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Add type Integer48
Let's add integer48 type by using uint64_t as base data type. Signed-off-by: Giulio Benetti <giulio.benetti@benettiengineering.com>
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4 files changed

+191
-5
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4 files changed

+191
-5
lines changed

‎src/core/co_core.h‎

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Original file line numberDiff line numberDiff line change
@@ -34,6 +34,7 @@ extern "C" {
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#include "co_integer8.h"
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#include "co_integer16.h"
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#include "co_integer32.h"
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#include "co_integer48.h"
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/* cia301 types */
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#include "co_emcy_hist.h"

‎src/object/basic/co_integer48.c‎

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@@ -0,0 +1,121 @@
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/******************************************************************************
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Copyright 2020 Embedded Office GmbH & Co. KG
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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******************************************************************************/
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/******************************************************************************
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* INCLUDES
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******************************************************************************/
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#include "co_core.h"
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/******************************************************************************
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* PRIVATE DEFINES
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******************************************************************************/
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#define COT_ENTRY_SIZE (uint32_t)6
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/******************************************************************************
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* PRIVATE FUNCTIONS
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******************************************************************************/
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static uint32_t COTInt48Size (struct CO_OBJ_T *obj, struct CO_NODE_T *node, uint32_t width);
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static CO_ERR COTInt48Read (struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buffer, uint32_t size);
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static CO_ERR COTInt48Write(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buffer, uint32_t size);
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/******************************************************************************
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* PUBLIC GLOBALS
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******************************************************************************/
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const CO_OBJ_TYPE COTInt48 = { COTInt48Size, 0, COTInt48Read, COTInt48Write, 0 };
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/******************************************************************************
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* FUNCTIONS
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******************************************************************************/
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static uint32_t COTInt48Size(struct CO_OBJ_T *obj, struct CO_NODE_T *node, uint32_t width)
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{
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uint32_t result = (uint32_t)0;
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CO_UNUSED(node);
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CO_UNUSED(width);
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if (CO_IS_DIRECT(obj->Key) != 0) {
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result = (uint32_t)COT_ENTRY_SIZE;
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} else {
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/* check for valid reference */
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if ((obj->Data) != (CO_DATA)0) {
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result = (uint32_t)COT_ENTRY_SIZE;
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}
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}
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return (result);
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}
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static CO_ERR COTInt48Read(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buffer, uint32_t size)
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{
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CO_ERR result = CO_ERR_NONE;
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uint64_t value;
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CO_UNUSED(node);
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ASSERT_PTR_ERR(obj, CO_ERR_BAD_ARG);
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ASSERT_PTR_ERR(buffer, CO_ERR_BAD_ARG);
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if (CO_IS_DIRECT(obj->Key) != 0) {
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value = (uint64_t)(obj->Data);
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} else {
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value = *((uint64_t *)(obj->Data));
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}
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if (CO_IS_NODEID(obj->Key) != 0) {
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value += node->NodeId;
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}
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if (size == COT_ENTRY_SIZE) {
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*((uint64_t *)buffer) = value;
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} else {
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result = CO_ERR_BAD_ARG;
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}
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return (result);
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}
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static CO_ERR COTInt48Write(struct CO_OBJ_T *obj, struct CO_NODE_T *node, void *buffer, uint32_t size)
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{
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CO_ERR result = CO_ERR_NONE;
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uint64_t value;
94+
uint64_t oldValue;
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CO_UNUSED(node);
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ASSERT_PTR_ERR(obj, CO_ERR_BAD_ARG);
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ASSERT_PTR_ERR(buffer, CO_ERR_BAD_ARG);
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value = *((uint64_t *)buffer);
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if (size == COT_ENTRY_SIZE) {
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if (CO_IS_NODEID(obj->Key) != 0) {
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value -= node->NodeId;
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}
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if (CO_IS_DIRECT(obj->Key) != 0) {
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oldValue = (uint64_t)obj->Data;
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obj->Data = (CO_DATA)(value);
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} else {
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oldValue = *((uint64_t *)(obj->Data));
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*((uint64_t *)(obj->Data)) = value;
111+
}
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if ((CO_IS_ASYNC(obj->Key) != 0 ) &&
113+
(CO_IS_PDOMAP(obj->Key) != 0 ) &&
114+
(oldValue != value)) {
115+
COTPdoTrigObj(node->TPdo, obj);
116+
}
117+
} else {
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result = CO_ERR_BAD_ARG;
119+
}
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return (result);
121+
}

