CANopen.c

/*
 * Main CANopen stack file. It combines Object dictionary (CO_OD) and all other
 * CANopen source files. Configuration information are read from CO_OD.h file.
 *
 * @file        CANopen.c
 * @ingroup     CO_CANopen
 * @author      Janez Paternoster
 * @copyright   2010 - 2015 Janez Paternoster
 *
 * This file is part of CANopenNode, an opensource CANopen Stack.
 * Project home page is <http://canopennode.sourceforge.net>.
 * For more information on CANopen see <http://www.can-cia.org/>.
 *
 * CANopenNode is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 2.1 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 */


#include "CANopen.h"


/* If defined, global variables will be used, otherwise CANopen objects will
   be generated with calloc(). */
/* #define CO_USE_GLOBALS */


#ifndef CO_USE_GLOBALS
    #include <stdlib.h> /*  for malloc, free */
    static uint32_t CO_memoryUsed = 0; /* informative */
#endif


/* Global variables ***********************************************************/
    extern const CO_OD_entry_t CO_OD[CO_OD_NoOfElements];  /* Object Dictionary array */
    static CO_t COO;
    CO_t *CO = NULL;

#if defined(__dsPIC33F__) || defined(__PIC24H__) \
    || defined(__dsPIC33E__) || defined(__PIC24E__)
    /* CAN message buffer for one TX and seven RX messages. */
    #define CO_CANmsgBuffSize   8
#ifdef __HAS_EDS__
    __eds__ CO_CANrxMsg_t CO_CANmsg[CO_CANmsgBuffSize] __attribute__((eds,space(dma),aligned(128)));
#else
    CO_CANrxMsg_t CO_CANmsg[CO_CANmsgBuffSize] __attribute__((space(dma),aligned(128)));
#endif
#endif

    static CO_CANrx_t          *CO_CANmodule_rxArray0;
    static CO_CANtx_t          *CO_CANmodule_txArray0;
    static CO_OD_extension_t   *CO_SDO_ODExtensions;
    static CO_HBconsNode_t     *CO_HBcons_monitoredNodes;


/* Verify features from CO_OD *************************************************/
    /* generate error, if features are not corectly configured for this project */
    #if        CO_NO_NMT_MASTER                           >  1     \
            || CO_NO_SYNC                                 != 1     \
            || CO_NO_EMERGENCY                            != 1     \
            || CO_NO_SDO_SERVER                           != 1     \
            || (CO_NO_SDO_CLIENT != 0 && CO_NO_SDO_CLIENT != 1)    \
            || (CO_NO_RPDO < 1 || CO_NO_RPDO > 0x200)              \
            || (CO_NO_TPDO < 1 || CO_NO_TPDO > 0x200)              \
            || ODL_consumerHeartbeatTime_arrayLength      == 0     \
            || ODL_errorStatusBits_stringLength           < 10
        #error Features from CO_OD.h file are not corectly configured for this project!
    #endif


/* Indexes for CANopenNode message objects ************************************/
    #ifdef ODL_consumerHeartbeatTime_arrayLength
        #define CO_NO_HB_CONS   ODL_consumerHeartbeatTime_arrayLength
    #else
        #define CO_NO_HB_CONS   0
    #endif

    #define CO_RXCAN_NMT       0                                      /*  index for NMT message */
    #define CO_RXCAN_SYNC      1                                      /*  index for SYNC message */
    #define CO_RXCAN_RPDO     (CO_RXCAN_SYNC+CO_NO_SYNC)              /*  start index for RPDO messages */
    #define CO_RXCAN_SDO_SRV  (CO_RXCAN_RPDO+CO_NO_RPDO)              /*  start index for SDO server message (request) */
    #define CO_RXCAN_SDO_CLI  (CO_RXCAN_SDO_SRV+CO_NO_SDO_SERVER)     /*  start index for SDO client message (response) */
    #define CO_RXCAN_CONS_HB  (CO_RXCAN_SDO_CLI+CO_NO_SDO_CLIENT)     /*  start index for Heartbeat Consumer messages */
    /* total number of received CAN messages */
    #define CO_RXCAN_NO_MSGS (1+CO_NO_SYNC+CO_NO_RPDO+CO_NO_SDO_SERVER+CO_NO_SDO_CLIENT+CO_NO_HB_CONS)

