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Add SDO write functionality, not tested..

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Anders Sandstrom committed 2021-03-05 11:46:51 +01:00
1 parent 5561bb1816
commit 923d21d7f3
4 files changed
+216 -115
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ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
+203 -112
View File
@@ -17,6 +17,8 @@
#include <sstream>
#include "ecmcCANOpenSDO.h"
#define ECMC_SDO_TRANSFER_MAX_BYTES 7
/**
* ecmc ecmcCANOpenSDO class
*/
@@ -48,8 +50,9 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
exeCounter_ = 0;
busy_ = 0;
recivedBytes_ = 0;
readStates_ = IDLE;
writeStates_ = IDLE;
writtenBytes_ = 0;
readStates_ = READ_IDLE;
writeStates_ = WRITE_IDLE;
useTg1Frame_ = 1;
dataBuffer_ = new uint8_t(ODSize_);
@@ -117,16 +120,52 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
writeReqTransferFrame_.data[7] = ODLengthBytes_.byte3;
// Slave write confirm frame
writeSlaveConfFrame_.can_id = cobIdTx;
writeSlaveConfFrame_.can_dlc = 8; // data length
writeSlaveConfFrame_.data[0] = 0x60; // confirm frame for write
writeSlaveConfFrame_.data[1] = ODIndexBytes_.byte0;
writeSlaveConfFrame_.data[2] = ODIndexBytes_.byte1;
writeSlaveConfFrame_.data[3] = ODSubIndex_;
writeSlaveConfFrame_.data[4] = 0;
writeSlaveConfFrame_.data[5] = 0;
writeSlaveConfFrame_.data[6] = 0;
writeSlaveConfFrame_.data[7] = 0;
writeSlaveConfCmdFrame_.can_id = cobIdRx;
writeSlaveConfCmdFrame_.can_dlc = 8; // data length
writeSlaveConfCmdFrame_.data[0] = 0x60; // confirm frame for write
writeSlaveConfCmdFrame_.data[1] = ODIndexBytes_.byte0;
writeSlaveConfCmdFrame_.data[2] = ODIndexBytes_.byte1;
writeSlaveConfCmdFrame_.data[3] = ODSubIndex_;
writeSlaveConfCmdFrame_.data[4] = 0;
writeSlaveConfCmdFrame_.data[5] = 0;
writeSlaveConfCmdFrame_.data[6] = 0;
writeSlaveConfCmdFrame_.data[7] = 0;
// Data frame base
writeDataFrame_.can_id = cobIdTx;
writeDataFrame_.can_dlc = 8; // data length
writeDataFrame_.data[0] = 0; // need to toggle here
writeDataFrame_.data[1] = 0;
writeDataFrame_.data[2] = 0;
writeDataFrame_.data[3] = 0;
writeDataFrame_.data[4] = 0;
writeDataFrame_.data[5] = 0;
writeDataFrame_.data[6] = 0;
writeDataFrame_.data[7] = 0;
// Slave write confirm frame TG0
writeConfReqFrameTg0_.can_id = cobIdRx;
writeConfReqFrameTg0_.can_dlc = 8; // data length
writeConfReqFrameTg0_.data[0] = 0x20; // Toggle 0
writeConfReqFrameTg0_.data[1] = 0;
writeConfReqFrameTg0_.data[2] = 0;
writeConfReqFrameTg0_.data[3] = 0;
writeConfReqFrameTg0_.data[4] = 0;
writeConfReqFrameTg0_.data[5] = 0;
writeConfReqFrameTg0_.data[6] = 0;
writeConfReqFrameTg0_.data[7] = 0;
// Slave write confirm frame TG1
writeConfReqFrameTg1_.can_id = cobIdRx;
writeConfReqFrameTg1_.can_dlc = 8; // data length
writeConfReqFrameTg1_.data[0] = 0x30; // Toggle 1
writeConfReqFrameTg1_.data[1] = 0;
writeConfReqFrameTg1_.data[2] = 0;
writeConfReqFrameTg1_.data[3] = 0;
writeConfReqFrameTg1_.data[4] = 0;
writeConfReqFrameTg1_.data[5] = 0;
writeConfReqFrameTg1_.data[6] = 0;
writeConfReqFrameTg1_.data[7] = 0;
}
ecmcCANOpenSDO::~ecmcCANOpenSDO() {
@@ -162,120 +201,172 @@ void ecmcCANOpenSDO::execute() {
void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
// Wait for:
// # r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00
int errorCode = 0;
if(!busy_) {
// Not waiting for any data
// Not waiting for any data..
