411 lines
20 KiB
C
411 lines
20 KiB
C
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/**
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* CANopen access from other networks - ASCII mapping (CiA 309-3 DS v3.0.0)
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*
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* @file CO_gateway_ascii.h
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* @ingroup CO_CANopen_309_3
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* @author Janez Paternoster
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* @author Martin Wagner
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* @copyright 2020 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software distributed under the License is
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* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and limitations under the License.
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*/
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#ifndef CO_GATEWAY_ASCII_H
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#define CO_GATEWAY_ASCII_H
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#include "301/CO_driver.h"
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#include "301/CO_fifo.h"
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#include "301/CO_SDOclient.h"
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#include "301/CO_NMT_Heartbeat.h"
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#include "305/CO_LSSmaster.h"
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#include "303/CO_LEDs.h"
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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_GTW
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#define CO_CONFIG_GTW (0)
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#endif
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_CANopen_309_3 Gateway ASCII mapping
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* CANopen access from other networks - ASCII mapping (CiA 309-3 DSP v3.0.0)
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*
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* @ingroup CO_CANopen_309
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* @{
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* This module enables ascii command interface (CAN gateway), which can be used for master interaction with CANopen
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* network. Some sort of string input/output stream can be used, for example serial port + terminal on microcontroller
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* or stdio in OS or sockets, etc.
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*
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* For example, one wants to read 'Heartbeat producer time' parameter (0x1017,0) on remote node (with id=4). Parameter
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* is 16-bit integer. He can can enter command string: `[1] 4 read 0x1017 0 i16`. CANopenNode will use SDO client, send
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* request to remote node via CAN, wait for response via CAN and prints `[1] OK` to output stream on success.
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*
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* This module is usually initialized and processed in CANopen.c file. Application should register own callback function
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* for reading the output stream. Application writes new commands with CO_GTWA_write().
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*/
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/**
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* @defgroup CO_CANopen_309_3_Syntax Command syntax
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* ASCII command syntax.
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*
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* @{
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*
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* @code{.unparsed}
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Command strings start with '"["<sequence>"]"' followed by:
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[[<net>] <node>] r[ead] <index> <subindex> [<datatype>] # SDO upload.
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[[<net>] <node>] w[rite] <index> <subindex> <datatype> <value> # SDO download.
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[[<net>] <node>] start # NMT Start node.
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[[<net>] <node>] stop # NMT Stop node.
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[[<net>] <node>] preop[erational] # NMT Set node to pre-operational.
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[[<net>] <node>] reset node # NMT Reset node.
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[[<net>] <node>] reset comm[unication] # NMT Reset communication.
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[<net>] set network <value> # Set default net.
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[<net>] set node <value> # Set default node.
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[<net>] set sdo_timeout <value> # Configure SDO time-out.
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[<net>] set sdo_block <value> # Enable/disable SDO block transfer.
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help [datatype|lss] # Print this or datatype or lss help.
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led # Print status LED diodes.
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log # Print message log.
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Response:
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"["<sequence>"]" OK | <value> |
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ERROR:<SDO-abort-code> | ERROR:<internal-error-code>
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* Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same
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is response. String is not null terminated, <CR> is optional in command.
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* Comments started with '#' are ignored. They may be on the beginning of the
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line or after the command string.
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* 'sdo_timeout' is in milliseconds, 500 by default. Block transfer is
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disabled by default.
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* If '<net>' or '<node>' is not specified within commands, then value defined
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by 'set network' or 'set node' command is used.
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Datatypes:
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b # Boolean.
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i8, i16, i32, i64 # Signed integers.
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u8, u16, u32, u64 # Unsigned integers.
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x8, x16, x32, x64 # Unsigned integers, displayed as hexadecimal, non-standard.
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r32, r64 # Real numbers.
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t, td # Time of day, time difference.
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vs # Visible string (between double quotes if multi-word).
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os, us # Octet, unicode string, (mime-base64 (RFC2045) based, line).
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d # domain (mime-base64 (RFC2045) based, one line).
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hex # Hexagonal data, optionally space separated, non-standard.
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LSS commands:
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lss_switch_glob <0|1> # Switch state global command.
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lss_switch_sel <vendorID> <product code> \\
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<revisionNo> <serialNo> #Switch state selective.