    #define CO_TXCAN_NMT       0                                      /*  index for NMT master message */
    #define CO_TXCAN_SYNC      CO_TXCAN_NMT+CO_NO_NMT_MASTER          /*  index for SYNC message */
    #define CO_TXCAN_EMERG    (CO_TXCAN_SYNC+CO_NO_SYNC)              /*  index for Emergency message */
    #define CO_TXCAN_TPDO     (CO_TXCAN_EMERG+CO_NO_EMERGENCY)        /*  start index for TPDO messages */
    #define CO_TXCAN_SDO_SRV  (CO_TXCAN_TPDO+CO_NO_TPDO)              /*  start index for SDO server message (response) */
    #define CO_TXCAN_SDO_CLI  (CO_TXCAN_SDO_SRV+CO_NO_SDO_SERVER)     /*  start index for SDO client message (request) */
    #define CO_TXCAN_HB       (CO_TXCAN_SDO_CLI+CO_NO_SDO_CLIENT)     /*  index for Heartbeat message */
    /* total number of transmitted CAN messages */
    #define CO_TXCAN_NO_MSGS (CO_NO_NMT_MASTER+CO_NO_SYNC+CO_NO_EMERGENCY+CO_NO_TPDO+CO_NO_SDO_SERVER+CO_NO_SDO_CLIENT+1)


#ifdef CO_USE_GLOBALS
    static CO_CANmodule_t       COO_CANmodule;
    static CO_CANrx_t           COO_CANmodule_rxArray0[CO_RXCAN_NO_MSGS];
    static CO_CANtx_t           COO_CANmodule_txArray0[CO_TXCAN_NO_MSGS];
    static CO_SDO_t             COO_SDO;
    static CO_OD_extension_t    COO_SDO_ODExtensions[CO_OD_NoOfElements];
    static CO_EM_t              COO_EM;
    static CO_EMpr_t            COO_EMpr;
    static CO_NMT_t             COO_NMT;
    static CO_SYNC_t            COO_SYNC;
    static CO_RPDO_t            COO_RPDO[CO_NO_RPDO];
    static CO_TPDO_t            COO_TPDO[CO_NO_TPDO];
    static CO_HBconsumer_t      COO_HBcons;
    static CO_HBconsNode_t      COO_HBcons_monitoredNodes[CO_NO_HB_CONS];
#if CO_NO_SDO_CLIENT == 1
    static CO_SDOclient_t       COO_SDOclient;
#endif
#endif


/* Helper function for NMT master *********************************************/
#if CO_NO_NMT_MASTER == 1
    CO_CANtx_t *NMTM_txBuff = 0;

    uint8_t CO_sendNMTcommand(CO_t *CO, uint8_t command, uint8_t nodeID){
        if(NMTM_txBuff == 0){
            /* error, CO_CANtxBufferInit() was not called for this buffer. */
            return CO_ERROR_TX_UNCONFIGURED; /* -11 */
        }
        NMTM_txBuff->data[0] = command;
        NMTM_txBuff->data[1] = nodeID;
        return CO_CANsend(CO->CANmodule[0], NMTM_txBuff); /* 0 = success */
    }
#endif


/******************************************************************************/
CO_ReturnError_t CO_init(
        int32_t                 CANbaseAddress,
        uint8_t                 nodeId,
        uint16_t                bitRate)
{

    int16_t i;
    CO_ReturnError_t err;
#ifndef CO_USE_GLOBALS
    uint16_t errCnt;
#endif

