chore: catchup to db4f8ea

db4f8ea Fredrik's documentation updates 2022-12-16
96d617d Fix restoring of PDO config

Based-On-Commit: db4f8ea
Change-Id: I3fd3d3863623194e89e8da7eaf09ac3cf39fea8b

.gitignore

@@ -4,6 +4,7 @@ build*/
 CMakeFiles/
 CMakeCache.txt
 install
+docs/_build
 
 .cproject
 .project
@@ -38,3 +39,6 @@ install
 *.i*86
 *.x86_64
 *.hex
+
+# Editors
+.vscode/

CMakeLists.txt

@@ -196,31 +196,21 @@ if (CMAKE_PROJECT_NAME STREQUAL CANOPEN AND BUILD_TESTING)
   add_gtest(co_test)
 endif()
 
-# Doxygen configuration
-cmake_policy(SET CMP0057 NEW)
-find_package(Doxygen)
-if (CMAKE_PROJECT_NAME STREQUAL CANOPEN AND DOXYGEN_FOUND)
-  set(DOXYGEN_OPTIMIZE_OUTPUT_FOR_C YES)
-  set(DOXYGEN_TYPEDEF_HIDES_STRUCT YES)
-  set(DOXYGEN_EXTRACT_STATIC YES)
-  set(DOXYGEN_STRIP_CODE_COMMENTS NO)
-  set(DOXYGEN_MACRO_EXPANSION YES)
-  set(DOXYGEN_EXPAND_ONLY_PREDEF YES)
-  set(DOXYGEN_PREDEFINED CO_EXPORT)
-  set(DOXYGEN_EXPAND_AS_DEFINED CO_EXPORT)
-  set(DOXYGEN_COLLABORATION_GRAPH NO)
-  set(DOXYGEN_INCLUDE_GRAPH NO)
-  set(DOXYGEN_INCLUDED_BY_GRAPH NO)
-  set(DOXYGEN_RECURSIVE NO)
-  set(DOXYGEN_USE_MDFILE_AS_MAINPAGE README.md)
-  set(DOXYGEN_GENERATE_LATEX YES)
-  doxygen_add_docs(docs
-    README.md
-    include
-    src
+if (CMAKE_PROJECT_NAME STREQUAL CANOPEN)
+  add_subdirectory(docs)
+
+  add_custom_target(codespell
+    COMMAND codespell
+        ${CANOPEN_SOURCE_DIR}/include/
+        ${CANOPEN_SOURCE_DIR}/docs/
+        ${CANOPEN_SOURCE_DIR}/src/
+        ${CANOPEN_SOURCE_DIR}/test/
+        --skip *_build*
+    COMMENT "Running spell check on source code"
     )
 endif()
 
+
 include (InstallRequiredSystemLibraries)
 set (CPACK_RESOURCE_FILE_LICENSE "${CANOPEN_SOURCE_DIR}/LICENSE.md")
 set (CPACK_PACKAGE_CONTACT [email protected])

include/co_api.h

@@ -292,10 +292,10 @@ typedef enum co_mode
 /** CANopen stack configuration */
 typedef struct co_cfg
 {
-   uint8_t node;                  /**< Initial node ID */
-   int bitrate;                   /**< Initial bitrate (bits per second) */
-   uint32_t restart_ms;           /**< Bus-off recovery delay, zero to disable */
-   const co_obj_t * od;           /**< Application dictionary */
+   uint8_t node;        /**< Initial node ID */
+   int bitrate;         /**< Initial bitrate (bits per second) */
+   uint32_t restart_ms; /**< Bus-off recovery delay, zero to disable */
+   const co_obj_t * od; /**< Application dictionary */
    const co_default_t * defaults; /**< Dictionary default values */
    void * cb_arg;                 /**< Callback opaque argument */
 
@@ -456,8 +456,10 @@ CO_EXPORT int co_pdo_event (co_client_t * client);
  *
  * @return 0 on success
  */
-CO_EXPORT int co_pdo_obj_event (co_client_t * client, uint16_t index,
-                                uint8_t subindex);
+CO_EXPORT int co_pdo_obj_event (
+   co_client_t * client,
+   uint16_t index,
+   uint8_t subindex);
 
 /**
  * Read dictionary object entry
@@ -517,7 +519,7 @@ CO_EXPORT int co_sdo_write (
  * The application will be notified via the EMCY callback. The node id
  * will be the active node id for this node.
  *
- * @param net           network handle
+ * @param client        network handle
  * @param code          error code, lower 16 bits of error number
  * @param info          additional info, upper 16 bits of error number
  * @param msef          manufacturer-specific error code or NULL

include/co_obj.h

@@ -37,7 +37,7 @@ CO_EXPORT extern const co_entry_t OD1003[];
 /** Entry descriptor for COB-ID SYNC message object (1005h) */
 CO_EXPORT extern const co_entry_t OD1005[];
 