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lss_set_node <node> # Configure node-ID.
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lss_conf_bitrate <table_selector=0> \\
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<table_index> # Configure bit-rate.
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lss_activate_bitrate <switch_delay_ms> # Activate new bit-rate.
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lss_store # LSS store configuration.
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lss_inquire_addr [<LSSSUB=0..3>] # Inquire LSS address.
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lss_get_node # Inquire node-ID.
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_lss_fastscan [<timeout_ms>] # Identify fastscan, non-standard.
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lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\
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[<scanType0> <vendorId> <scanType1> <productCode>\\
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<scanType2> <revisionNo> <scanType3> <serialNo>]]]
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# Node-ID configuration of all nodes.
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* All LSS commands start with '\"[\"<sequence>\"]\" [<net>]'.
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* <table_index>: 0=1000 kbit/s, 1=800 kbit/s, 2=500 kbit/s, 3=250 kbit/s,
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4=125 kbit/s, 6=50 kbit/s, 7=20 kbit/s, 8=10 kbit/s, 9=auto
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* <scanType>: 0=fastscan, 1=ignore, 2=match value in next parameter
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* @endcode
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*
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* This help text is the same as variable contents in CO_GTWA_helpString.
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* @}
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*/
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/** Size of response string buffer. This is intermediate buffer. If there is larger amount of data to transfer, then
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* multiple transfers will occur. */
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#ifndef CO_GTWA_RESP_BUF_SIZE
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#define CO_GTWA_RESP_BUF_SIZE 200U
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#endif
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/** Timeout time in microseconds for some internal states. */
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#ifndef CO_GTWA_STATE_TIMEOUT_TIME_US
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#define CO_GTWA_STATE_TIMEOUT_TIME_US 1200000U
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#endif
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/**
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* Response error codes as specified by CiA 309-3. Values less or equal to 0 are used for control for some functions and
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* are not part of the standard.
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*/
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typedef enum {
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CO_GTWA_respErrorNone = 0, /**< 0 - No error or idle */
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CO_GTWA_respErrorReqNotSupported = 100, /**< 100 - Request not supported */
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CO_GTWA_respErrorSyntax = 101, /**< 101 - Syntax error */
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CO_GTWA_respErrorInternalState = 102, /**< 102 - Request not processed due to internal state */
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CO_GTWA_respErrorTimeOut = 103, /**< 103 - Time-out (where applicable) */
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CO_GTWA_respErrorNoDefaultNetSet = 104, /**< 104 - No default net set */
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CO_GTWA_respErrorNoDefaultNodeSet = 105, /**< 105 - No default node set */
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CO_GTWA_respErrorUnsupportedNet = 106, /**< 106 - Unsupported net */
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CO_GTWA_respErrorUnsupportedNode = 107, /**< 107 - Unsupported node */
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CO_GTWA_respErrorLostGuardingMessage = 200, /**< 200 - Lost guarding message */
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CO_GTWA_respErrorLostConnection = 201, /**< 201 - Lost connection */
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CO_GTWA_respErrorHeartbeatStarted = 202, /**< 202 - Heartbeat started */
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CO_GTWA_respErrorHeartbeatLost = 203, /**< 203 - Heartbeat lost */
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CO_GTWA_respErrorWrongNMTstate = 204, /**< 204 - Wrong NMT state */
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CO_GTWA_respErrorBootUp = 205, /**< 205 - Boot-up */
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CO_GTWA_respErrorErrorPassive = 300, /**< 300 - Error passive */
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CO_GTWA_respErrorBusOff = 301, /**< 301 - Bus off */
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CO_GTWA_respErrorCANbufferOverflow = 303, /**< 303 - CAN buffer overflow */
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CO_GTWA_respErrorCANinit = 304, /**< 304 - CAN init */
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CO_GTWA_respErrorCANactive = 305, /**< 305 - CAN active (at init or start-up) */
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CO_GTWA_respErrorPDOalreadyUsed = 400, /**< 400 - PDO already used */
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CO_GTWA_respErrorPDOlengthExceeded = 401, /**< 401 - PDO length exceeded */
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CO_GTWA_respErrorLSSmanufacturer = 501, /**< 501 - LSS implementation- / manufacturer-specific error */
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CO_GTWA_respErrorLSSnodeIdNotSupported = 502, /**< 502 - LSS node-ID not supported */
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CO_GTWA_respErrorLSSbitRateNotSupported = 503, /**< 503 - LSS bit-rate not supported */
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CO_GTWA_respErrorLSSparameterStoringFailed = 504, /**< 504 - LSS parameter storing failed */
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CO_GTWA_respErrorLSSmediaError = 505, /**< 505 - LSS command failed because of media error */
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CO_GTWA_respErrorRunningOutOfMemory = 600 /**< 600 - Running out of memory */
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} CO_GTWA_respErrorCode_t;
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/**
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* Internal states of the Gateway-ascii state machine.