return;
}
// Esnure that frame is from slave
if(frame->can_id != cobIdTx_) {
return; // not correct frame NEED MORE CHECKS HERE!! Ensure correct and not error frame
}
if(rw_ == DIR_READ) {
switch(readStates_) {
case READ_WAIT_FOR_CONF:
// Compare to the conf frame.. might not always be correct
if ( !frameEqual(&readSlaveConfFrame_,frame)) {
return;
}
readStates_ = READ_WAIT_FOR_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = READ_WAIT_FOR_DATA\n");
}
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_); // Send tg0 frame and wait for data, also size must match to go ahead
useTg1Frame_ = 1;
break;
errorCode = readDataStateMachine(frame);
}
else { // Write
errorCode = writeDataStateMachine(frame);
}
}
case READ_WAIT_FOR_DATA:
if(frame->can_id != cobIdTx_) {
return; // not correct frame
}
//Add data to buffer
if(frame->can_dlc-1 + recivedBytes_ <= ODSize_) {
memcpy(dataBuffer_ + recivedBytes_, &(frame->data[1]),frame->can_dlc-1);
recivedBytes_ += frame->can_dlc-1;
}
if(recivedBytes_ < ODSize_) { // Ask for more data but must toggle so alternat the prepared frames
if(useTg1Frame_) {
writeBuffer_->addWriteCAN(&readConfReqFrameTg1_);
useTg1Frame_ = 0;
} else {
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_);
useTg1Frame_ = 1;
}
int ecmcCANOpenSDO::readDataStateMachine(can_frame *frame) {
int bytesToRead = 0;
switch(readStates_) {
case READ_WAIT_FOR_CONF:
// Compare to the conf frame.. might not always be correct NEED MORE CHECKS HERE!!
if (!frameEqual(&readSlaveConfFrame_,frame)) {
return 0;
}
readStates_ = READ_WAIT_FOR_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = READ_WAIT_FOR_DATA\n");
}
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_); // Send tg0 frame and wait for data, also size must match to go ahead
useTg1Frame_ = 1;
break;
case READ_WAIT_FOR_DATA:
//Add data to buffer
bytesToRead = frame->can_dlc-1;
if( bytesToRead > ECMC_SDO_TRANSFER_MAX_BYTES) {
bytesToRead = ECMC_SDO_TRANSFER_MAX_BYTES;
}
if(bytesToRead + recivedBytes_ <= ODSize_) {
memcpy(dataBuffer_ + recivedBytes_, &(frame->data[1]),bytesToRead);
recivedBytes_ += bytesToRead;
}
if(recivedBytes_ < ODSize_) { // Ask for more data but must toggle so alternat the prepared frames
if(useTg1Frame_) {
writeBuffer_->addWriteCAN(&readConfReqFrameTg1_);
useTg1Frame_ = 0;
} else {
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_);
useTg1Frame_ = 1;
}
}
if(dbgMode_) {
printf("recived bytes = %d\n",recivedBytes_);
}
if (recivedBytes_ >= ODSize_) {
readStates_ =READ_IDLE;
busy_ = 0;
useTg1Frame_ = 0;
if(dbgMode_) {
printf("recived bytes = %d\n",recivedBytes_);
}
if (recivedBytes_ == ODSize_) {
readStates_ =IDLE;
busy_ = 0;
if(dbgMode_) {
printf("All data transfered for SDO.\n");
printBuffer();
}
printf("STATE = READ_IDLE\n");
printf("All data read from slave SDO.\n");
printBuffer();
}
return 0;
}
break;
default:
return 0;
break;
}
return 0;
}
break;
default:
return;
break;
}
int ecmcCANOpenSDO::writeDataStateMachine(can_frame *frame) {
int bytes = 0;
switch(writeStates_) {
case WRITE_WAIT_FOR_CONF:
writtenBytes_ = 0;
useTg1Frame_ = 0;
// Compare to the conf frame.. might not always be correct MORE TESTS NEEDED HERE!!!!
if ( !frameEqual(&writeSlaveConfCmdFrame_,frame)) {
return 0;
}
writeNextDataToSlave(useTg1Frame_);
writeStates_ = WRITE_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = WRITE_DATA\n");
}
break;
case WRITE_DATA:
// Wait for writeConfReqFrameTgX_ from from slave (toggle X = 1 or 0)
if(!writeWaitForDataConfFrame(useTg1Frame_, frame)) {
return 0;
}
// next frame use the other toggle option
useTg1Frame_ = !useTg1Frame_;
bytes = writeNextDataToSlave(useTg1Frame_);
if(writtenBytes_ >= ODSize_) {
writeStates_ = WRITE_IDLE;
useTg1Frame_ = 0;
busy_ = 0;
if(dbgMode_) {
printf("STATE = WRITE_IDLE\n");
printf("All data written to slave SDO.\n");
printBuffer();
}
return 0;
}
break;
default:
return 0;
break;
}
return 0;
}
// Return Number of bytes written if 0 then we are done!
