Merge pull request #112 from embedded-office/develop

release v4.3.0

CHANGELOG.md

@@ -7,7 +7,27 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 
 ## [unreleased]
 
-none
+- nothing
+
+## [4.3.0] - 2022-07-13
+
+### Added
+
+- Add a note in documentation to usage and api about the need of sorted object dictionary
+- Add support for SDO client segmented transfers [@tonbo777](https://github.com/tonbo777)
+- Add support of mapping values with 3 bytes in PDOs
+- Introducte callbacks for read/write PDO mapped values larger than 4 bytes
+
+### Changed
+
+- Adjust SDO client API documentation to reflect conditions for expedited and segmented transfers
+
+### Fixed
+
+- Avoid variable declaration if SDO client is disabled [@jernejsk](https://github.com/jernejsk)
+- Allow direct data in object dictionaries running on 16bit microcontrollers
+
+> **Note**: The datatype in the object dictionary was `uintptr_t` in previous versions. For 16bit microcontrollers `uintptr_t` may contain only 24bit instead of the required 32bits for direct data storage. For this reason, in version 4.3.0 and later the object dictionary should use `CO_DATA` as data type.
 
 ## [4.2.0] - 2022-04-01
 
@@ -174,7 +194,8 @@ none
 - First Open Source Release.
 
 
-[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.2.0...HEAD
+[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.3.0...HEAD
+[4.3.0]: https://github.com/embedded-office/canopen-stack/compare/v4.2.0...v4.3.0
 [4.2.0]: https://github.com/embedded-office/canopen-stack/compare/v4.1.8...v4.2.0
 [4.1.8]: https://github.com/embedded-office/canopen-stack/compare/v4.1.7...v4.1.8
 [4.1.7]: https://github.com/embedded-office/canopen-stack/compare/v4.1.6...v4.1.7

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.15)
-project (CanopenStack VERSION 4.2.0)
+project (CanopenStack VERSION 4.3.0)
 
 # Make CANopen library
 add_subdirectory(canopen)

README.md

@@ -22,6 +22,7 @@ The source code is compliant to the C99 standard and you must cross-compile the
   - Block transfers
 - Unlimited number of SDO clients which supports:
   - Expedited transfers
+  - Segmented transfers
 - Unlimited number of TPDO and RPDOs which supports:
   - Synchronized operation
   - Asynchronous operation
@@ -115,7 +116,7 @@ The CANopen dictionary is an array of object entries, which we can allocate stat
 ```c
 const CO_OBJ MyDict[MY_DICT_LEN] = {
     /* setup application specific dictionary, example entry: */
-    { CO_KEY(0x1000, 0, CO_UNSIGNED32|CO_OBJ_D__R_), 0, (uintptr_t)(0u) },
+    { CO_KEY(0x1000, 0, CO_UNSIGNED32|CO_OBJ_D__R_), 0, (CO_DATA)(0u) },
     /* : */
 };
 ```

canopen/include/co_csdo.h

@@ -57,6 +57,8 @@ typedef enum {
     CO_CSDO_TRANSFER_NONE     = 0,   /*!< No transfer is currently ongoing   */
     CO_CSDO_TRANSFER_UPLOAD   = 1,   /*!< SDO upload is being executed       */
     CO_CSDO_TRANSFER_DOWNLOAD = 2,   /*!< SDO download is being executed     */
+    CO_CSDO_TRANSFER_UPLOAD_SEGMENT = 3,  /*!< SDO segment upload is being executed     */
+    CO_CSDO_TRANSFER_DOWNLOAD_SEGMENT = 4, /*!< SDO segment download is being executed     */
 
 } CO_CSDO_TRANSFER_TYPE;
 
@@ -84,6 +86,21 @@ typedef void (*CO_CSDO_CALLBACK_T)(struct CO_CSDO_T *csdo,
                                    uint8_t           sub,
                                    uint32_t          code);
 