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*/
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typedef enum {
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CO_GTWA_ST_IDLE = 0x00U, /**< Gateway is idle, no command is processing. This state is starting point for new
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commands, which are parsed here. */
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CO_GTWA_ST_READ = 0x10U, /**< SDO 'read' (upload) */
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CO_GTWA_ST_WRITE = 0x11U, /**< SDO 'write' (download) */
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CO_GTWA_ST_WRITE_ABORTED = 0x12U, /**< SDO 'write' (download) - aborted, purging remaining data */
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CO_GTWA_ST_LSS_SWITCH_GLOB = 0x20U, /**< LSS 'lss_switch_glob' */
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CO_GTWA_ST_LSS_SWITCH_SEL = 0x21U, /**< LSS 'lss_switch_sel' */
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CO_GTWA_ST_LSS_SET_NODE = 0x22U, /**< LSS 'lss_set_node' */
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CO_GTWA_ST_LSS_CONF_BITRATE = 0x23U, /**< LSS 'lss_conf_bitrate' */
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CO_GTWA_ST_LSS_STORE = 0x24U, /**< LSS 'lss_store' */
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CO_GTWA_ST_LSS_INQUIRE = 0x25U, /**< LSS 'lss_inquire_addr' or 'lss_get_node' */
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CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL = 0x26U, /**< LSS 'lss_inquire_addr', all parameters */
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CO_GTWA_ST__LSS_FASTSCAN = 0x30U, /**< LSS '_lss_fastscan' */
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CO_GTWA_ST_LSS_ALLNODES = 0x31U, /**< LSS 'lss_allnodes' */
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CO_GTWA_ST_LOG = 0x80U, /**< print message 'log' */
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CO_GTWA_ST_HELP = 0x81U, /**< print 'help' text */
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CO_GTWA_ST_LED = 0x82U /**< print 'status' of the node */
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} CO_GTWA_state_t;
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
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/*
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* CANopen Gateway-ascii data types structure
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*/
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typedef struct {
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char* syntax; /**< Data type syntax, as defined in CiA309-3 */
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size_t length; /**< Data type length in bytes, 0 if size is not known */
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/** Function, which reads data of specific data type from fifo buffer and writes them as corresponding ascii string.
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* It is a pointer to #CO_fifo_readU82a function or similar and is used with SDO upload. For description of
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* parameters see #CO_fifo_readU82a */
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size_t (*dataTypePrint)(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
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/** Function, which reads ascii-data of specific data type from fifo buffer and copies them to another fifo buffer
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* as binary data. It is a pointer to #CO_fifo_cpyTok2U8 function or similar and is used with SDO download. For
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* description of parameters see #CO_fifo_cpyTok2U8 */
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size_t (*dataTypeScan)(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status);
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} CO_GTWA_dataType_t;
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#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
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/**
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* CANopen Gateway-ascii object
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*/
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typedef struct {
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/** Pointer to external function for reading response from Gateway-ascii object. Pointer is initialized in
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* CO_GTWA_initRead().
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*
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* @param object Void pointer to custom object
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* @param buf Buffer from which data can be read
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* @param count Count of bytes available inside buffer
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* @param [out] connectionOK different than 0 indicates connection is OK.
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*
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* @return Count of bytes actually transferred.