    /* Verify parameters from CO_OD */
    if(   sizeof(OD_TPDOCommunicationParameter_t) != sizeof(CO_TPDOCommPar_t)
       || sizeof(OD_TPDOMappingParameter_t) != sizeof(CO_TPDOMapPar_t)
       || sizeof(OD_RPDOCommunicationParameter_t) != sizeof(CO_RPDOCommPar_t)
       || sizeof(OD_RPDOMappingParameter_t) != sizeof(CO_RPDOMapPar_t))
    {
        return CO_ERROR_PARAMETERS;
    }

    #if CO_NO_SDO_CLIENT == 1
    if(sizeof(OD_SDOClientParameter_t) != sizeof(CO_SDOclientPar_t)){
        return CO_ERROR_PARAMETERS;
    }
    #endif


    /* Initialize CANopen object */
#ifdef CO_USE_GLOBALS
    CO = &COO;

    CO->CANmodule[0]                    = &COO_CANmodule[0];
    CO_CANmodule_rxArray0               = &COO_CANmodule_rxArray0[0];
    CO_CANmodule_txArray0               = &COO_CANmodule_txArray0[0];
    CO->SDO                             = &COO_SDO;
    CO_SDO_ODExtensions                 = &COO_SDO_ODExtensions[0];
    CO->em                              = &COO_EM;
    CO->emPr                            = &COO_EMpr;
    CO->NMT                             = &COO_NMT;
    CO->SYNC                            = &COO_SYNC;
    for(i=0; i<CO_NO_RPDO; i++)
        CO->RPDO[i]                     = &COO_RPDO[i];
    for(i=0; i<CO_NO_TPDO; i++)
        CO->TPDO[i]                     = &COO_TPDO[i];
    CO->HBcons                          = &COO_HBcons;
    CO_HBcons_monitoredNodes            = &COO_HBcons_monitoredNodes[0];
  #if CO_NO_SDO_CLIENT == 1
    CO->SDOclient                       = &COO_SDOclient;
  #endif

#else
    if(CO == NULL){    /* Use malloc only once */
        CO = &COO;
        CO->CANmodule[0]                    = (CO_CANmodule_t *)    calloc(1, sizeof(CO_CANmodule_t));
        CO_CANmodule_rxArray0               = (CO_CANrx_t *)        calloc(CO_RXCAN_NO_MSGS, sizeof(CO_CANrx_t));
        CO_CANmodule_txArray0               = (CO_CANtx_t *)        calloc(CO_TXCAN_NO_MSGS, sizeof(CO_CANtx_t));
        CO->SDO                             = (CO_SDO_t *)          calloc(1, sizeof(CO_SDO_t));
        CO_SDO_ODExtensions                 = (CO_OD_extension_t*)  calloc(CO_OD_NoOfElements, sizeof(CO_OD_extension_t));
        CO->em                              = (CO_EM_t *)           calloc(1, sizeof(CO_EM_t));
        CO->emPr                            = (CO_EMpr_t *)         calloc(1, sizeof(CO_EMpr_t));
        CO->NMT                             = (CO_NMT_t *)          calloc(1, sizeof(CO_NMT_t));
        CO->SYNC                            = (CO_SYNC_t *)         calloc(1, sizeof(CO_SYNC_t));
        for(i=0; i<CO_NO_RPDO; i++){
            CO->RPDO[i]                     = (CO_RPDO_t *)         calloc(1, sizeof(CO_RPDO_t));
        }
        for(i=0; i<CO_NO_TPDO; i++){
            CO->TPDO[i]                     = (CO_TPDO_t *)         calloc(1, sizeof(CO_TPDO_t));
        }
        CO->HBcons                          = (CO_HBconsumer_t *)   calloc(1, sizeof(CO_HBconsumer_t));
        CO_HBcons_monitoredNodes            = (CO_HBconsNode_t *)   calloc(CO_NO_HB_CONS, sizeof(CO_HBconsNode_t));
      #if CO_NO_SDO_CLIENT == 1
        CO->SDOclient                       = (CO_SDOclient_t *)    calloc(1, sizeof(CO_SDOclient_t));
      #endif
    }