-/** Entry descriptor for Commmunication cycle object (1006h) */
+/** Entry descriptor for Communication cycle object (1006h) */
 CO_EXPORT extern const co_entry_t OD1006[];
 
 /** Entry descriptor for Synchronous window length object (1007h) */
@@ -152,7 +152,7 @@ CO_EXPORT uint32_t co_od1005_fn (
    uint32_t * value);
 
 /**
- * Access function for Commmunication cycle object (1006h)
+ * Access function for Communication cycle object (1006h)
  *
  * @param net           network handle
  * @param event         read/write/restore

src/co_obj.c

@@ -31,7 +31,7 @@ const co_entry_t OD1005[] = {
    {0x00, OD_RW, DTYPE_UNSIGNED32, 32, 0, NULL},
 };
 
-/* Entry descriptor for Commmunication cycle object (1006h) */
+/* Entry descriptor for Communication cycle object (1006h) */
 const co_entry_t OD1006[] = {
    {0x00, OD_RW, DTYPE_UNSIGNED32, 32, 0, NULL},
 };

src/co_pdo.c

@@ -184,7 +184,7 @@ static uint32_t co_pdo_comm_set (
    {
       if (!co_validate_cob_id (*value))
          return CO_SDO_ABORT_VALUE;
-      if (((pdo->cobid | *value) & CO_COBID_INVALID) == 0)
+      if (((pdo->cobid | *value) & CO_COBID_INVALID) == 0 && net->state != STATE_INIT)
          return CO_SDO_ABORT_VALUE;
       pdo->cobid        = *value;
       pdo->sync_counter = 0;
@@ -197,7 +197,7 @@ static uint32_t co_pdo_comm_set (
       pdo->transmission_type = *value & 0xFF;
       break;
    case 3:
-      if ((pdo->cobid & CO_COBID_INVALID) == 0)
+      if ((pdo->cobid & CO_COBID_INVALID) == 0 && net->state != STATE_INIT)
          return CO_SDO_ABORT_VALUE;
       pdo->inhibit_time = *value & 0xFFFF;
       break;
@@ -207,7 +207,7 @@ static uint32_t co_pdo_comm_set (
    case 6:
       if (is_rx)
          return CO_SDO_ABORT_BAD_SUBINDEX;
-      if ((pdo->cobid & CO_COBID_INVALID) == 0)
+      if ((pdo->cobid & CO_COBID_INVALID) == 0 && net->state != STATE_INIT)
          return CO_SDO_ABORT_VALUE;
       pdo->sync_start = *value & 0xFF;
       break;

test/test_od.cpp

@@ -48,6 +48,7 @@ extern "C" uint32_t cb2001 (
 }
 
 static const co_default_t od_defaults[] = {
+   {0x1800, 1, 0x181},
    {0x2000, 1, 11},
    {0x2000, 2, 22},
    {0x2000, 3, 33},
@@ -290,6 +291,49 @@ TEST_F (OdTest, StoreThenLoadNewOD)
    EXPECT_EQ (0, memcmp (expect_str2001, str2001, sizeof(str2001) - 1));
 }
 
+TEST_F (OdTest, LoadUpdatedPDOConfig)
+{
+   const co_obj_t * obj1800 = find_obj (0x1800);
+   uint32_t value;
+   uint32_t result;
+
+   // Defaults contain enabled TPDO
+   net.defaults = od_defaults;
+   net.state = STATE_PREOP;
+
+   // Set TPDO COB-ID to 0x456
+
+   value = 0x80000456;
+   result = co_od1800_fn (&net, OD_EVENT_WRITE, obj1800, NULL, 1, &value);
+   EXPECT_EQ (0u, result);
+
+   value = 0x00000456;
+   result = co_od1800_fn (&net, OD_EVENT_WRITE, obj1800, NULL, 1, &value);
+   EXPECT_EQ (0u, result);
+
+   // Store comm parameters
+   co_od_store (&net, CO_STORE_COMM, 0x1000, 0x1FFF);
+
+   // Set TPDO COB-ID to 0x457
+
+   value = 0x80000457;
+   result = co_od1800_fn (&net, OD_EVENT_WRITE, obj1800, NULL, 1, &value);
+   EXPECT_EQ (0u, result);
+
+   value = 0x00000457;
+   result = co_od1800_fn (&net, OD_EVENT_WRITE, obj1800, NULL, 1, &value);
+   EXPECT_EQ (0u, result);
+
+   // Reset comm parameters while in STATE_INIT
+   net.state = STATE_INIT;
+   co_od_reset (&net, CO_STORE_COMM, 0x1000, 0x1FFF);
+
+   // TPDO COB-ID should have been restored
+   result = co_od1800_fn (&net, OD_EVENT_READ, obj1800, NULL, 1, &value);
+   EXPECT_EQ (0u, result);
+   EXPECT_EQ (0x456u, value);
+}
+
 TEST_F (OdTest, OD1010)
 {
    const co_obj_t * obj1010 = find_obj (0x1010);