c-open: Fix cached status. Fix SDO 7B last packet. Add cb_notify event.

Tested-by: Daniel Udd <daniel.udd@rt-labs.com>
Reviewed-by: Daniel Udd <daniel.udd@rt-labs.com>

Author: Magnus Johansson

CMakeLists.txt

@@ -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"
   CACHE STRING "timeout in ms for ongoing SDO transfers")
 
 set(CO_THREAD_PRIO "10"

include/co_api.h

@@ -172,34 +172,37 @@ typedef enum co_otype
    OTYPE_RECORD    = 0x09,
 } co_otype_t;
 
+#define DTYPE_FLAG_ATOMIC       (1 << 31)
+#define DTYPE_MASK              0x7FFFFFFF
+
 /** Dictionary datatypes. See CiA 301 7.4.7 */
 typedef enum co_dtype
 {
-   DTYPE_BOOLEAN         = 0x0001,
-   DTYPE_INTEGER8        = 0x0002,
-   DTYPE_INTEGER16       = 0x0003,
-   DTYPE_INTEGER32       = 0x0004,
-   DTYPE_UNSIGNED8       = 0x0005,
-   DTYPE_UNSIGNED16      = 0x0006,
-   DTYPE_UNSIGNED32      = 0x0007,
-   DTYPE_REAL32          = 0x0008,
+   DTYPE_BOOLEAN         = DTYPE_FLAG_ATOMIC | 0x0001,
+   DTYPE_INTEGER8        = DTYPE_FLAG_ATOMIC | 0x0002,
+   DTYPE_INTEGER16       = DTYPE_FLAG_ATOMIC | 0x0003,
+   DTYPE_INTEGER32       = DTYPE_FLAG_ATOMIC | 0x0004,
+   DTYPE_UNSIGNED8       = DTYPE_FLAG_ATOMIC | 0x0005,
+   DTYPE_UNSIGNED16      = DTYPE_FLAG_ATOMIC | 0x0006,
+   DTYPE_UNSIGNED32      = DTYPE_FLAG_ATOMIC | 0x0007,
+   DTYPE_REAL32          = DTYPE_FLAG_ATOMIC | 0x0008,
    DTYPE_VISIBLE_STRING  = 0x0009,
    DTYPE_OCTET_STRING    = 0x000A,
    DTYPE_UNICODE_STRING  = 0x000B,
    DTYPE_TIME_OF_DAY     = 0x000C,
    DTYPE_TIME_DIFFERENCE = 0x000D,
    DTYPE_DOMAIN          = 0x000F,
    DTYPE_INTEGER24       = 0x0010,
-   DTYPE_REAL64          = 0x0011,
+   DTYPE_REAL64          = DTYPE_FLAG_ATOMIC | 0x0011,
    DTYPE_INTEGER40       = 0x0012,
    DTYPE_INTEGER48       = 0x0013,
    DTYPE_INTEGER56       = 0x0014,
-   DTYPE_INTEGER64       = 0x0015,
+   DTYPE_INTEGER64       = DTYPE_FLAG_ATOMIC | 0x0015,
    DTYPE_UNSIGNED24      = 0x0016,
    DTYPE_UNSIGNED40      = 0x0018,
    DTYPE_UNSIGNED48      = 0x0019,
    DTYPE_UNSIGNED56      = 0x001A,
-   DTYPE_UNSIGNED64      = 0x001B,
+   DTYPE_UNSIGNED64      = DTYPE_FLAG_ATOMIC | 0x001B,
    DTYPE_PDO_COMM_PARAM  = 0x0020,
    DTYPE_PDO_MAPPING     = 0x0021,
    DTYPE_SDO_PARAM       = 0x0022,
@@ -223,11 +226,19 @@ typedef enum co_dtype
 /** Access function event */
 typedef enum od_event
 {
-   OD_EVENT_READ,    /**< Read subindex */
-   OD_EVENT_WRITE,   /**< Write subindex */
-   OD_EVENT_RESTORE, /**< Restore default value */
+   OD_EVENT_READ,       /**< Read subindex */
+   OD_EVENT_WRITE,      /**< Write subindex */
+   OD_EVENT_RESTORE,    /**< Restore default value */
 } od_event_t;
 
+/** Notify event */
+typedef enum od_notify_event
+{
+   OD_NOTIFY_ACCESSED,
+   OD_NOTIFY_VALUE_SET,
+   OD_NOTIFY_SDO_RECEIVED,
+} od_notify_event_t;
+
 struct co_obj;
 struct co_entry;
 
