cop.c

00001 /*******************************************************************************
00002 ********************************************************************************
00003 **                                                                            **
00004 ** ABCC Starter Kit version 2.01.01 (2015-12-14)                              **
00005 **                                                                            **
00006 ** Delivered with:                                                            **
00007 **    ABCC Driver 4.01.01 (2015-12-14)                                        **
00008 **    ABP         7.16.01 (2015-10-14)                                        **
00009 **                                                                            */
00010 /*******************************************************************************
00011 ********************************************************************************
00012 ** COPYRIGHT NOTIFICATION (c) 2015 HMS Industrial Networks AB                 **
00013 **                                                                            **
00014 ** This code is the property of HMS Industrial Networks AB.                   **
00015 ** The source code may not be reproduced, distributed, or used without        **
00016 ** permission. When used together with a product from HMS, permission is      **
00017 ** granted to modify, reproduce and distribute the code in binary form        **
00018 ** without any restrictions.                                                  **
00019 **                                                                            **
00020 ** THE CODE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. HMS DOES NOT    **
00021 ** WARRANT THAT THE FUNCTIONS OF THE CODE WILL MEET YOUR REQUIREMENTS, OR     **
00022 ** THAT THE OPERATION OF THE CODE WILL BE UNINTERRUPTED OR ERROR-FREE, OR     **
00023 ** THAT DEFECTS IN IT CAN BE CORRECTED.                                       **
00024 ********************************************************************************
00025 ********************************************************************************
00026 ** Source file for the CANopen Object.
00027 ********************************************************************************
00028 ********************************************************************************
00029 */
00030 
00031 #include "abcc_td.h"
00032 #include "abcc.h"
00033 #include "abcc_obj_cfg.h"
00034 #include "cop.h"
00035 #include "abp.h"
00036 #include "abp_cop.h"
00037 #include "string.h"
00038 #include "appl_abcc_handler.h"
00039 #include "abcc_port.h"
00040 
00041 #if COP_OBJ_ENABLE
00042 
00043 /*******************************************************************************
00044 ** Defines
00045 ********************************************************************************
00046 */
00047 
00048 /*------------------------------------------------------------------------------
00049 ** Object attribute values
00050 **------------------------------------------------------------------------------
00051 */
00052 #define COP_OA_NAME_VALUE                          "CANopen"
00053 #define COP_OA_REV_VALUE                           1
00054 #define COP_OA_NUM_INST_VALUE                      1
00055 #define COP_OA_HIGHEST_INST_VALUE                  1
00056 
00057 /*******************************************************************************
00058 ** Typedefs
00059 ********************************************************************************
00060 */
00061 
00062 /*------------------------------------------------------------------------------
00063 ** Structure describing an CANopen Object.
00064 **------------------------------------------------------------------------------
00065 */
00066 typedef struct cop_Object
00067 {
00068    const  char* pcName;
00069    UINT8  bRevision;
00070    UINT16 iNumberOfInstances;
00071    UINT16 iHighestInstanceNo;
00072 }
00073 cop_ObjectType;
00074 
00075 
00076 /*------------------------------------------------------------------------------
00077 ** Forward declarations
00078 **------------------------------------------------------------------------------
00079 */
00080 static void InstanceCommand( ABP_MsgType* psNewMessage );
00081 static void ObjectCommand( ABP_MsgType* psNewMessage );
00082 
00083 /*******************************************************************************
00084 ** Private Globals
00085 ********************************************************************************
00086 */
00087 
00088 static const cop_ObjectType cop_sObject =
00089 {
00090    COP_OA_NAME_VALUE,                           /* Name.                                              */
00091    COP_OA_REV_VALUE,                            /* Revision.                                          */
00092    COP_OA_NUM_INST_VALUE,                       /* Number of instances.                               */
00093    COP_OA_HIGHEST_INST_VALUE                    /* Highest instance number.                           */
00094 };
00095 
00096 /*******************************************************************************
00097 ** Public Services
00098 ********************************************************************************
00099 */
00100 
00101 void COP_ProcessCmdMsg( ABP_MsgType* psNewMessage )
00102 {
00103    /*
00104    ** This function processes commands to the CANopen Object and its Instance.
00105    */
00106    if( ABCC_GetMsgInstance( psNewMessage ) == ABP_INST_OBJ )
00107    {
00108       /*
00109       ** The CANopen object Command.
00110       */
00111       ObjectCommand( psNewMessage );
00112    }
00113    else
00114    {
00115       /*
00116       ** The CANopen instance Command.