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*/
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size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK);
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void* readCallbackObject; /**< Pointer to object, which will be used inside readCallback, from CO_GTWA_init() */
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uint32_t sequence; /**< Sequence number of the command */
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int32_t net_default; /**< Default CANopen Net number is undefined (-1) at startup */
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int16_t node_default; /**< Default CANopen Node ID number is undefined (-1) at startup */
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uint16_t net; /**< Current CANopen Net number */
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uint8_t node; /**< Current CANopen Node ID */
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CO_fifo_t commFifo; /**< CO_fifo_t object for command (not pointer) */
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uint8_t commBuf[CO_CONFIG_GTWA_COMM_BUF_SIZE + 1]; /**< Command buffer of usable size
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@ref CO_CONFIG_GTWA_COMM_BUF_SIZE */
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char respBuf[CO_GTWA_RESP_BUF_SIZE]; /**< Response buffer of usable size @ref CO_GTWA_RESP_BUF_SIZE */
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size_t respBufCount; /**< Actual size of data in respBuf */
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size_t respBufOffset; /**< If only part of data has been successfully written into external application (with
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readCallback()), then Gateway-ascii object will stay in current state. This situation is
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indicated with respHold variable and respBufOffset indicates offset to untransferred data
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inside respBuf. */
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bool_t respHold; /**< See respBufOffset above */
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uint32_t timeDifference_us_cumulative; /**< Sum of time difference from CO_GTWA_process() in case of respHold */
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CO_GTWA_state_t state; /**< Current state of the gateway object */
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uint32_t stateTimeoutTmr; /**< Timeout timer for the current state */
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
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CO_SDOclient_t* SDO_C; /**< SDO client object from CO_GTWA_init() */
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uint16_t SDOtimeoutTime; /**< Timeout time for SDO transfer in milliseconds, if no response */
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bool_t SDOblockTransferEnable; /**< SDO block transfer enabled? */
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bool_t SDOdataCopyStatus; /**< Indicate status of data copy from / to SDO buffer. If reading, true indicates, that
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response has started. If writing, true indicates, that SDO buffer contains only part of
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data and more data will follow. */
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const CO_GTWA_dataType_t* SDOdataType; /**< Data type of variable in current SDO communication */
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#endif
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
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CO_NMT_t* NMT; /**< NMT object from CO_GTWA_init() */
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#endif
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
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CO_LSSmaster_t* LSSmaster; /**< LSSmaster object from CO_GTWA_init() */
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CO_LSS_address_t lssAddress; /**< 128 bit number, uniquely identifying each node */
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uint8_t lssNID; /**< LSS Node-ID parameter */
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uint16_t lssBitrate; /**< LSS bitrate parameter */
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uint8_t lssInquireCs; /**< LSS inquire parameter */
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CO_LSSmaster_fastscan_t lssFastscan; /**< LSS fastscan parameter */
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uint8_t lssSubState; /**< LSS allnodes sub state parameter */
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uint8_t lssNodeCount; /**< LSS allnodes node count parameter */
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bool_t lssStore; /**< LSS allnodes store parameter */
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uint16_t lssTimeout_ms; /**< LSS allnodes timeout parameter */
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#endif
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#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
|
||
|
|
uint8_t logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1]; /**< Message log buffer of usable size
|
||
|
|
@ref CO_CONFIG_GTWA_LOG_BUF_SIZE */
|
||
|
|
CO_fifo_t logFifo; /**< CO_fifo_t object for message log (not pointer) */
|
||
|
|
#endif
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0) || defined CO_DOXYGEN
|
||
|
|
const char* helpString; /**< Offset, when printing help text */
|
||
|
|
size_t helpStringOffset;
|
||
|
|
#endif
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_LEDs_t* LEDs; /**< CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init() */
|
||
|
|
uint8_t ledStringPreviousIndex;
|
||
|
|
#endif
|
||
|
|
} CO_GTWA_t;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Initialize Gateway-ascii object
|
||
|
|
*
|
||
|
|
* @param gtwa This object will be initialized
|
||
|
|
* @param SDO_C SDO client object
|
||
|
|
* @param SDOclientTimeoutTime_ms Default timeout in milliseconds, 500 typically
|
||
|
|
* @param SDOclientBlockTransfer If true, block transfer will be set by default
|
||
|
|
* @param NMT NMT object
|
||
|
|
* @param LSSmaster LSS master object
|
||
|
|
* @param LEDs LEDs object
|
||
|
|
* @param dummy dummy argument, set to 0
|
||
|
|
*
|
||
|
|
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT
|
||
|
|
*/
|
||
|
|
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_SDOclient_t* SDO_C, uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer,
|
||
|
|
#endif
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_NMT_t* NMT,
|
||
|
|
#endif
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_LSSmaster_t* LSSmaster,
|
||
|
|
#endif
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_LEDs_t* LEDs,
|
||
|
|
#endif
|
||
|
|
uint8_t dummy);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Initialize read callback in Gateway-ascii object
|
||
|
|
*
|
||
|
|
* Callback will be used for transfer data to output stream of the application. It will be called from CO_GTWA_process()
|
||
|
|
* zero or multiple times, depending on the data available. If readCallback is uninitialized or NULL, then output data
|
||
|
|
* will be purged.