@@ -317,7 +328,7 @@ typedef struct co_cfg
       uint8_t msef[5]);
 
    /** Notify callback */
-   void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex);
+   void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex, od_notify_event_t event, uint32_t value);
 
    /** Function to open dictionary store */
    void * (*open) (co_store_t store, co_mode_t mode);

src/co_main.c

@@ -277,6 +277,7 @@ int co_sdo_read (
    job->sdo.subindex = subindex;
    job->sdo.data     = data;
    job->sdo.remain   = size;
+   job->sdo.cached   = false;
    job->callback     = co_job_callback;
    job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_READ;
@@ -306,6 +307,7 @@ int co_sdo_write (
    job->sdo.subindex = subindex;
    job->sdo.data     = (uint8_t *)data;
    job->sdo.remain   = size;
+   job->sdo.cached   = false;
    job->callback     = co_job_callback;
    job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_WRITE;

src/co_main.h

@@ -277,7 +277,7 @@ struct co_net
       uint8_t msef[5]);
 
    /** Notify callback */
-   void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex);
+   void (*cb_notify) (co_net_t * net, uint16_t index, uint8_t subindex, od_notify_event_t event, uint32_t value);
 
    /** Function to open dictionary store */
    void * (*open) (co_store_t store, co_mode_t mode);

src/co_od.c

@@ -36,16 +36,18 @@ static int co_subindex_equals (
    return entry->subindex == subindex;
 }
 
-static void co_od_notify (
+void co_od_notify (
    co_net_t * net,
    const co_obj_t * obj,
    const co_entry_t * entry,
-   uint8_t subindex)
+   uint8_t subindex,
+   od_notify_event_t event,
+   uint32_t value)
 {
    if (entry->flags & OD_NOTIFY)
    {
       if (net->cb_notify)
-         net->cb_notify (net, obj->index, subindex);
+         net->cb_notify (net, obj->index, subindex, event, value);
    }
 }
 
@@ -221,7 +223,7 @@ uint32_t co_od_set_value (
       uint32_t v = value;
 
       result = obj->access (net, OD_EVENT_WRITE, obj, entry, subindex, &v);
-      co_od_notify (net, obj, entry, subindex);
+      co_od_notify (net, obj, entry, subindex, OD_NOTIFY_ACCESSED, 0);
       return result;
    }
 
@@ -262,7 +264,7 @@ uint32_t co_od_set_value (
       return CO_SDO_ABORT_GENERAL;
    }
 
-   co_od_notify (net, obj, entry, subindex);
+   co_od_notify (net, obj, entry, subindex, OD_NOTIFY_VALUE_SET, 0);
    return 0;
 }
 

src/co_od.h

@@ -271,6 +271,27 @@ uint32_t co_od_set_value (
    uint8_t subindex,
    uint64_t value);
 
+/**
+ * Trigger notification callback
+ *
+ * This functions triggers the notification callback of the subindex,
+ * if any.
+ *
+ * @param net           network handle
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param event         event type
+ * @param value         optional value
+ */
+void co_od_notify (
+   co_net_t * net,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   od_notify_event_t event,
+   uint32_t value);
+
 #ifdef __cplusplus
 }
 #endif

src/co_sdo_client.c

@@ -154,15 +154,15 @@ static int co_sdo_tx_download_init_rsp (
       memcpy (&msg[1], job->sdo.data, size);
 
       msg[0] = CO_SDO_CCS_DOWNLOAD_SEG_REQ | ((7 - (size & 0x07)) << 1);
-      if (size < 7)
-         msg[0] |= CO_SDO_C;
 
       job->sdo.toggle = 0;
-
       job->sdo.data += size;
       job->sdo.remain -= size;
       job->sdo.total += size;
 
+      if (job->sdo.remain == 0)
+         msg[0] |= CO_SDO_C;
+
       os_channel_send (net->channel, 0x600 + node, msg, sizeof (msg));
    }
 
@@ -209,13 +209,14 @@ static int co_sdo_tx_download_seg_rsp (
       msg[0] = CO_SDO_CCS_DOWNLOAD_SEG_REQ | ((7 - (size & 0x07)) << 1);
       if (job->sdo.toggle)
          msg[0] |= CO_SDO_TOGGLE;
-      if (size < 7)
-         msg[0] |= CO_SDO_C;
 
       job->sdo.data += size;
       job->sdo.remain -= size;
       job->sdo.total += size;
 
+      if (job->sdo.remain == 0)
+         msg[0] |= CO_SDO_C;
+
       os_channel_send (net->channel, 0x600 + node, msg, sizeof (msg));
    }