      \
                 $(STACK_SRC)/CO_trace.c         \
                 $(CANOPEN_SRC)/CANopen.c        \
                 $(APPL_SRC)/CO_OD.c             \

README.md

@@ -30,6 +30,7 @@ CANopen Features
  - Emergency message.
  - Sync producer/consumer.
  - Non-volatile storage.
+ - LSS master and slave, LSS fastscan
 
 
 Usage of the CANopenNode
@@ -107,6 +108,18 @@ Flowchart of a typical CANopenNode implementation
              |   from any node in the|
              |   CANopen network.    |
               -----------------------
+              
+              -----------------------
+             | LSS client (optional) |
+             |                       |
+             | - Can be called by    |
+             |   external application|
+             | - Can do LSS requests |
+             | - Can request node    |
+             |   enumeration         |
+              -----------------------
+              
+              
 ~~~
 
 
@@ -118,6 +131,9 @@ File structure
    - **CO_Emergency.h/.c** - CANopen Emergency object.
    - **CO_NMT_Heartbeat.h/.c** - CANopen Network slave and Heartbeat producer object.
    - **CO_HBconsumer.h/.c** - CANopen Heartbeat consumer object.
+   - **CO_LSS.h** - CANopen LSS common. This is common to LSS master and slave.
+   - **CO_LSSmaster.h/.c** - CANopen LSS master functionality.
+   - **CO_LSSslave.h/.c** - CANopen LSS slave functionality.
    - **CO_SYNC.h/.c** - CANopen SYNC producer and consumer object.
    - **CO_SDO.h/.c** - CANopen SDO server object. It serves data from Object dictionary.
    - **CO_PDO.h/.c** - CANopen PDO object. It configures, receives and transmits CANopen process data.

example/CO_OD.h

@@ -102,7 +102,8 @@
    #define CO_NO_TPDO                     4   //Associated objects: 1800, 1801, 1802, 1803, 1A00, 1A01, 1A02, 1A03
    #define CO_NO_NMT_MASTER               0   
    #define CO_NO_TRACE                    0   
-
+   #define CO_NO_LSS_SERVER               0
+   #define CO_NO_LSS_CLIENT               0
 
 /*******************************************************************************
    OBJECT DICTIONARY

stack/CO_Emergency.c

@@ -197,7 +197,8 @@ void CO_EM_process(
         CO_EMpr_t              *emPr,
         bool_t                  NMTisPreOrOperational,
         uint16_t                timeDifference_100us,
-        uint16_t                emInhTime)
+        uint16_t                emInhTime,
+        uint16_t               *timerNext_ms)
 {
 
     CO_EM_t *em = emPr->em;
@@ -240,48 +241,58 @@ void CO_EM_process(
     /* send Emergency message. */
     if(     NMTisPreOrOperational &&
             !emPr->CANtxBuff->bufferFull &&
-            emPr->inhibitEmTimer >= emInhTime &&
             (em->bufReadPtr != em->bufWritePtr || em->bufFull))
     {
         uint32_t preDEF;    /* preDefinedErrorField */
+        uint16_t diff;
 
-        /* add error register */
-        em->bufReadPtr[2] = *emPr->errorRegister;
+        if (emPr->inhibitEmTimer >= emInhTime) {
+            /* inhibit time elapsed, send message */
 
-        /* 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;
+            /* add error register */
+            em->bufReadPtr[2] = *emPr->errorRegister;
 
-        /* Update read buffer pointer and reset inhibit timer */
-        if(em->bufReadPtr == em->bufEnd){
-            em->bufReadPtr = em->buf;
-        }
-        emPr->inhibitEmTimer = 0U;
+            /* 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;
 
-        /* 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;
-            CO_errorReset(em, CO_EM_EMERGENCY_BUFFER_FULL, 0);
-        }
+            /* 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;
+                CO_errorReset(em, CO_EM_EMERGENCY_BUFFER_FULL, 0);
+            }
 
-        /* write to 'pre-defined error field' (object dictionary, index 0x1003) */
-        if(emPr->preDefErr){
-            uint8_t i;
+            /* 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;
+                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);
         }
 
-        /* send CAN message */
-        CO_CANsend(emPr->CANdev, emPr->CANtxBuff);
+        /* check again after inhibit time elapsed */
+        diff = (emInhTime + 9) / 10; /* time difference in ms, always round up */
+        if (timerNext_ms != NULL && *timerNext_ms > diff) {
+            *timerNext_ms = diff;
+        }
     }
 
     return;

stack/CO_Emergency.h

@@ -418,12 +418,14 @@ void CO_EM_initCallback(
  * @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
  * @param timeDifference_100us Time difference from previous function call in [100 * microseconds].
  * @param emInhTime _Inhibit time EMCY_ (object dictionary, index 0x1015).
+ * @param timerNext_ms Return value - info to OS - see CO_process().
  */
 void CO_EM_process(
         CO_EMpr_t              *emPr,
         bool_t                  NMTisPreOrOperational,
         uint16_t                timeDifference_100us,
-        uint16_t                emInhTime);
+        uint16_t                emInhTime,
+        uint16_t               *timerNext_ms);
 
 
 #endif