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Separate RPDO/TPDO data links and fixed SDO macro
1 parent 2a4abc3 commit fab276e

6 files changed

Lines changed: 55 additions & 37 deletions

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‎include/core/io/CANOpenMacros.hpp‎

Lines changed: 24 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -121,12 +121,12 @@
121121
}, \
122122
{ \
123123
/* SDO Server Request COBID */ \
124-
.Key = CO_KEY(0x1200, 0x01, CO_OBJ__N__R_), \
124+
.Key = CO_KEY(0x1200, 0x01, CO_OBJ_DN__R_), \
125125
.Type = CO_TUNSIGNED32, \
126126
.Data = (CO_DATA) CO_COBID_SDO_REQUEST(), \
127127
}, \
128128
{ /* SDO Server Response COBID */ \
129-
.Key = CO_KEY(0x1200, 0x02, CO_OBJ__N__R_), \
129+
.Key = CO_KEY(0x1200, 0x02, CO_OBJ_DN__R_), \
130130
.Type = CO_TUNSIGNED32, \
131131
.Data = (CO_DATA) CO_COBID_SDO_RESPONSE(), \
132132
}
@@ -199,7 +199,7 @@
199199
{ \
200200
.Key = CO_KEY(0x1600 + RPDO_NUMBER, SUB_INDEX, CO_OBJ_D___R_), \
201201
.Type = CO_TUNSIGNED32, \
202-
.Data = (CO_DATA) CO_LINK(0x2100 + RPDO_NUMBER, 0x00 + SUB_INDEX, DATA_SIZE), \
202+
.Data = (CO_DATA) CO_LINK(0x2200 + RPDO_NUMBER, 0x00 + SUB_INDEX, DATA_SIZE), \
203203
}
204204

205205
/**
@@ -288,12 +288,12 @@
288288
* on the PDO number that it is associated with, this macro takes the PDO number associated with the
289289
* data that will be linked.
290290
*
291-
* @param PDO_NUMBER (integer) the PDO number that this data link section is associated with.
291+
* @param LINK_NUMBER (integer) the link number that this data link section is associated with.
292292
* @param NUMBER_OF_SUB_INDICES (integer) the number of links that this section will include.
293293
*/
294-
#define DATA_LINK_START_KEY_21XX(PDO_NUMBER, NUMBER_OF_SUB_INDICES) \
294+
#define DATA_LINK_START_KEY_21XX(LINK_NUMBER, NUMBER_OF_SUB_INDICES) \
295295
{ \
296-
.Key = CO_KEY(0x2100 + PDO_NUMBER, 0, CO_OBJ_D___R_), \
296+
.Key = CO_KEY(0x2100 + LINK_NUMBER, 0, CO_OBJ_D___R_), \
297297
.Type = CO_TUNSIGNED8, \
298298
.Data = (CO_DATA) NUMBER_OF_SUB_INDICES, \
299299
}
@@ -305,19 +305,34 @@
305305
* to allow for both TPDOs and RPDOs of any number to be linked as well as any data type and
306306
* any data pointers.
307307
*
308-
* @param PDO_NUMBER (integer) the PDO number that this data link is associated with
308+
* @param LINK_NUMBER (integer) the link number that this data link is associated with
309309
* @param SUB_INDEX (integer) the sub index in the great Data Link section.
310310
* @param DATA_TYPE (CO_T...) type of the data that is being linked too. You should use the CANOpen definitions for
311311
* types here.
312312
* @param DATA_POINTER (pointer) a pointer to a piece of data that this data link will connect to. Please provide this
313313
* as a pointer using the &variableName syntax. This macro does not automatically add the &
314314
*/
315-
#define DATA_LINK_21XX(PDO_NUMBER, SUB_INDEX, DATA_TYPE, DATA_POINTER) \
315+
#define DATA_LINK_21XX(LINK_NUMBER, SUB_INDEX, DATA_TYPE, DATA_POINTER) \
316316
{ \
317-
.Key = CO_KEY(0x2100 + PDO_NUMBER, SUB_INDEX, CO_OBJ____PRW), \
317+
.Key = CO_KEY(0x2100 + LINK_NUMBER, SUB_INDEX, CO_OBJ____PRW), \
318318
.Type = DATA_TYPE, \
319319
.Data = (CO_DATA) DATA_POINTER, \
320320
}
321+
322+
/**
323+
* This macro converts a TPDO number to the corresponding Link number.
324+
*
325+
* @param PDO_NUMBER (integer) the PDO number for the data link
326+
*/
327+
#define TPDO_NUMBER(PDO_NUMBER) (PDO_NUMBER)
328+
329+
/**
330+
* This macro converts a RPDO number to the corresponding Link number.
331+
*
332+
* @param PDO_NUMBER (integer) the PDO number for the data link
333+
*/
334+
#define RPDO_NUMBER(PDO_NUMBER) (PDO_NUMBER + 0x100)
335+
321336
// clang-format on
322337

323338
#endif // EVT_CANOPENMACROS_HPP

‎samples/canopen/canopen_rpdo/RPDOCanNode.hpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -109,9 +109,9 @@ class RPDOCanNode : public CANDevice {
109109