00117       */
00118       InstanceCommand( psNewMessage );
00119    }
00120 
00121    ABCC_SendRespMsg( psNewMessage );
00122 }
00123 
00124 /*******************************************************************************
00125 ** Private Services
00126 ********************************************************************************
00127 */
00128 
00129 /*------------------------------------------------------------------------------
00130 ** Processes commands to COP Instances
00131 **------------------------------------------------------------------------------
00132 ** Arguments:
00133 **    psNewMessage      - Pointer to a ABP_MsgType message.
00134 **
00135 ** Returns:
00136 **    None
00137 **------------------------------------------------------------------------------
00138 */
00139 static void InstanceCommand( ABP_MsgType* psNewMessage )
00140 {
00141    /*
00142    ** This function processes commands to the DeviceNet Instance.
00143    */
00144    if( ABCC_GetMsgInstance( psNewMessage ) != 1 )
00145    {
00146       /*
00147       ** The Instance does not exist.
00148       */
00149       ABP_SetMsgErrorResponse( psNewMessage, 1, ABP_ERR_UNSUP_INST );
00150       return;
00151    }
00152 
00153    switch ( ABCC_GetMsgCmdBits( psNewMessage ) )
00154    {
00155    case ABP_CMD_GET_ATTR:
00156    {
00157       switch( ABCC_GetMsgCmdExt0( psNewMessage ) )
00158       {
00159 #ifdef COP_IA_VENDOR_ID_ENABLE
00160       case ABP_COP_IA_VENDOR_ID:
00161 
00162          /*
00163          ** Copy the 1st Instance 1 attribute (Vendor ID) to the message.
00164          */
00165          ABCC_SetMsgData32( psNewMessage, COP_IA_VENDOR_ID_VALUE, 0 );
00166          ABP_SetMsgResponse( psNewMessage, ABP_COP_IA_VENDOR_ID_DS );
00167          break;
00168 #endif
00169 #ifdef COP_IA_PRODUCT_CODE_ENABLE
00170       case ABP_COP_IA_PRODUCT_CODE:
00171 
00172          /*
00173          ** Copy the 2nd Instance 1 attribute (Product code) to the message.
00174          */
00175          ABCC_SetMsgData32( psNewMessage, COP_IA_PRODUCT_CODE_VALUE, 0 );
00176          ABP_SetMsgResponse( psNewMessage, ABP_COP_IA_PRODUCT_CODE_DS );
00177          break;
00178 #endif
00179 #ifdef COP_IA_REV_MAJOR_ENABLE
00180       case ABP_COP_IA_MAJOR_REV:
00181 
00182          /*
00183          ** Copy the 3rd Instance 1 attribute (Major revision) to the message.
00184          */
00185          ABCC_SetMsgData16( psNewMessage, COP_IA_REV_MAJOR_VALUE, 0 );
00186          ABP_SetMsgResponse( psNewMessage, ABP_COP_IA_MAJOR_REV_DS );
00187          break;
00188 #endif
00189 #ifdef COP_IA_REV_MINOR_ENABLE
00190       case ABP_COP_IA_MINOR_REV:
00191 
00192          /*
00193          ** Copy the 4th Instance 1 attribute (Minor revision) to the message.
00194          */
00195          ABCC_SetMsgData16( psNewMessage, COP_IA_REV_MINOR_VALUE, 0 );
00196          ABP_SetMsgResponse( psNewMessage, ABP_COP_IA_MINOR_REV_DS );
00197          break;
00198 #endif
00199 #ifdef COP_IA_SERIAL_NUMBER_ENABLE
00200       case ABP_COP_IA_SERIAL_NUMBER:
00201 
00202          /*
00203          ** Copy the 5th Instance 1 attribute (Serial number) to the message.
00204          */
00205          ABCC_SetMsgData32( psNewMessage, COP_IA_SERIAL_NUMBER_VALUE, 0 );
00206          ABP_SetMsgResponse( psNewMessage, ABP_COP_IA_SERIAL_NUMBER_DS );
00207          break;
00208 #endif
00209 #ifdef COP_IA_MANF_DEV_NAME_ENABLE
00210       case ABP_COP_IA_MANF_DEV_NAME:
00211       {
00212          UINT16 iStrLength;
00213 
00214          iStrLength = (UINT16)strlen( COP_IA_MANF_DEV_NAME_VALUE );
00215 
00216          /*
00217          ** Copy the 6th Instance 1 attribute (Manufacture device name) to the message.
00218          */
00219          ABCC_SetMsgString( psNewMessage, COP_IA_MANF_DEV_NAME_VALUE, iStrLength, 0 );
00220          ABP_SetMsgResponse( psNewMessage, iStrLength );
00221          break;
00222       }
00223 #endif
00224 #ifdef COP_IA_MANF_HW_VER_ENABLE
00225       case ABP_COP_IA_MANF_HW_VER:
00226       {
00227          UINT16 iStrLength;
00228 
00229          iStrLength = (UINT16)strlen( COP_IA_MANF_HW_VER_VALUE );
00230 
00231          /*
00232          ** Copy the 7th Instance 1 attribute (Manufacture hardware version) to the message.