    CO_memoryUsed = sizeof(CO_CANmodule_t)
                  + sizeof(CO_CANrx_t) * CO_RXCAN_NO_MSGS
                  + sizeof(CO_CANtx_t) * CO_TXCAN_NO_MSGS
                  + sizeof(CO_SDO_t)
                  + sizeof(CO_OD_extension_t) * CO_OD_NoOfElements
                  + sizeof(CO_EM_t)
                  + sizeof(CO_EMpr_t)
                  + sizeof(CO_NMT_t)
                  + sizeof(CO_SYNC_t)
                  + sizeof(CO_RPDO_t) * CO_NO_RPDO
                  + sizeof(CO_TPDO_t) * CO_NO_TPDO
                  + sizeof(CO_HBconsumer_t)
                  + sizeof(CO_HBconsNode_t) * CO_NO_HB_CONS
  #if CO_NO_SDO_CLIENT == 1
                  + sizeof(CO_SDOclient_t)
  #endif
                  + 0;

    errCnt = 0;
    if(CO->CANmodule[0]                 == NULL) errCnt++;
    if(CO_CANmodule_rxArray0            == NULL) errCnt++;
    if(CO_CANmodule_txArray0            == NULL) errCnt++;
    if(CO->SDO                          == NULL) errCnt++;
    if(CO_SDO_ODExtensions              == NULL) errCnt++;
    if(CO->em                           == NULL) errCnt++;
    if(CO->emPr                         == NULL) errCnt++;
    if(CO->NMT                          == NULL) errCnt++;
    if(CO->SYNC                         == NULL) errCnt++;
    for(i=0; i<CO_NO_RPDO; i++){
        if(CO->RPDO[i]                  == NULL) errCnt++;
    }
    for(i=0; i<CO_NO_TPDO; i++){
        if(CO->TPDO[i]                  == NULL) errCnt++;
    }
    if(CO->HBcons                       == NULL) errCnt++;
    if(CO_HBcons_monitoredNodes         == NULL) errCnt++;
  #if CO_NO_SDO_CLIENT == 1
    if(CO->SDOclient                    == NULL) errCnt++;
  #endif

    if(errCnt != 0) return CO_ERROR_OUT_OF_MEMORY;
#endif


    CO_CANsetConfigurationMode(CANbaseAddress);

    /* Verify CANopen Node-ID */
    if(nodeId<1 || nodeId>127) nodeId = 0x10;


    err = CO_CANmodule_init(
            CO->CANmodule[0],
            CANbaseAddress,
#if defined(__dsPIC33F__) || defined(__PIC24H__) \
    || defined(__dsPIC33E__) || defined(__PIC24E__)
            ADDR_DMA0,
            ADDR_DMA1,
           &CO_CANmsg[0],
            CO_CANmsgBuffSize,
            __builtin_dmaoffset(&CO_CANmsg[0]),
#if defined(__HAS_EDS__)
            __builtin_dmapage(&CO_CANmsg[0]),
#endif
#endif
            CO_CANmodule_rxArray0,
            CO_RXCAN_NO_MSGS,
            CO_CANmodule_txArray0,
            CO_TXCAN_NO_MSGS,
            bitRate);

    if(err){CO_delete(CANbaseAddress); return err;}


    err = CO_SDO_init(
            CO->SDO,
            CO_CAN_ID_RSDO + nodeId,
            CO_CAN_ID_TSDO + nodeId,
            OD_H1200_SDO_SERVER_PARAM,
            0,
           &CO_OD[0],
            CO_OD_NoOfElements,
            CO_SDO_ODExtensions,
            nodeId,
            CO->CANmodule[0],
            CO_RXCAN_SDO_SRV,
            CO->CANmodule[0],
            CO_TXCAN_SDO_SRV);

    if(err){CO_delete(CANbaseAddress); return err;}


    err = CO_EM_init(
            CO->em,
            CO->emPr,
            CO->SDO,
           &OD_errorStatusBits[0],
            ODL_errorStatusBits_stringLength,
           &OD_errorRegister,
           &OD_preDefinedErrorField[0],
            ODL_preDefinedErrorField_arrayLength,
            CO->CANmodule[0],
            CO_TXCAN_EMERG,
            CO_CAN_ID_EMERGENCY + nodeId);

