c-open: Fix cached status. Fix SDO 7B last packet. Add cb_notify event. #56
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added 5 commits
March 6, 2023 18:27
Make cb_notify event a public function and add parameters event and value to callback function.
The cached field of the SDO job was never cleared which would cause downloads of large objects to always fail once a small object had been downloaded.
These defines are in co_sdo.h.
The notification callback was not being triggered for downloads of objects larger than 64 bits. Changed default timeout to 200ms for ongoing SDO transfers.
hefloryd
reviewed
Mar 7, 2023
| @@ -106,7 +106,7 @@ set(MAX_RX_PDO "4" | |||
| set(MAX_ERRORS "4" | |||
| CACHE STRING "max size of error list") | |||
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| set(SDO_TIMEOUT "100" | |||
| set(SDO_TIMEOUT "200" | |||
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This changes the default timeout for every user of c-open. Note that this is an option that can be adjusted locally if a particular application has different requirements.
| { | ||
| OD_NOTIFY_ACCESSED, | ||
| OD_NOTIFY_VALUE_SET, | ||
| OD_NOTIFY_SDO_RECEIVED, |
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Are both ACCESSED and VALUE_SET required? They are both called from co_od_set_value and it seems that the only difference is whether the user has specified that the object has an accessor function or not.
SDO_RECEIVED seems to be used when an object larger than 64 bits is being downloaded and will be called for every partial update with the size received so far. So the value in this case is a size. This should be documented. There should also be a test that verifies the functionality.
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Tested-by: Daniel Udd [email protected]
Reviewed-by: Daniel Udd [email protected]