FWT-146 Start Drinking On (SDO) company time #112
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DiegoLHendrix
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include/core/io/CANopen.hpp
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| * @param node[in] The SDO node | ||
| * @param sampleDataArray[in] The value to set sample data to | ||
| */ | ||
| CO_ERR SDOTransfer(CO_NODE &node, uint8_t *data, uint8_t size, uint32_t entry); |
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@mjh9585 Do you think it's worth converting the error to a different type? That's what we do for the HAL and ThreadX
| { | ||
| /* Communication Object SDO Server */ | ||
| .Key = CO_KEY(0x1280, 0x00, CO_OBJ_D___R_), | ||
| .Type = CO_TUNSIGNED32, | ||
| .Data = (CO_DATA) 0x03, | ||
| }, | ||
| { | ||
| /* SDO Server Request COBID */ | ||
| .Key = CO_KEY(0x1280, 0x01, CO_OBJ_D___R_), | ||
| .Type = CO_TUNSIGNED32, | ||
| .Data = (CO_DATA) CO_COBID_SDO_REQUEST(), | ||
| }, | ||
| { | ||
| /* SDO Server Response COBID */ | ||
| .Key = CO_KEY(0x1280, 0x02, CO_OBJ_D___R_), | ||
| .Type = CO_TUNSIGNED32, | ||
| .Data = (CO_DATA) CO_COBID_SDO_RESPONSE(), | ||
| }, | ||
| { | ||
| /* Node ID of Server */ | ||
| .Key = CO_KEY(0x1280, 0x03, CO_OBJ_D___R_), | ||
| .Type = CO_TUNSIGNED8, | ||
| .Data = (CO_DATA) 1, |
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It would be great to have macros for these
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| while (1) { | ||
| if ((HAL_GetTick() - lastUpdate1) >= 1000) { // If 1000ms have passed receive CAN message. | ||
| testCanNode.receiveData(canNode); // Receive data from server |
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I really do not like that you have to pass the CO_NODE in every time you call this function. I think it might be better to store the CO_NODE in SDOCanNode, but I'm not sure because you'd have to make a function to get a pointer to pass into io::processCANopenNode. @mjh9585 what do you think?
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I think it is fine as you still have to pass it into io::processCANopenNode and an extra method to access CO_NODE from SDOCanNode would make it harder to follow. Perhaps a better approach would be to pass a pointer to CO_NODE into the constructor instead.
| uint8_t* data = message.getPayload(); | ||
| for (int i = 0; i < message.getDataLength(); i++) { | ||
| uart.printf("%X ", *data); | ||
| log::LOGGER.log(log::Logger::LogLevel::INFO, "%X ", *data); |
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Instead of logging each byte, build a string of the data and print 1 log message.
| */ | ||
| CO_CSDO* csdo = COCSdoFind(&(node), 0); | ||
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| core::io::registerCallBack(AppCallback, reinterpret_cast<void*>(csdo)); // Register callback function |
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If you are registering a global callback you should probably not be registering it in this method.
| void registerCallBack(void (*AppCallback)(CO_CSDO* csdo, uint16_t index, uint8_t sub, uint32_t code), | ||
| void* AppContext) { | ||
| callback = AppCallback; | ||
| context = AppContext; |
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How are you passing this context into the callback? You need some other method to apply the context to your callback.
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