    if(err){CO_delete(CANbaseAddress); return err;}


    err = CO_NMT_init(
            CO->NMT,
            CO->emPr,
            nodeId,
            500,
            CO->CANmodule[0],
            CO_RXCAN_NMT,
            CO_CAN_ID_NMT_SERVICE,
            CO->CANmodule[0],
            CO_TXCAN_HB,
            CO_CAN_ID_HEARTBEAT + nodeId);

    if(err){CO_delete(CANbaseAddress); return err;}


#if CO_NO_NMT_MASTER == 1
    NMTM_txBuff = CO_CANtxBufferInit(/* return pointer to 8-byte CAN data buffer, which should be populated */
            CO->CANmodule[0], /* pointer to CAN module used for sending this message */
            CO_TXCAN_NMT,     /* index of specific buffer inside CAN module */
            0x0000,           /* CAN identifier */
            0,                /* rtr */
            2,                /* number of data bytes */
            0);               /* synchronous message flag bit */
#endif


    err = CO_SYNC_init(
            CO->SYNC,
            CO->em,
            CO->SDO,
           &CO->NMT->operatingState,
            OD_COB_ID_SYNCMessage,
            OD_communicationCyclePeriod,
            OD_synchronousCounterOverflowValue,
            CO->CANmodule[0],
            CO_RXCAN_SYNC,
            CO->CANmodule[0],
            CO_TXCAN_SYNC);

    if(err){CO_delete(CANbaseAddress); return err;}


    for(i=0; i<CO_NO_RPDO; i++){
        CO_CANmodule_t *CANdevRx = CO->CANmodule[0];
        uint16_t CANdevRxIdx = CO_RXCAN_RPDO + i;

        err = CO_RPDO_init(
                CO->RPDO[i],
                CO->em,
                CO->SDO,
               &CO->NMT->operatingState,
                nodeId,
                ((i<4) ? (CO_CAN_ID_RPDO_1+i*0x100) : 0),
                0,
                (CO_RPDOCommPar_t*) &OD_RPDOCommunicationParameter[i],
                (CO_RPDOMapPar_t*) &OD_RPDOMappingParameter[i],
                OD_H1400_RXPDO_1_PARAM+i,
                OD_H1600_RXPDO_1_MAPPING+i,
                CANdevRx,
                CANdevRxIdx);

        if(err){CO_delete(CANbaseAddress); return err;}
    }


    for(i=0; i<CO_NO_TPDO; i++){
        err = CO_TPDO_init(
                CO->TPDO[i],
                CO->em,
                CO->SDO,
               &CO->NMT->operatingState,
                nodeId,
                ((i<4) ? (CO_CAN_ID_TPDO_1+i*0x100) : 0),
                0,
                (CO_TPDOCommPar_t*) &OD_TPDOCommunicationParameter[i],
                (CO_TPDOMapPar_t*) &OD_TPDOMappingParameter[i],
                OD_H1800_TXPDO_1_PARAM+i,
                OD_H1A00_TXPDO_1_MAPPING+i,
                CO->CANmodule[0],
                CO_TXCAN_TPDO+i);

        if(err){CO_delete(CANbaseAddress); return err;}
    }


    err = CO_HBconsumer_init(
            CO->HBcons,
            CO->em,
            CO->SDO,
           &OD_consumerHeartbeatTime[0],
            CO_HBcons_monitoredNodes,
            CO_NO_HB_CONS,
            CO->CANmodule[0],
            CO_RXCAN_CONS_HB);

    if(err){CO_delete(CANbaseAddress); return err;}


#if CO_NO_SDO_CLIENT == 1
    err = CO_SDOclient_init(
            CO->SDOclient,
            CO->SDO,
            (CO_SDOclientPar_t*) &OD_SDOClientParameter[0],
            CO->CANmodule[0],
            CO_RXCAN_SDO_CLI,
            CO->CANmodule[0],
            CO_TXCAN_SDO_CLI);

    if(err){CO_delete(CANbaseAddress); return err;}
#endif


    return CO_ERROR_NO;
}


/******************************************************************************/
void CO_delete(int32_t CANbaseAddress){
#ifndef CO_USE_GLOBALS
    int16_t i;
#endif

