release v4.2.0 (PR #94)

release v4.2.0

.github/workflows/website.yml

@@ -0,0 +1,64 @@
+name: Website
+
+# trigger workflow when creating a release and during this work pushing
+# a tag of with the value 'vx.y.z' (x,y,z are numbers) to the git repo
+on:
+  push:
+    tags:
+      - 'v*'
+
+env:
+  REQUIREMENTS: website/requirements.txt
+  MKDOC: website/mkdocs.yml
+  WEBSITE: website/site
+
+jobs:
+  deploy:
+    name: Deploy Website
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Extract Version Tag
+        id: extract
+        run: echo ::set-output name=version::${GITHUB_REF#refs/*/v}
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.9'
+
+      - name: Upgrade pip
+        run: |
+          # install pip=>20.1 to use "pip cache dir"
+          python3 -m pip install --upgrade pip
+      - name: Get pip cache dir
+        id: pip-cache
+        run: echo "::set-output name=dir::$(pip cache dir)"
+
+      - name: Cache dependencies
+        uses: actions/cache@v2
+        with:
+          path: ${{ steps.pip-cache.outputs.dir }}
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/${REQUIREMENTS}') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
+      - name: Install dependencies
+        run: python3 -m pip install -r ./${REQUIREMENTS}
+
+      - name: Build Website
+        run: |
+          mike deploy --config-file ./${MKDOCS} --push --update-aliases ${{ steps.extract.outputs.version }} latest
+          mike set-default --config-file ./${MKDOCS} --push latest
+
+      - name: Copy Website to GitHub Pages
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./${WEBSITE}
+          user_name: 'github-actions[bot]'
+          user_email: 'github-actions[bot]@users.noreply.github.com'
+          tag_name: ${{ steps.prepare_tag.outputs.deploy_tag_name }}
+          full_commit_message: 'Deploy Website ${{ steps.extract.outputs.version }}'

.gitignore

@@ -48,3 +48,4 @@ prj_canopenstack*
 /.history
 /build
 /.vscode
+/website/site/

CHANGELOG.md

@@ -7,13 +7,33 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 
 ## [unreleased]
 
-- nothing
+none
+
+## [4.2.0] - 2022-04-01
+
+### Added
+
+- Add callback `CONmtResetRequest()` for handling specific application and/or communication reset features
+- Add feature: SYNC producer [@dozack](https://github.com/dozack)
+- Add feature: SDO client (limited to expedited transfers) [@dozack](https://github.com/dozack)
+
+### Changed
+
+- Change static website generator to [Material for MkDocs](https://squidfunk.github.io/mkdocs-material/)
+
+### Fixed
+
+- Fix navigation link in sidebar to quickstart example
+- Correct restarting of block transfer after aborting a running transfer by a client restart
+- Correct abort message when writing to 1014h:00h while active or with value out of range
+- Correct abort message when writing to 1003h:00h with value out of range
+- Fix data copy loops in NVM simulation read and write functions
 
 ## [4.1.8] - 2021-10-04
 
 ### Added
 
-- Add the option to exclude LSS and/or parameters [Domen2242/configurable_features](https://github.com/Domen2242)
+- Add the option to exclude LSS and/or parameters [@Domen2242](https://github.com/Domen2242)
 - Detailed description of API function `COObjTypeUserSDOAbort()`
 - Example article explaining the usage with RTOS and baremetal
 - Example article explaining the firmware upload with user domains
@@ -60,7 +80,7 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 
 - Explain how to setup EMCY in quickstart example (even if not used in this application).
 - Fix NMT reset when EMCY is not used (no EMCY code table).
-- Fix broken RPDO communication setup [cjardin112/master](https://github.com/cjardin112).
+- Fix broken RPDO communication setup [@cjardin112](https://github.com/cjardin112).
 
 ## [4.1.4] - 2020-12-15
 
@@ -154,7 +174,8 @@ and starting with version 4.1.0 this project adheres to [Semantic Versioning](ht
 - First Open Source Release.
 
 
-[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.1.8...HEAD
+[unreleased]: https://github.com/embedded-office/canopen-stack/compare/v4.2.0...HEAD
+[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
 [4.1.6]: https://github.com/embedded-office/canopen-stack/compare/v4.1.5...v4.1.6

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.15)
-project (CanopenStack VERSION 4.1.8)
+project (CanopenStack VERSION 4.2.0)
 
 # Make CANopen library
 add_subdirectory(canopen)

README.md

@@ -20,6 +20,8 @@ The source code is compliant to the C99 standard and you must cross-compile the
   - Expedited transfers
   - Segmented transfers
   - Block transfers
+- Unlimited number of SDO clients which supports:
+  - Expedited transfers
 - Unlimited number of TPDO and RPDOs which supports:
   - Synchronized operation
   - Asynchronous operation
@@ -31,6 +33,7 @@ The source code is compliant to the C99 standard and you must cross-compile the
 - Emergency producer which supports:
   - Manufacturer specific extensions
   - Unlimited error history
+- SYNC producer
 - Heartbeat producer
 - Unlimited Emergency consumers
 - Unlimited number of Heartbeat consumers
@@ -49,13 +52,13 @@ The source code is compliant to the C99 standard and you must cross-compile the
 