+
+/*! \brief SDO SEGMENTED TRANSFER
+*
+*    This structure holds the data, which are needed for the segmented
+*    SDO transfer.
+*/
+typedef struct CO_CSDO_SEG_T {
+    uint32_t  Size;              /*!< Size of object entry                 */
+    uint32_t  Num;               /*!< Number of transfered bytes            */
+    uint8_t   TBit;              /*!< Segment toggle bit                    */
+
+} CO_CSDO_SEG;
+
+
+
 /*! \brief SDO CLIENT TRANSFER
  *
  *   This structure contains information required for handling ongoing SDO
@@ -101,7 +118,8 @@ typedef struct CO_CSDO_TRANSFER_T {
     uint32_t               Size;        /*!< Transfered data size            */
     int16_t                Tmr;         /*!< Identifier of timeout timer     */
     CO_CSDO_CALLBACK_T     Call;        /*!< Notification callback           */
-
+    uint32_t               Buf_Idx;     /*!< Buffer Index                    */
+    uint8_t                TBit;        /*!< Segment toggle bit              */
 } CO_CSDO_TRANSFER;
 
 /*! \brief SDO CLIENT
@@ -117,7 +135,6 @@ typedef struct CO_CSDO_T {
     uint8_t           NodeId;           /*!< Node-Id of addressed SDO server */
     CO_CSDO_STATE     State;            /*!< Current CSDO state              */
     CO_CSDO_TRANSFER  Tfer;             /*!< Current CSDO transfer info      */
-
 } CO_CSDO;
 
 /******************************************************************************
@@ -356,6 +373,113 @@ void COCSdoAbort(CO_CSDO *csdo, uint32_t err);
 */
 void COCSdoTransferFinalize(CO_CSDO *csdo);
 
+/*! \brief  INIT CSDO SEGMENTED UPLOAD
+*
+*    This function generates the request for 'First Upload SDO Segment Protocol'.
+*
+*    Entry condition for this function is the SDO response command byte
+*    with the following condition:
+* \code
+*    +---+---+---+---+---+---+---+---+
+*    |     2     | 0 |   0   | 0 | 1 |
+*    +---+---+---+---+---+---+---+---+
+*      7   6   5   4   3   2   1   0
+*
+*    => condition := "command must be 0x41"*
+* \endcode
+*
+* \param csdo
+*    Pointer to SDO client object
+*
+* \param width
+*    Object size in byte
+*
+* \retval  ==CO_ERR_NONE    on success
+* \retval  !=CO_ERR_NONE    on CSDO abort
+*/
+CO_ERR COCSdoInitUploadSegmented(CO_CSDO *csdo);
+
+/*! \brief  SEGMENTED UPLOAD
+*
+*    This function generates the request for 'Upload SDO Segment Protocol'.
+*
+*    Entry condition for this function is the SDO response command byte
+*    with the following condition:
+* \code
+*    +---+---+---+---+---+---+---+---+
+*    |     0     | t |     n     | c |
+*    +---+---+---+---+---+---+---+---+
+*      7   6   5   4   3   2   1   0
+*
+*    => condition = "command & 0xE0 must be 0x00"
+* \endcode
+*
+* \param csdo
+*    Pointer to SDO client object
+*
+* \retval  ==CO_ERR_NONE    on success
+* \retval  !=CO_ERR_NONE    on CSDO abort
+*/
+CO_ERR COCSdoUploadSegmented(CO_CSDO *csdo);
+
+/*! \brief  INIT CSDO SEGMENTED DOWNLOAD
+*
+*    This function generates the request for 'First Download SDO Segment
+*    Protocol'.
+*
+*    Entry condition for this function is the SDO response command byte
+*    with the following condition:
+* \code
+*    +---+---+---+---+---+---+---+---+
+*    |     3     | 0   0   0   0   0 |
+*    +---+---+---+---+---+---+---+---+
+*      7   6   5   4   3   2   1   0
+*
+*    => condition = "command must be 0x60"
+* \endcode
+*
+* \param csdo
+*    Pointer to SDO client object
+*
+* \retval  ==CO_ERR_NONE    on success
+* \retval  !=CO_ERR_NONE    on CSDO abort
+*/
+CO_ERR COCSdoInitDownloadSegmented(CO_CSDO *csdo);
+
+/*! \brief  SEGMENTED DOWNLOAD
+*
+*    This function generates the request for 'Download SDO Segment
+*    Protocol'.
+*
+*    Entry condition for this function is the SDO request command byte
+*    with the following condition:
+* \code
+*    +---+---+---+---+---+---+---+---+
+*    |     0     | t |     n     | c |
+*    +---+---+---+---+---+---+---+---+
+*      7   6   5   4   3   2   1   0
+*
+*    => condition = "command & 0xE0 must be 0x00"
+* \endcode
+*
+* \param csdo
+*    Pointer to SDO client object
+*
+* \retval  ==CO_ERR_NONE    on success
+* \retval  !=CO_ERR_NONE    on CSDO abort
+*/
+CO_ERR COCSdoDownloadSegmented(CO_CSDO *csdo);
+
+/*! \brief
+ *
+ *   This function finish SDO segmented download sequence.
+ *  
+ * \param csdo
+ *   Reference to SDO client
+ *
+ */
+CO_ERR COCSdoFinishDownloadSegmented(CO_CSDO *csdo);
+
 #if defined __cplusplus
 }
 #endif