    CO_CANsetConfigurationMode(CANbaseAddress);
    CO_CANmodule_disable(CO->CANmodule[0]);

#ifndef CO_USE_GLOBALS
  #if CO_NO_SDO_CLIENT == 1
    free(CO->SDOclient);
  #endif
    free(CO_HBcons_monitoredNodes);
    free(CO->HBcons);
    for(i=0; i<CO_NO_RPDO; i++){
        free(CO->RPDO[i]);
    }
    for(i=0; i<CO_NO_TPDO; i++){
        free(CO->TPDO[i]);
    }
    free(CO->SYNC);
    free(CO->NMT);
    free(CO->emPr);
    free(CO->em);
    free(CO_SDO_ODExtensions);
    free(CO->SDO);
    free(CO_CANmodule_txArray0);
    free(CO_CANmodule_rxArray0);
    free(CO->CANmodule[0]);
    CO = NULL;
#endif
}


/******************************************************************************/
CO_NMT_reset_cmd_t CO_process(
        CO_t                   *CO,
        uint16_t                timeDifference_ms,
        uint16_t               *timerNext_ms)
{
    bool_t NMTisPreOrOperational = false;
    CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
    static uint16_t ms50 = 0;

    if(CO->NMT->operatingState == CO_NMT_PRE_OPERATIONAL || CO->NMT->operatingState == CO_NMT_OPERATIONAL)
        NMTisPreOrOperational = true;

    ms50 += timeDifference_ms;
    if(ms50 >= 50){
        ms50 -= 50;
        CO_NMT_blinkingProcess50ms(CO->NMT);
    }
    if(timerNext_ms != NULL){
        if(*timerNext_ms > 50){
            *timerNext_ms = 50;
        }
    }


    CO_SDO_process(
            CO->SDO,
            NMTisPreOrOperational,
            timeDifference_ms,
            1000,
            timerNext_ms);


    CO_EM_process(
            CO->emPr,
            NMTisPreOrOperational,
            timeDifference_ms * 10,
            OD_inhibitTimeEMCY);


    reset = CO_NMT_process(
            CO->NMT,
            timeDifference_ms,
            OD_producerHeartbeatTime,
            OD_NMTStartup,
            OD_errorRegister,
            OD_errorBehavior,
            timerNext_ms);


    CO_HBconsumer_process(
            CO->HBcons,
            NMTisPreOrOperational,
            timeDifference_ms);

    return reset;
}


/******************************************************************************/
bool_t CO_process_SYNC_RPDO(
        CO_t                   *CO,
        uint32_t                timeDifference_us)
{
    int16_t i;
    bool_t syncWas = false;

    switch(CO_SYNC_process(CO->SYNC, timeDifference_us, OD_synchronousWindowLength)){
        case 1:     //immediately after the SYNC message
            syncWas = true;
            break;
        case 2:     //outside SYNC window
            CO_CANclearPendingSyncPDOs(CO->CANmodule[0]);
            break;
    }

    for(i=0; i<CO_NO_RPDO; i++){
        CO_RPDO_process(CO->RPDO[i], syncWas);
    }

    return syncWas;
}


/******************************************************************************/
void CO_process_TPDO(
        CO_t                   *CO,
        bool_t                  syncWas,
        uint32_t                timeDifference_us)
{
    int16_t i;

    /* Verify PDO Change Of State and process PDOs */
    for(i=0; i<CO_NO_TPDO; i++){
        if(!CO->TPDO[i]->sendRequest) CO->TPDO[i]->sendRequest = CO_TPDOisCOS(CO->TPDO[i]);
        CO_TPDO_process(CO->TPDO[i], CO->SYNC, syncWas, timeDifference_us);
    }
}