110110
// User defined data, this will be where we put elements that can be
111111
// accessed via SDO and depending on configuration PDO
112-
DATA_LINK_START_KEY_21XX(0, 2),
113-
DATA_LINK_21XX(0, 1, CO_TUNSIGNED8, &sampleDataA),
114-
DATA_LINK_21XX(0, 2, CO_TUNSIGNED16, &sampleDataB),
112+
DATA_LINK_START_KEY_21XX(RPDO_NUMBER(0), 2),
113+
DATA_LINK_21XX(RPDO_NUMBER(0), 1, CO_TUNSIGNED8, &sampleDataA),
114+
DATA_LINK_21XX(RPDO_NUMBER(0), 2, CO_TUNSIGNED16, &sampleDataB),
115115

116116
// End of dictionary marker
117117
CO_OBJ_DICT_ENDMARK,

‎samples/canopen/canopen_rpdo/main.cpp‎

Lines changed: 10 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,8 @@ namespace time = core::time;
2525
// aside CANopen messages into a specific queue
2626
///////////////////////////////////////////////////////////////////////////////
2727

28+
io::UART *uart;
29+
2830
/**
2931
* Interrupt handler to get CAN messages. A function pointer to this function
3032
* will be passed to the EVT-core CAN interface which will in turn call this
@@ -36,20 +38,18 @@ namespace time = core::time;
3638
* @param message[in] The passed in CAN message that was read.
3739
*/
3840

39-
io::UART& uart = io::getUART<io::Pin::UART_TX, io::Pin::UART_RX>(9600);
40-
4141
// create a can interrupt handler
4242
void canInterrupt(io::CANMessage& message, void* priv) {
4343
auto* queue = (core::types::FixedQueue<CANOPEN_QUEUE_SIZE, io::CANMessage>*) priv;
4444

4545
// print out raw received data
46-
uart.printf("Got RAW message from %X of length %d with data: ", message.getId(), message.getDataLength());
46+
uart->printf("Got RAW message from %X of length %d with data: ", message.getId(), message.getDataLength());
4747
uint8_t* data = message.getPayload();
4848
for (int i = 0; i < message.getDataLength(); i++) {
49-
uart.printf("%X ", *data);
49+
uart->printf("%X ", *data);
5050
data++;
5151
}
52-
uart.printf("\r\n");
52+
uart->printf("\r\n");
5353

5454
if (queue != nullptr)
5555
queue->append(message);
@@ -59,6 +59,7 @@ int main() {
5959
// Initialize system
6060
core::platform::init();
6161

62+
uart = &io::getUART<io::Pin::UART_TX, io::Pin::UART_RX>(9600);
6263
// Initialize the timer
6364
dev::Timer& timer = dev::getTimer<dev::MCUTimer::Timer2>(100);
6465

@@ -98,7 +99,7 @@ int main() {
9899

99100
// test that the board is connected to the can network
100101
if (result != io::CAN::CANStatus::OK) {
101-
uart.printf("Failed to connect to CAN network\r\n");
102+
uart->printf("Failed to connect to CAN network\r\n");
102103
return 1;
103104
}
104105

@@ -114,7 +115,7 @@ int main() {
114115
time::wait(500);
115116

116117
// print any CANopen errors
117-
uart.printf("Error: %d\r\n", CONodeGetErr(&canNode));
118+
uart->printf("Error: %d\r\n", CONodeGetErr(&canNode));
118119

119120
///////////////////////////////////////////////////////////////////////////
120121
// Main loop
@@ -127,11 +128,11 @@ int main() {
127128
if (lastVal1 != testCanNode.getSampleDataA() || lastVal2 != testCanNode.getSampleDataB()) {
128129
lastVal1 = testCanNode.getSampleDataA();
129130
lastVal2 = testCanNode.getSampleDataB();
130-
uart.printf("Current value: %X, %X\r\n", lastVal1, lastVal2);
131+
uart->printf("Current value: %X, %X\r\n", lastVal1, lastVal2);
131132
}
132133

133134
io::processCANopenNode(&canNode);
134135
// Wait for new data to come in
135-
time::wait(10);
136+
time::wait(1);
136137
}
137138
}

‎samples/canopen/canopen_sample/TestCanNode.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -91,8 +91,8 @@ class TestCanNode : public CANDevice {
9191
TRANSMIT_PDO_MAPPING_START_KEY_1AXX(0, 1),
9292
TRANSMIT_PDO_MAPPING_ENTRY_1AXX(0, 0x01, PDO_MAPPING_UNSIGNED8),
9393

94-
DATA_LINK_START_KEY_21XX(0, 1),
95-
DATA_LINK_21XX(0, 1, CO_TUNSIGNED8, &sampleData),
94+
DATA_LINK_START_KEY_21XX(TPDO_NUMBER(0), 1),
95+
DATA_LINK_21XX(TPDO_NUMBER(0), 1, CO_TUNSIGNED8, &sampleData),
9696