canopen/include/co_obj.h

@@ -86,7 +86,7 @@ extern "C" {
 *    This define may be used in object dictionary definitions. It marks the
 *    first unused object entry.
 */
-#define CO_OBJ_DIR_ENDMARK   { (uint32_t)0, (CO_OBJ_TYPE *)0, (uintptr_t)0 }
+#define CO_OBJ_DIR_ENDMARK   { (uint32_t)0, (CO_OBJ_TYPE *)0, (CO_DATA)0 }
 
 #define CO_TSTRING    ((CO_OBJ_TYPE *)&COTString)   /*!< Object Type String  */
 #define CO_TDOMAIN    ((CO_OBJ_TYPE *)&COTDomain)   /*!< Object Type Domain  */
@@ -262,13 +262,13 @@ extern "C" {
 *    the CAN-ID (standard or extended format)
 * \{
 */
-#define CO_COBID_SYNC_STD(generate, id)      \
-    (((uint32_t)(id) & 0x7ffuL)            | \
+#define CO_COBID_SYNC_STD(generate, id)         \
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)      | \
      ((uint32_t)(generate) & 0x1uL) << 30u)
 
-#define CO_COBID_SYNC_EXT(generate, id)      \
-    (((uint32_t)(id) & 0x1fffffffuL)       | \
-     ((uint32_t)0x1uL << 29u)              | \
+#define CO_COBID_SYNC_EXT(generate, id)         \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL) | \
+     ((uint32_t)0x1uL << 29u)                 | \
      ((uint32_t)(generate) & 0x1uL) << 30u)
 /*! \} */
 
@@ -293,15 +293,15 @@ extern "C" {
 * \{
 */
 #define CO_COBID_TIME_STD(consume, produce, id)    \
-    (((uint32_t)(id) & 0x7ffuL)                  | \
-     ((uint32_t)(consume) & 0x1uL) << 31u)       | \
-     ((uint32_t)(produce) & 0x1uL) << 30u))
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)          | \
+     (((uint32_t)(consume) & 0x1uL) << 31u)       | \
+     (((uint32_t)(produce) & 0x1uL) << 30u))
 
 #define CO_COBID_TIME_EXT(consume, produce, id)    \
-    (((uint32_t)(id) & 0x1fffffffuL)             | \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL)    | \
      ((uint32_t)0x1uL << 29u)                    | \
-     ((uint32_t)(consume) & 0x1uL) << 31u)       | \
-     ((uint32_t)(produce) & 0x1uL) << 30u))
+     (((uint32_t)(consume) & 0x1uL) << 31u)      | \
+     (((uint32_t)(produce) & 0x1uL) << 30u))
 /*! \} */
 