 Get the project repository and add to your include search path:
 - `canopen/config`
-- `canopen/include` 
+- `canopen/include`
 
 and to your source path:
 - `canopen/source`
 
 Select the driver templates for CAN, NVM and Timer you want as starting point for your hardware interface and add them to your project:
-- `driver/include` 
+- `driver/include`
 - `driver/source`
 
 *Note: in future versions, we want to remove the pre-compiler configuration file in `canopen/config`. The corresponding configuration will be possible in a more flexible way. The main goal is to get a CANopen library for a specific microcontroller, with no application specific configuration included and therefore usable in all applications.*
@@ -162,16 +165,6 @@ Some years later, now in 2020, we think it is time for a new way of software dev
 
 To avoid confusion, it is the best to continue with the release version numbering. The first stable release of the open-source variant of the CANopen Stack is: **V4.0.0**
 
-## Roadmap
-
-*Ideas for further development:*
-
-- remove all pre-compiler configuration defines to allow a single library for multiple projects with different needs
-- hardware independent collection of examples for demonstration purpose (exchange driver and re-compile should be enought for usage on real target hardware)
-- improve documentation of single test cases within the testsuite
-- add the SDO client (rarely used, but nice to have)
-Feel free to add issues with further ideas or needs!
-
 # License
 
 The Apache 2.0 license is suitable for commercial usage, so we think this is the best for this free component. If you have problems or concerns with this license, just contact us at Embedded Ofice. We will help you to get the legal approvals within your company.

canopen/CMakeLists.txt

@@ -20,6 +20,7 @@ target_include_directories(Canopen
 target_sources(Canopen
   PRIVATE
     source/co_core.c
+    source/co_csdo.c
     source/co_dict.c
     source/co_emcy.c
     source/co_if_can.c
@@ -31,7 +32,8 @@ target_sources(Canopen
     source/co_obj.c
     source/co_para.c
     source/co_pdo.c
-    source/co_sdo_srv.c
+    source/co_ssdo.c
+    source/co_csdo.c
     source/co_sync.c
     source/co_tmr.c
     source/co_ver.c

canopen/config/co_cfg.h

@@ -22,8 +22,17 @@
 *    This configuration define specifies how many SDO servers the library
 *    will support.
 */
-#ifndef CO_SDOS_N
-#define CO_SDOS_N               1
+#ifndef CO_SSDO_N
+#define CO_SSDO_N               1
+#endif
+
+/*! \brief DEFAULT SDO CLIENT
+*
+*    This configuration define specifies how many SDO clients the library
+*    will support.
+*/
+#ifndef CO_CSDO_N
+#define CO_CSDO_N               1
 #endif
 
 /*! \brief DEFAULT EMERGENCY CODES
@@ -55,7 +64,7 @@
 
 /*! \brief DEFAULT ENABLE LSS
 *
-*    This configuration define specifies whether the LSS functionality will 
+*    This configuration define specifies whether the LSS functionality will
 *    be supported by the library.
 */
 #ifndef USE_LSS
@@ -71,4 +80,13 @@
 #define USE_PARAMS              1
 #endif
 
+/*! \brief DEFAULT ENABLE SDO CLIENT
+*
+*    This configuration define specifies whether SDO client will be supported
+*    by the library.
+*/
+#ifndef USE_CSDO
+#define USE_CSDO                1
+#endif
+
 #endif  /* #ifndef CO_CFG_H_ */

canopen/include/co_core.h

@@ -33,7 +33,9 @@ extern "C" {
 #include "co_emcy.h"
 #include "co_nmt.h"
 #include "co_tmr.h"
-#include "co_sdo_srv.h"
+#include "co_sdo.h"
+#include "co_ssdo.h"
+#include "co_csdo.h"
 #include "co_pdo.h"
 #include "co_sync.h"
 #if USE_LSS
@@ -60,8 +62,11 @@ typedef struct CO_NODE_T {
     struct CO_EMCY_T       Emcy;                 /*!< Node error status      */
     struct CO_NMT_T        Nmt;                  /*!< Network management     */
     struct CO_TMR_T        Tmr;                  /*!< Timer manager          */
-    struct CO_SDO_T        Sdo[CO_SDOS_N];       /*!< SDO Server Array       */
+    struct CO_SDO_T        Sdo[CO_SSDO_N];       /*!< SDO Server Array       */
     uint8_t               *SdoBuf;               /*!< SDO Transfer Buffer    */
+#if USE_CSDO
+    struct CO_CSDO_T       CSdo[CO_CSDO_N];      /*!< SDO client array       */
+#endif
     struct CO_RPDO_T       RPdo[CO_RPDO_N];      /*!< RPDO Array             */
     struct CO_TPDO_T       TPdo[CO_TPDO_N];      /*!< TPDO Array             */
     struct CO_TPDO_LINK_T  TMap[CO_TPDO_N * 8];  /*!< TPDO mapping links     */