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Allow listing of errors via CANopen SDO #37

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Merged
merged 1 commit into from
Sep 24, 2025
Merged

Allow listing of errors via CANopen SDO #37

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2 changes: 2 additions & 0 deletions include/errormessage.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,8 @@ class ErrorMessage
static void PrintAllErrors();
static void PrintNewErrors();
static ERROR_MESSAGE_NUM GetLastError();
static ERROR_MESSAGE_NUM GetErrorNum(uint8_t index);
static uint32_t GetErrorTime(uint8_t index);
protected:
private:
static void PrintError(uint32_t time, ERROR_MESSAGE_NUM err);
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30 changes: 30 additions & 0 deletions src/cansdo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
*/
#include "cansdo.h"
#include "my_math.h"
#include "errormessage.h"

#define SDO_REQ_ID_BASE 0x600U
#define SDO_REP_ID_BASE 0x580U
Expand All @@ -28,6 +29,9 @@
#define SDO_INDEX_MAP_RX 0x3001
#define SDO_INDEX_MAP_RD 0x3100
#define SDO_INDEX_STRINGS 0x5001
#define SDO_INDEX_ERROR_NUM 0x5002
#define SDO_INDEX_ERROR_TIME 0x5003


#define PRINT_BUF_ENQUEUE(c) printBuffer[(printByteIn++) & (sizeof(printBuffer) - 1)] = c
#define PRINT_BUF_DEQUEUE() printBuffer[(printByteOut++) & (sizeof(printBuffer) - 1)]
Expand Down Expand Up @@ -196,6 +200,32 @@ void CanSdo::ProcessSDO(uint32_t data[2])
{
ReadOrDeleteCanMap(sdo);
}
else if (sdo->index == SDO_INDEX_ERROR_NUM)
{
if (sdo->cmd == SDO_READ)
{
sdo->data = ErrorMessage::GetErrorNum(sdo->subIndex);
sdo->cmd = SDO_READ_REPLY;
}
else
{
sdo->cmd = SDO_ABORT;
sdo->data = SDO_ERR_INVIDX;
}
}
else if (sdo->index == SDO_INDEX_ERROR_TIME)
{
if (sdo->cmd == SDO_READ)
{
sdo->data = ErrorMessage::GetErrorTime(sdo->subIndex);
sdo->cmd = SDO_READ_REPLY;
}
else
{
sdo->cmd = SDO_ABORT;
sdo->data = SDO_ERR_INVIDX;
}
}
else
{
if (!ProcessSpecialSDOObjects(sdo))
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21 changes: 21 additions & 0 deletions src/errormessage.cpp
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Expand Up @@ -106,6 +106,27 @@ ERROR_MESSAGE_NUM ErrorMessage::GetLastError()
return lastError;
}

ERROR_MESSAGE_NUM ErrorMessage::GetErrorNum(uint8_t index)
{
if (index < ERROR_BUF_SIZE)
{
if (errorBuffer[index].time > 0)
return errorBuffer[index].msg;
}

return ERROR_NONE;
}

uint32_t ErrorMessage::GetErrorTime(uint8_t index)
{
if (index < ERROR_BUF_SIZE)
{
return errorBuffer[index].time;
}

return 0;
}

/** Print all errors currently in error memory */
void ErrorMessage::PrintAllErrors()
{
Expand Down