 /*! \brief COB-ID EMCY
@@ -324,13 +324,13 @@ extern "C" {
 * \{
 */
 #define CO_COBID_EMCY_STD(valid, id)               \
-    (((uint32_t)(id) & 0x7ffuL)                  | \
-     ((uint32_t)(1u - ((valid) & 0x1u)) << 31u)
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)         | \
+     ((uint32_t)(1u - ((valid) & 0x1u)) << 31u))
 
 #define CO_COBID_EMCY_EXT(valid, id)               \
-    (((uint32_t)(id) & 0x1fffffffuL)             | \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL)    | \
      ((uint32_t)0x1uL << 29u)                    | \
-     ((uint32_t)(1u - ((valid) & 0x1u)) << 31u)
+     ((uint32_t)(1u - ((valid) & 0x1u)) << 31u))
 /*! \} */
 
 /*! \brief SDO server/client COB-ID parameter
@@ -357,12 +357,12 @@ extern "C" {
 * \{
 */
 #define CO_COBID_SDO_STD(valid, dynamic, id)       \
-    (((uint32_t)(id) & 0x7ffuL)                  | \
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)         | \
      (((uint32_t)(dynamic) & 0x1u) << 30u)       | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
 
 #define CO_COBID_SDO_EXT(valid, dynamic, id)       \
-    (((uint32_t)(id) & 0x1fffffffuL)             | \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL)    | \
      ((uint32_t)0x1u << 29u)                     | \
      (((uint32_t)(dynamic) & 0x1u) << 30u)       | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
@@ -396,11 +396,11 @@ extern "C" {
 * \{
 */
 #define CO_COBID_RPDO_STD(valid, id)               \
-    (((uint32_t)(id) & 0x7ffuL)                  | \
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)         | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
 
 #define CO_COBID_RPDO_EXT(valid, id)               \
-    (((uint32_t)(id) & 0x1fffffffuL)             | \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL)    | \
      ((uint32_t)0x1u << 29u)                     | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
 /*! \} */
@@ -440,12 +440,12 @@ extern "C" {
 * \{
 */
 #define CO_COBID_TPDO_STD(valid, id)             \
-    (((uint32_t)(id) & 0x7ffuL)                | \
+    (CO_DATA)(((uint32_t)(id) & 0x7ffuL)       | \
      ((uint32_t)0x1u << 30u)                   | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
 
 #define CO_COBID_TPDO_EXT(valid, id)             \
-    (((uint32_t)(id) & 0x1fffffffuL)           | \
+    (CO_DATA)(((uint32_t)(id) & 0x1fffffffuL)  | \
      ((uint32_t)0x1u << 29u)                   | \
      ((uint32_t)0x1u << 30u)                   | \
      ((uint32_t)(1uL - ((valid) & 0x1u)) << 31u))
@@ -473,6 +473,21 @@ struct CO_NODE_T;              /* Declaration of canopen node structure      */
 struct CO_OBJ_TYPE_T;          /* Declaration of object type structure       */
 struct CO_DICT_T;              /* Declaration of object dictionary structure */
 
+/*! \brief OBJECT DATA TYPE
+*
+*    This type holds a pointer to the object entrys data. To allow storage of
+*    constant values directly within the object dictionary, this type must be
+*    able to hold a complete 32bit value.
+*
+* \note  This is required for 8bit and 16bit controllers, where pointers may
+*        represent 24bit only.
+*/
+#if UINTPTR_MAX < UINT32_MAX
+typedef uint32_t CO_DATA;
+#else
+typedef uintptr_t CO_DATA;
+#endif
+
 /*! \brief OBJECT ENTRY
 *
 *    This structure holds all data, needed for managing a single object
@@ -490,7 +505,7 @@ typedef struct CO_OBJ_T {
                                        /*   - 7: 1=direct (ptr is value if Type=0) */
     const struct CO_OBJ_TYPE_T *Type;  /*!< ==0: value access via Data-Ptr,        */
                                        /*   !=0: access via type structure         */
-    uintptr_t                   Data;  /*!< Address of value or data structure     */
+    CO_DATA                     Data;  /*!< Address of value or data structure     */
                                        /*   or data value for direct access        */
 } CO_OBJ;