|
||
|
|
*
|
||
|
|
* @param gtwa This object will be initialized
|
||
|
|
* @param readCallback Pointer to external function for reading response from Gateway-ascii object. See #CO_GTWA_t for
|
||
|
|
* parameters.
|
||
|
|
* @param readCallbackObject Pointer to object, which will be used inside readCallback
|
||
|
|
*/
|
||
|
|
void CO_GTWA_initRead(CO_GTWA_t* gtwa,
|
||
|
|
size_t (*readCallback)(void* object, const char* buf, size_t count, uint8_t* connectionOK),
|
||
|
|
void* readCallbackObject);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get free write buffer space
|
||
|
|
*
|
||
|
|
* @param gtwa This object
|
||
|
|
*
|
||
|
|
* @return number of available bytes
|
||
|
|
*/
|
||
|
|
static inline size_t
|
||
|
|
CO_GTWA_write_getSpace(CO_GTWA_t* gtwa) {
|
||
|
|
return CO_fifo_getSpace(>wa->commFifo);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Write command into CO_GTWA_t object.
|
||
|
|
*
|
||
|
|
* This function copies ascii command from buf into internal fifo buffer. Command must be closed with '\n' character.
|
||
|
|
* Function returns number of bytes successfully copied. If there is not enough space in destination, not all bytes will
|
||
|
|
* be copied and data can be refilled later (in case of large SDO download).
|
||
|
|
*
|
||
|
|
* @param gtwa This object
|
||
|
|
* @param buf Buffer which will be copied
|
||
|
|
* @param count Number of bytes in buf
|
||
|
|
*
|
||
|
|
* @return number of bytes actually written.
|
||
|
|
*/
|
||
|
|
static inline size_t
|
||
|
|
CO_GTWA_write(CO_GTWA_t* gtwa, const char* buf, size_t count) {
|
||
|
|
return CO_fifo_write(>wa->commFifo, (const uint8_t*)buf, count, NULL);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
|
||
|
|
/**
|
||
|
|
* Print message log string into fifo buffer
|
||
|
|
*
|
||
|
|
* This function enables recording of system log messages including CANopen events. Function can be called by
|
||
|
|
* application for recording any message. Message is copied to internal fifo buffer. In case fifo is full, old messages
|
||
|
|
* will be owerwritten. Message log fifo can be read with non-standard command "log". After log is read, it is emptied.
|
||
|
|
* Message must not contain "\r\n" inside. Newline character '\n' will be added between the messages automatically.
|
||
|
|
*
|
||
|
|
* @param gtwa This object
|
||
|
|
* @param message Null terminated string
|
||
|
|
*/
|
||
|
|
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char* message);
|
||
|
|
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Process Gateway-ascii object
|
||
|
|
*
|
||
|
|
* This is non-blocking function and must be called cyclically
|
||
|
|
*
|
||
|
|
* @param gtwa This object will be initialized.
|
||
|
|
* @param enable If true, gateway operates normally. If false, gateway is completely disabled and no command interaction
|
||
|
|
* is possible. Can be connected to hardware switch, for example.
|
||
|
|
* @param timeDifference_us Time difference from previous function call in [microseconds].
|
||
|
|
* @param [out] timerNext_us info to OS - see CO_process().
|
||
|
|
*/
|
||
|
|
void CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint32_t* timerNext_us);
|
||
|
|
|
||
|
|
/** @} */ /* CO_CANopen_309_3 */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif /* __cplusplus */
|
||
|
|
|
||
|
|
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
|
||
|
|
|
||
|
|
#endif /* CO_GATEWAY_ASCII_H */
|