9797
// End of dictionary marker
9898
CO_OBJ_DICT_ENDMARK,

‎samples/canopen/canopen_tpdo/TPDOCanNode.hpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -106,9 +106,9 @@ class TPDOCanNode : public CANDevice {
106106

107107
// User defined data, this will be where we put elements that can be
108108
// accessed via SDO and depending on configuration PDO
109-
DATA_LINK_START_KEY_21XX(0, 0x02),
110-
DATA_LINK_21XX(0x00, 0x01, CO_TUNSIGNED8, &sampleDataA),
111-
DATA_LINK_21XX(0x00, 0x02, CO_TUNSIGNED16, &sampleDataB),
109+
DATA_LINK_START_KEY_21XX(TPDO_NUMBER(0), 0x02),
110+
DATA_LINK_21XX(TPDO_NUMBER(0), 0x01, CO_TUNSIGNED8, &sampleDataA),
111+
DATA_LINK_21XX(TPDO_NUMBER(0), 0x02, CO_TUNSIGNED16, &sampleDataB),
112112

113113
// End of dictionary marker
114114
CO_OBJ_DICT_ENDMARK,

‎samples/canopen/canopen_tpdo/main.cpp‎

Lines changed: 13 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -23,6 +23,8 @@ namespace time = core::time;
2323
// aside CANopen messages into a specific queue
2424
///////////////////////////////////////////////////////////////////////////////
2525

26+
io::UART *uart;
27+
2628
/**
2729
* Interrupt handler to get CAN messages. A function pointer to this function
2830
* will be passed to the EVT-core CAN interface which will in turn call this
@@ -34,34 +36,32 @@ namespace time = core::time;
3436
* @param message[in] The passed in CAN message that was read.
3537
*/
3638

37-
io::UART& uart = io::getUART<io::Pin::UART_TX, io::Pin::UART_RX>(9600);
38-
3939
// create a can interrupt handler
4040
void canInterrupt(io::CANMessage& message, void* priv) {
4141
auto* queue = (core::types::FixedQueue<CANOPEN_QUEUE_SIZE, io::CANMessage>*) priv;
4242

4343
// print out raw received data
44-
uart.printf("Got RAW message from %X of length %d with data: ", message.getId(), message.getDataLength());
44+
uart->printf("Got RAW message from %X of length %d with data: ", message.getId(), message.getDataLength());
4545
uint8_t* data = message.getPayload();
4646
for (int i = 0; i < message.getDataLength(); i++) {
47-
uart.printf("%X ", *data);
47+
uart->printf("%X ", *data);
4848
data++;
4949
}
50-
uart.printf("\r\n");
50+
uart->printf("\r\n");
5151

5252
if (queue != nullptr)
5353
queue->append(message);
5454
}
5555

5656
// setup a TPDO event handler to print the raw TPDO message when sending
5757
extern "C" void COPdoTransmit(CO_IF_FRM* frm) {
58-
uart.printf("Sending PDO as 0x%X with length %d and data: ", frm->Identifier, frm->DLC);
58+
uart->printf("Sending PDO as 0x%X with length %d and data: ", frm->Identifier, frm->DLC);
5959
uint8_t* data = frm->Data;
6060
for (int i = 0; i < frm->DLC; i++) {
61-
uart.printf("%X ", *data);
61+
uart->printf("%X ", *data);
6262
data++;
6363
}
64-
uart.printf("\r\n");
64+
uart->printf("\r\n");
6565
}
6666

6767
int main() {
@@ -71,6 +71,8 @@ int main() {
7171
// create the TPDO node
7272
TPDOCanNode testCanNode;
7373

74+
uart = &io::getUART<io::Pin::UART_TX, io::Pin::UART_RX>(9600);
75+
7476
dev::Timer& timer = dev::getTimer<dev::MCUTimer::Timer2>(100);
7577

7678
///////////////////////////////////////////////////////////////////////////
@@ -105,7 +107,7 @@ int main() {
105107

106108
// test that the board is connected to the can network
107109
if (result != io::CAN::CANStatus::OK) {
108-
uart.printf("Failed to connect to CAN network\r\n");
110+
uart->printf("Failed to connect to CAN network\r\n");
109111
return 1;
110112
}
111113

@@ -121,7 +123,7 @@ int main() {
121123
time::wait(500);
122124

123125
// print any CANopen errors
124-
uart.printf("Error: %d\r\n", CONodeGetErr(&canNode));
126+
uart->printf("Error: %d\r\n", CONodeGetErr(&canNode));
125127

126128
///////////////////////////////////////////////////////////////////////////
127129
// Main loop
@@ -135,7 +137,7 @@ int main() {
135137
if (lastVal1 != testCanNode.getSampleDataA() || lastVal2 != testCanNode.getSampleDataB()) {
136138
lastVal1 = testCanNode.getSampleDataA();
137139
lastVal2 = testCanNode.getSampleDataB();
138-
uart.printf("Current value: %X, %X\r\n", lastVal1, lastVal2);
140+
uart->printf("Current value: %X, %X\r\n", lastVal1, lastVal2);
139141
}
140142

141143
io::processCANopenNode(&canNode);

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