‎src/object/basic/co_integer48.h‎

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@@ -0,0 +1,54 @@
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/******************************************************************************
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Copyright 2020 Embedded Office GmbH & Co. KG
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
6+
You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
9+
10+
Unless required by applicable law or agreed to in writing, software
11+
distributed under the License is distributed on an "AS IS" BASIS,
12+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
14+
limitations under the License.
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******************************************************************************/
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#ifndef CO_INTEGER48_H_
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#define CO_INTEGER48_H_
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#ifdef __cplusplus /* for compatibility with C++ environments */
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extern "C" {
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#endif
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/******************************************************************************
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* INCLUDES
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******************************************************************************/
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#include "co_types.h"
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#include "co_err.h"
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#include "co_obj.h"
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/******************************************************************************
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* DEFINES
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******************************************************************************/
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#define CO_TUNSIGNED48 ((const CO_OBJ_TYPE *)&COTInt48)
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#define CO_TSIGNED48 ((const CO_OBJ_TYPE *)&COTInt48)
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/******************************************************************************
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* PUBLIC CONSTANTS
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******************************************************************************/
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/*! \brief OBJECT TYPE SIGNED48 / UNSIGNED48
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*
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* This type is a basic type for 48bit values, regardless of signed or
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* unsigned usage.
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*/
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extern const CO_OBJ_TYPE COTInt48;
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#ifdef __cplusplus /* for compatibility with C++ environments */
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}
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#endif
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#endif /* #ifndef CO_INTEGER48_H_ */

‎src/service/cia301/co_pdo.c‎

Lines changed: 15 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -269,7 +269,7 @@ void COTPdoTx(CO_TPDO *pdo)
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CO_IF_FRM frm;
270270
uint32_t sz;
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uint8_t pdosz;
272-
uint32_t data;
272+
uint64_t data;
273273
uint8_t num;
274274

275275
if ((pdo->Node->Nmt.Allowed & CO_PDO_ALLOWED) == 0) {
@@ -310,8 +310,8 @@ void COTPdoTx(CO_TPDO *pdo)
310310
frm.DLC = 0;
311311
for (num = 0; num < pdo->ObjNum; num++) {
312312
pdosz = pdo->Size[num];
313-
if (pdosz <= 4) {
314-
/* supported mapping: 1 to 4 bytes */
313+
if (pdosz <= 6) {
314+
/* supported mapping: 1 to 6 bytes */
315315
sz = COObjGetSize(pdo->Map[num], pdo->Node, 0L);
316316
if (sz <= (uint32_t)(8 - frm.DLC)) {
317317
if (pdosz == 3) {
@@ -331,6 +331,9 @@ void COTPdoTx(CO_TPDO *pdo)
331331
} else {
332332
CO_SET_LONG(&frm, data, frm.DLC);
333333
}
334+
} else if (sz == 6u) {
335+
CO_SET_WORD(&frm, data, frm.DLC);
336+
CO_SET_LONG(&frm, (data >> 16), (frm.DLC + 2));
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}
335338
frm.DLC += pdosz;
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}
@@ -572,6 +575,7 @@ CO_RPDO *CORPdoCheck(CO_RPDO *pdo, CO_IF_FRM *frm)
572575
void CORPdoWrite(CO_RPDO *pdo, CO_IF_FRM *frm)
573576
{
574577
CO_OBJ *obj;
578+
uint64_t val64;
575579
uint32_t val32;
576580
uint16_t val16;
577581
uint8_t val08;
@@ -584,8 +588,8 @@ void CORPdoWrite(CO_RPDO *pdo, CO_IF_FRM *frm)
584588
obj = pdo->Map[on];
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pdosz = pdo->Size[on];
586590
if (obj != 0) {
587-
if (pdosz <= 4) {
588-
/* supported mapping: 1 to 4 bytes */
591+
if (pdosz <= 6) {
592+
/* supported mapping: 1 to 6 bytes */
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sz = (uint8_t)COObjGetSize(obj, pdo->Node, 0L);
590594
if (sz == 1u) {
591595
val08 = CO_GET_BYTE(frm, dlc);
@@ -602,6 +606,12 @@ void CORPdoWrite(CO_RPDO *pdo, CO_IF_FRM *frm)
602606
}
603607
dlc += pdosz;
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COObjWrValue(obj, pdo->Node, (void *)&val32, sz);
609+
} else if (sz == 6u) {
610+
val64 = CO_GET_LONG(frm, dlc);
611+
val64 |= (uint64_t)(CO_GET_WORD(frm, dlc + 4)) << 32;
612+
val64 &= 0x0000FFFFFFFFFFFF;
613+
dlc += pdosz;
614+
COObjWrValue(obj, pdo->Node, (void *)&val64, sz);
605615
}
606616
} else {
607617
CORpdoWriteData(frm, dlc, pdosz, obj);

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