int ecmcCANOpenSDO::writeNextDataToSlave(int useToggle) {
// How many bytes should we write
int bytesToWrite = ODSize_-writtenBytes_;
if(bytesToWrite>ECMC_SDO_TRANSFER_MAX_BYTES) {
bytesToWrite = ECMC_SDO_TRANSFER_MAX_BYTES;
}
if (bytesToWrite<=0) {
return 0;
}
//Copy data to frame (start at element 1 since toggle is at data 0)
memcpy(&(writeDataFrame_.data[1]),dataBuffer_ + writtenBytes_,bytesToWrite);
writeDataFrame_.can_dlc = bytesToWrite + 1; // need to include the toggle byte
// add toggle byte (start with toggle 0)
if(useToggle) {
writeDataFrame_.data[0] = 0x30; // toggle 1
} else {
writeDataFrame_.data[0] = 0x20; // toggle 0
}
// Write
writeBuffer_->addWriteCAN(&writeDataFrame_); // Send first data frame
writtenBytes_ += bytesToWrite;
return bytesToWrite;
}
int ecmcCANOpenSDO::writeWaitForDataConfFrame(int useToggle, can_frame *frame) {
// Wait for writeConfReqFrameTg0_ from from slave (toggle 1 or 0)
if (useToggle) {
if (frameEqual(&writeConfReqFrameTg1_,frame)) {
return 1;
}
}
else {
switch(writeStates_) {
case WRITE_WAIT_FOR_CONF:
// Compare to the conf frame.. might not always be correct
if ( !frameEqual(&writeSlaveConfFrame_,frame)) {
return;
}
readStates_ = WRITE_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = READ_WAIT_FOR_DATA\n");
}
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_); // Send first data frame
useTg1Frame_ = 1;
break;
case READ_WAIT_FOR_DATA:
if(frame->can_id != cobIdTx_) {
return; // not correct frame
}
//Add data to buffer
if(frame->can_dlc-1 + recivedBytes_ <= ODSize_) {
memcpy(dataBuffer_ + recivedBytes_, &(frame->data[1]),frame->can_dlc-1);
recivedBytes_ += frame->can_dlc-1;
}
if(recivedBytes_ < ODSize_) { // Ask for more data but must toggle so alternat the prepared frames
if(useTg1Frame_) {
writeBuffer_->addWriteCAN(&readConfReqFrameTg1_);
useTg1Frame_ = 0;
} else {
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_);
useTg1Frame_ = 1;
}
}
if(dbgMode_) {
printf("recived bytes = %d\n",recivedBytes_);
}
if (recivedBytes_ == ODSize_) {
readStates_ =IDLE;
busy_ = 0;
if(dbgMode_) {
printf("All data transfered for SDO.\n");
printBuffer();
}
}
break;
default:
return;
break;
if (frameEqual(&writeConfReqFrameTg0_,frame)) {
return 1;
}
}
return 0;
}
int ecmcCANOpenSDO::frameEqual(can_frame *frame1,can_frame *frame2) {
@@ -320,7 +411,7 @@ void ecmcCANOpenSDO::setValue(uint8_t *data, size_t bytes) {
int ecmcCANOpenSDO::writeValue() {
// Busy right now!
if(busy_ || writeStates_ != IDLE ) {
if(busy_ || writeStates_ != WRITE_IDLE ) {
return ECMC_CAN_ERROR_SDO_WRITE_BUSY;
}
busy_ = 1;
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
+10
View File
@@ -47,6 +47,10 @@ class ecmcCANOpenSDO {
private:
int frameEqual(can_frame *frame1,can_frame *frame2);
int readDataStateMachine(can_frame *frame);
int writeDataStateMachine(can_frame *frame);
int writeNextDataToSlave(int useToggle);
int writeWaitForDataConfFrame(int useToggle, can_frame *frame);
ecmcSocketCANWriteBuffer *writeBuffer_;
uint32_t cobIdRx_; // with cobid
@@ -66,6 +70,11 @@ class ecmcCANOpenSDO {
can_frame readSlaveConfFrame_;
can_frame writeReqTransferFrame_;
can_frame writeSlaveConfCmdFrame_;
can_frame writeDataFrame_;
can_frame writeConfReqFrameTg0_;
can_frame writeConfReqFrameTg1_;
int dbgMode_;
int busy_;
uint8_t *dataBuffer_;
@@ -74,6 +83,7 @@ class ecmcCANOpenSDO {
ecmc_read_states readStates_;
ecmc_write_states writeStates_;
void printBuffer();
uint32_t writtenBytes_;
};
#endif /* ECMC_CANOPEN_SDO_H_ */
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
+1 -1
View File
@@ -128,7 +128,7 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
// can0 0x701 [1] 05
//can_add_write(1793,1,5,0,0,0,0,0,0,0);
heartPdo_ = new ecmcCANOpenPDO( writeBuffer_, 0x701,DIR_WRITE,1,0,1000,exeSampleTimeMs_, cfgDbgMode_);
heartPdo_->setPdoValue(5);
heartPdo_->setValue(5);
initAsyn();
}
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANDefs.h
+2 -2
View File
@@ -24,13 +24,13 @@ enum ecmc_can_direction {
DIR_WRITE };
enum ecmc_read_states {
IDLE,
READ_IDLE,
READ_REQ_TRANSFER,
READ_WAIT_FOR_CONF,
READ_WAIT_FOR_DATA};
enum ecmc_write_states {
IDLE,
WRITE_IDLE,
WRITE_REQ_TRANSFER,
WRITE_WAIT_FOR_CONF,
WRITE_DATA,