00233          */
00234          ABCC_SetMsgString( psNewMessage, COP_IA_MANF_HW_VER_VALUE, iStrLength, 0 );
00235          ABP_SetMsgResponse( psNewMessage, iStrLength );
00236          break;
00237       }
00238 #endif
00239 #ifdef COP_IA_MANF_SW_VER_ENABLE
00240       case ABP_COP_IA_MANF_SW_VER:
00241       {
00242          UINT16 iStrLength;
00243 
00244          iStrLength = (UINT16)strlen( COP_IA_MANF_SW_VER_VALUE );
00245 
00246          /*
00247          ** Copy the 8th Instance 1 attribute (Manufacture software version) to the message.
00248          */
00249          ABCC_SetMsgString( psNewMessage, COP_IA_MANF_SW_VER_VALUE, iStrLength, 0 );
00250          ABP_SetMsgResponse( psNewMessage, iStrLength );
00251          break;
00252       }
00253 #endif
00254       default:
00255 
00256          /*
00257          ** Unsupported attribute.
00258          */
00259          ABP_SetMsgErrorResponse( psNewMessage, 1, ABP_ERR_INV_CMD_EXT_0 );
00260          break;
00261       }
00262       break;
00263    }
00264    default:
00265 
00266       /*
00267       ** Unsupported command.
00268       */
00269       ABP_SetMsgErrorResponse( psNewMessage, 1, ABP_ERR_UNSUP_CMD );
00270       break;
00271 
00272    } /* End of switch( Command number ) */
00273 }
00274 
00275 /*------------------------------------------------------------------------------
00276 ** Processes commands to the COP Object (Instance 0)
00277 **------------------------------------------------------------------------------
00278 ** Arguments:
00279 **    psNewMessage      - Pointer to a ABP_MsgType message.
00280 **
00281 ** Returns:
00282 **    None
00283 **------------------------------------------------------------------------------
00284 */
00285 static void ObjectCommand( ABP_MsgType* psNewMessage )
00286 {
00287    /*
00288    ** This function processes commands to the CANopen Object (Instance 0).
00289    */
00290    switch ( ABCC_GetMsgCmdBits( psNewMessage ) )
00291    {
00292    case ABP_CMD_GET_ATTR:
00293    {
00294       switch( ABCC_GetMsgCmdExt0( psNewMessage ) )
00295       {
00296       case ABP_OA_NAME:
00297       {
00298          UINT16 iStrLength;
00299 
00300          /*
00301          ** Copy the attribute to a message.
00302          */
00303          iStrLength = (UINT16)strlen( cop_sObject.pcName );
00304          ABCC_SetMsgString( psNewMessage, cop_sObject.pcName, iStrLength, 0 );
00305          ABP_SetMsgResponse( psNewMessage, (UINT8)iStrLength );
00306          break;
00307       }
00308 
00309       case ABP_OA_REV:
00310 
00311          /*
00312          ** Copy the attribute to a message.
00313          */
00314          ABCC_SetMsgData8( psNewMessage, cop_sObject.bRevision, 0 );
00315          ABP_SetMsgResponse( psNewMessage, ABP_OA_REV_DS );
00316          break;
00317 
00318       case ABP_OA_NUM_INST:
00319 
00320          /*
00321          ** Copy the attribute to a message.
00322          */
00323          ABCC_SetMsgData16( psNewMessage, cop_sObject.iNumberOfInstances, 0 );
00324          ABP_SetMsgResponse( psNewMessage, ABP_OA_NUM_INST_DS );
00325          break;
00326 
00327       case ABP_OA_HIGHEST_INST:
00328 
00329          /*
00330          ** Copy the attribute to a message.
00331          */
00332          ABCC_SetMsgData16( psNewMessage, cop_sObject.iHighestInstanceNo, 0 );
00333          ABP_SetMsgResponse( psNewMessage, ABP_OA_HIGHEST_INST_DS );
00334          break;
00335 
00336       default:
00337 
00338          /*
00339          ** Unsupported attribute.
00340          */
00341          ABP_SetMsgErrorResponse( psNewMessage, 1, ABP_ERR_INV_CMD_EXT_0 );
00342          break;
00343 
00344       } /* End of switch( Attribute number ) */
00345 
00346       break;
00347    }
00348 
00349    default:
00350 
00351       /*
00352       ** Unsupported command.
00353       */
00354       ABP_SetMsgErrorResponse( psNewMessage, 1, ABP_ERR_UNSUP_CMD );
00355       break;
00356 
00357    } /* End of switch( Command number ) */
00358 }
00359 
00360 #endif /* COP_OBJ_ENABLE */