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c-open: Fix cached status. Fix SDO 7B last packet. Add cb_notify event. #56

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c-open: Fix cached status. Fix SDO 7B last packet. Add cb_notify event. #56

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25f8d13
Add cb_notify event
Mar 6, 2023
d8c5af0
Fix SDO 7B last packet
Mar 6, 2023
a230742
Fix SDO cached status
Mar 6, 2023
5195c48
Remove duplicated defines
Mar 6, 2023
32bb524
Fix segmented download of objects larger than 64 bits
Mar 6, 2023
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,7 @@ set(MAX_RX_PDO "4"
set(MAX_ERRORS "4"
CACHE STRING "max size of error list")

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.

CACHE STRING "timeout in ms for ongoing SDO transfers")

set(CO_THREAD_PRIO "10"
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16 changes: 12 additions & 4 deletions include/co_api.h
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Expand Up @@ -223,11 +223,19 @@ typedef enum co_dtype
/** Access function event */
typedef enum od_event
{
OD_EVENT_READ, /**< Read subindex */
OD_EVENT_WRITE, /**< Write subindex */
OD_EVENT_RESTORE, /**< Restore default value */
OD_EVENT_READ, /**< Read subindex */
OD_EVENT_WRITE, /**< Write subindex */
OD_EVENT_RESTORE, /**< Restore default value */
} od_event_t;

/** Notify event */
typedef enum od_notify_event
{
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.

} od_notify_event_t;

struct co_obj;
struct co_entry;

Expand Down Expand Up @@ -317,7 +325,7 @@ typedef struct co_cfg
uint8_t msef[5]);

/** Notify callback */
void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex);
void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex, od_notify_event_t event, uint32_t value);

/** Function to open dictionary store */
void * (*open) (co_store_t store, co_mode_t mode);
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2 changes: 2 additions & 0 deletions src/co_main.c
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Expand Up @@ -277,6 +277,7 @@ int co_sdo_read (
job->sdo.subindex = subindex;
job->sdo.data = data;
job->sdo.remain = size;
job->sdo.cached = false;
job->callback = co_job_callback;
job->timestamp = os_tick_current();
job->type = CO_JOB_SDO_READ;
Expand Down Expand Up @@ -306,6 +307,7 @@ int co_sdo_write (
job->sdo.subindex = subindex;
job->sdo.data = (uint8_t *)data;
job->sdo.remain = size;
job->sdo.cached = false;
job->callback = co_job_callback;
job->timestamp = os_tick_current();
job->type = CO_JOB_SDO_WRITE;
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2 changes: 1 addition & 1 deletion src/co_main.h
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Expand Up @@ -277,7 +277,7 @@ struct co_net
uint8_t msef[5]);

/** Notify callback */
void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex);
void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex, od_notify_event_t event, uint32_t value);

/** Function to open dictionary store */
void * (*open) (co_store_t store, co_mode_t mode);
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12 changes: 7 additions & 5 deletions src/co_od.c
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Expand Up @@ -36,16 +36,18 @@ static int co_subindex_equals (
return entry->subindex == subindex;
}

static void co_od_notify (
void co_od_notify (
co_net_t * net,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex)
uint8_t subindex,
od_notify_event_t event,
uint32_t value)
{
if (entry->flags & OD_NOTIFY)
{
if (net->cb_notify)
net->cb_notify (net, obj->index, subindex);
net->cb_notify (net, obj->index, subindex, event, value);
}
}

Expand Down Expand Up @@ -221,7 +223,7 @@ uint32_t co_od_set_value (
uint32_t v = value;

result = obj->access (net, OD_EVENT_WRITE, obj, entry, subindex, &v);
co_od_notify (net, obj, entry, subindex);
co_od_notify (net, obj, entry, subindex, OD_NOTIFY_ACCESSED, 0);
return result;
}

Expand Down Expand Up @@ -262,7 +264,7 @@ uint32_t co_od_set_value (
return CO_SDO_ABORT_GENERAL;
}

co_od_notify (net, obj, entry, subindex);
co_od_notify (net, obj, entry, subindex, OD_NOTIFY_VALUE_SET, 0);
return 0;
}

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21 changes: 21 additions & 0 deletions src/co_od.h
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Expand Up @@ -271,6 +271,27 @@ uint32_t co_od_set_value (
uint8_t subindex,
uint64_t value);

/**
* Trigger notification callback
*
* This functions triggers the notification callback of the subindex,
* if any.
*
* @param net network handle
* @param obj object descriptor
* @param entry entry descriptor
* @param subindex subindex
* @param event event type
* @param value optional value
*/
void co_od_notify (
co_net_t * net,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
od_notify_event_t event,
uint32_t value);

#ifdef __cplusplus
}
#endif
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11 changes: 6 additions & 5 deletions src/co_sdo_client.c
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Expand Up @@ -154,15 +154,15 @@ static int co_sdo_tx_download_init_rsp (
memcpy (&msg[1], job->sdo.data, size);

msg[0] = CO_SDO_CCS_DOWNLOAD_SEG_REQ | ((7 - (size & 0x07)) << 1);
if (size < 7)
msg[0] |= CO_SDO_C;

job->sdo.toggle = 0;

job->sdo.data += size;
job->sdo.remain -= size;
job->sdo.total += size;

if (job->sdo.remain == 0)
msg[0] |= CO_SDO_C;

os_channel_send (net->channel, 0x600 + node, msg, sizeof (msg));
}

Expand Down Expand Up @@ -209,13 +209,14 @@ static int co_sdo_tx_download_seg_rsp (
msg[0] = CO_SDO_CCS_DOWNLOAD_SEG_REQ | ((7 - (size & 0x07)) << 1);
if (job->sdo.toggle)
msg[0] |= CO_SDO_TOGGLE;
if (size < 7)
msg[0] |= CO_SDO_C;

job->sdo.data += size;
job->sdo.remain -= size;
job->sdo.total += size;

if (job->sdo.remain == 0)
msg[0] |= CO_SDO_C;

os_channel_send (net->channel, 0x600 + node, msg, sizeof (msg));
}

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