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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"
Expand Down
203 changes: 142 additions & 61 deletions src/co_sdo_server.c
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Original file line number Diff line number Diff line change
Expand Up @@ -162,8 +162,7 @@ static int co_sdo_rx_upload_init_req (
if (job->sdo.remain <= sizeof (job->sdo.value))
{
/* Object values up to 64 bits are fetched atomically */
abort =
co_od_get_value (net, obj, entry, job->sdo.subindex, &job->sdo.value);
abort = co_od_get_value (net, obj, entry, job->sdo.subindex, &job->sdo.value);
job->sdo.data = (uint8_t *)&job->sdo.value;
}
else
Expand Down Expand Up @@ -269,6 +268,48 @@ static int co_sdo_rx_upload_seg_req (
return 0;
}

static bool co_is_datatype_atomic (co_dtype_t datatype)
{
switch (datatype)
{
case DTYPE_BOOLEAN:
case DTYPE_INTEGER8:
case DTYPE_INTEGER16:
case DTYPE_INTEGER32:
case DTYPE_UNSIGNED8:
case DTYPE_UNSIGNED16:
case DTYPE_UNSIGNED32:
case DTYPE_REAL32:
case DTYPE_REAL64:
case DTYPE_INTEGER64:
case DTYPE_UNSIGNED64:
return true;

case DTYPE_VISIBLE_STRING:
case DTYPE_OCTET_STRING:
case DTYPE_UNICODE_STRING:
case DTYPE_TIME_OF_DAY:
case DTYPE_TIME_DIFFERENCE:
case DTYPE_DOMAIN:
case DTYPE_INTEGER24:
case DTYPE_INTEGER40:
case DTYPE_INTEGER48:
case DTYPE_INTEGER56:
case DTYPE_UNSIGNED24:
case DTYPE_UNSIGNED40:
case DTYPE_UNSIGNED48:
case DTYPE_UNSIGNED56:
case DTYPE_PDO_COMM_PARAM:
case DTYPE_PDO_MAPPING:
case DTYPE_SDO_PARAM:
case DTYPE_IDENTITY:
return false;

default:
return false;
}
}

static int co_sdo_rx_download_init_req (
co_net_t * net,
uint8_t node,
Expand Down Expand Up @@ -327,40 +368,13 @@ static int co_sdo_rx_download_init_req (
return -1;
}

job->sdo.remain = CO_BYTELENGTH (entry->bitlength);
job->sdo.toggle = 0;

if (job->sdo.remain <= sizeof (job->sdo.value))
{
/* Object values up to 64 bits are cached so that we can set
them atomically when the transfer is complete */
job->sdo.data = (uint8_t *)&job->sdo.value;
job->sdo.cached = true;
}
else
{
/* Otherwise a pointer is used to access object */
abort = co_od_get_ptr (net, obj, entry, job->sdo.subindex, &job->sdo.data);
if (abort)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
abort);
return -1;
}
}

/* Check for expedited download */
if (type & CO_SDO_E)
{
size_t size = (type & CO_SDO_S) ? 4 - CO_SDO_N (type) : 4;
uint32_t value;

/* Validate size */
if (size != job->sdo.remain)
if (size > CO_BYTELENGTH (entry->bitlength))
{
co_sdo_abort (
net,
Expand All @@ -371,11 +385,35 @@ static int co_sdo_rx_download_init_req (
return -1;
}

/* Fetch value */
value = co_fetch_uint32 (&data[4]);
if (co_is_datatype_atomic (entry->datatype))
{
uint32_t value;

/* Atomically set value */
abort = co_od_set_value (net, obj, entry, job->sdo.subindex, value);
/* Fetch value */
value = co_fetch_uint32 (&data[4]);

/* Atomically set value */
abort = co_od_set_value (net, obj, entry, job->sdo.subindex, value);
}
else
{
/* Pointer is used to access object */
abort = co_od_get_ptr (net, obj, entry, job->sdo.subindex, &job->sdo.data);
if (abort)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
abort);
return -1;
}

memcpy (job->sdo.data, &data[4], size);

co_od_notify (net, obj, entry, job->sdo.subindex, OD_NOTIFY_SDO_RECEIVED, size);
}

/* Done */
job->type = CO_JOB_NONE;
Expand All @@ -391,6 +429,46 @@ static int co_sdo_rx_download_init_req (
return -1;
}
}
else
{
job->sdo.total = co_fetch_uint32 (&data[4]);
job->sdo.remain = job->sdo.total;

if (job->sdo.remain > CO_BYTELENGTH (entry->bitlength))
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
CO_SDO_ABORT_LENGTH);
return -1;
}
job->sdo.toggle = 0;

if (co_is_datatype_atomic (entry->datatype))
{
/* Datatypes with atomic functions are cached in job->sdo.value
* so they can be set atomically when the transfer is complete */
job->sdo.data = (uint8_t *)&job->sdo.value;
job->sdo.cached = true;
}
else
{
/* Otherwise a pointer is used to access object */
abort = co_od_get_ptr (net, obj, entry, job->sdo.subindex, &job->sdo.data);
if (abort)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
abort);
return -1;
}
}
}

/* Dictionary has been written to and is now dirty */
net->config_dirty = 1;
Expand Down Expand Up @@ -447,37 +525,36 @@ static int co_sdo_rx_download_seg_req (
/* Write complete */
job->type = CO_JOB_NONE;

if (job->sdo.cached)
/* Find requested object */
obj = co_obj_find (net, job->sdo.index);
if (obj == NULL)
{
/* Find requested object */
obj = co_obj_find (net, job->sdo.index);
if (obj == NULL)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
CO_SDO_ABORT_BAD_INDEX);
return -1;
}
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
CO_SDO_ABORT_BAD_INDEX);
return -1;
}

/* Find requested subindex */
entry = co_entry_find (net, obj, job->sdo.subindex);
if (entry == NULL)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
CO_SDO_ABORT_BAD_SUBINDEX);
return -1;
}
/* Find requested subindex */
entry = co_entry_find (net, obj, job->sdo.subindex);
if (entry == NULL)
{
co_sdo_abort (
net,
0x580 + net->node,
job->sdo.index,
job->sdo.subindex,
CO_SDO_ABORT_BAD_SUBINDEX);
return -1;
}

if (job->sdo.cached)
{
/* Atomically set value */
abort =
co_od_set_value (net, obj, entry, job->sdo.subindex, job->sdo.value);
abort = co_od_set_value (net, obj, entry, job->sdo.subindex, job->sdo.value);
if (abort)
{
co_sdo_abort (
Expand All @@ -489,6 +566,10 @@ static int co_sdo_rx_download_seg_req (
return -1;
}
}
else
{
co_od_notify (net, obj, entry, job->sdo.subindex, OD_NOTIFY_SDO_RECEIVED, job->sdo.total);
}
}

/* Segmented response */
Expand Down