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Add STM32F3DISCOVERY example #73

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Add STM32F3DISCOVERY example #73

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0d63f71
Update CANopenNode submodule to 58012aa
mlout Sep 10, 2024
0897c74
CO_app_STM32.c: Fix printf format specifiers
mlout Sep 10, 2024
b1277d1
CO_driver_target.h: Add FreeRTOS locking example
mlout Sep 10, 2024
1f2049d
CO_storageFlash.c: Add flash storage example
mlout Sep 10, 2024
f1d8792
Add stm32f3xx_can_rtos example
mlout Sep 10, 2024
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2 changes: 1 addition & 1 deletion CANopenNode
Open in desktop
Submodule CANopenNode updated 67 files
+191 −13 .clang-format
+2 −2 .github/FUNDING.yml
+293 −365 301/CO_Emergency.c
+281 −466 301/CO_Emergency.h
+157 −243 301/CO_HBconsumer.c
+104 −189 301/CO_HBconsumer.h
+103 −164 301/CO_NMT_Heartbeat.c
+111 −184 301/CO_NMT_Heartbeat.h
+390 −0 301/CO_Node_Guarding.c
+244 −0 301/CO_Node_Guarding.h
+154 −142 301/CO_ODinterface.c
+315 −458 301/CO_ODinterface.h
+532 −627 301/CO_PDO.c
+178 −284 301/CO_PDO.h
+976 −1,035 301/CO_SDOclient.c
+171 −302 301/CO_SDOclient.h
+863 −958 301/CO_SDOserver.c
+339 −475 301/CO_SDOserver.h
+151 −199 301/CO_SYNC.c
+87 −144 301/CO_SYNC.h
+70 −103 301/CO_TIME.c
+55 −103 301/CO_TIME.h
+88 −76 301/CO_config.h
+322 −443 301/CO_driver.h
+735 −626 301/CO_fifo.c
+163 −222 301/CO_fifo.h
+35 −58 301/crc16-ccitt.c
+15 −27 301/crc16-ccitt.h
+93 −71 303/CO_LEDs.c
+45 −63 303/CO_LEDs.h
+76 −74 304/CO_GFC.c
+34 −49 304/CO_GFC.h
+814 −663 304/CO_SRDO.c
+176 −204 304/CO_SRDO.h
+103 −122 305/CO_LSS.h
+327 −479 305/CO_LSSmaster.c
+134 −223 305/CO_LSSmaster.h
+264 −336 305/CO_LSSslave.c
+103 −146 305/CO_LSSslave.h
+1,056 −1,127 309/CO_gateway_ascii.c
+162 −292 309/CO_gateway_ascii.h
+844 −850 CANopen.c
+257 −345 CANopen.h
+481 −238 Doxyfile
+140 −0 MISRA.md
+22 −22 README.md
+0 −113 codingStyle
+5 −0 doc/CHANGELOG.md
+26 −9 doc/deviceSupport.md
+16 −16 doc/objectDictionary.md
+88 −142 example/CO_driver_blank.c
+30 −35 example/CO_driver_target.h
+91 −111 example/CO_storageBlank.c
+51 −63 example/CO_storageBlank.h
+14 −14 example/DS301_profile.eds
+14 −14 example/DS301_profile.md
+30 −14 example/DS301_profile.xpd
+129 −129 example/OD.c
+67 −67 example/OD.h
+63 −99 example/main_blank.c
+12 −13 extra/CO_trace.c
+7 −16 extra/CO_trace.h
+113 −133 storage/CO_eeprom.h
+165 −171 storage/CO_storage.c
+142 −169 storage/CO_storage.h
+222 −268 storage/CO_storageEeprom.c
+109 −133 storage/CO_storageEeprom.h
24 changes: 19 additions & 5 deletions CANopenNode_STM32/CO_app_STM32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,11 @@
#include "main.h"
#include <stdio.h>

#ifdef USE_CO_STORAGE_FLASH
#include "CO_storageFlash.h"
#else
#include "CO_storageBlank.h"
#endif
#include "OD.h"

CANopenNodeSTM32*
Expand All @@ -54,6 +58,7 @@ CO_t* CO = NULL; /* CANopen object */
// Global variables
uint32_t time_old, time_current;
CO_ReturnError_t err;
uint32_t storageInitError = 0;

/* This function will basically setup the CANopen node */
int
Expand All @@ -68,9 +73,13 @@ canopen_app_init(CANopenNodeSTM32* _canopenNodeSTM32) {
.len = sizeof(OD_PERSIST_COMM),
.subIndexOD = 2,
.attr = CO_storage_cmd | CO_storage_restore,
#ifdef USE_CO_STORAGE_FLASH
.reservedSpace = SIZE_OF_PAGE,
.offset = 0}};
#else
.addrNV = NULL}};
#endif
uint8_t storageEntriesCount = sizeof(storageEntries) / sizeof(storageEntries[0]);
uint32_t storageInitError = 0;
#endif

/* Allocate memory */
Expand All @@ -90,18 +99,23 @@ canopen_app_init(CANopenNodeSTM32* _canopenNodeSTM32) {
log_printf("Error: Can't allocate memory\n");
return 1;
} else {
log_printf("Allocated %u bytes for CANopen objects\n", heapMemoryUsed);
log_printf("Allocated %lu bytes for CANopen objects\n", heapMemoryUsed);
}

canopenNodeSTM32->canOpenStack = CO;

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
#ifdef USE_CO_STORAGE_FLASH
err = CO_storageFlash_init(&storage, CO->CANmodule, OD_ENTRY_H1010_storeParameters, OD_ENTRY_H1011_restoreDefaultParameters, storageEntries, storageEntriesCount, &storageInitError);
#else

err = CO_storageBlank_init(&storage, CO->CANmodule, OD_ENTRY_H1010_storeParameters,
OD_ENTRY_H1011_restoreDefaultParameters, storageEntries, storageEntriesCount,
&storageInitError);
#endif

if (err != CO_ERROR_NO && err != CO_ERROR_DATA_CORRUPT) {
log_printf("Error: Storage %d\n", storageInitError);
log_printf("Error: Storage %lu\n", storageInitError);
return 2;
}
#endif
Expand Down Expand Up @@ -155,7 +169,7 @@ canopen_app_resetCommunication() {
canopenNodeSTM32->activeNodeID, &errInfo);
if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf("Error: Object Dictionary entry 0x%X\n", errInfo);
log_printf("Error: Object Dictionary entry 0x%lX\n", errInfo);
} else {
log_printf("Error: CANopen initialization failed: %d\n", err);
}
Expand All @@ -165,7 +179,7 @@ canopen_app_resetCommunication() {
err = CO_CANopenInitPDO(CO, CO->em, OD, canopenNodeSTM32->activeNodeID, &errInfo);
if (err != CO_ERROR_NO) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf("Error: Object Dictionary entry 0x%X\n", errInfo);
log_printf("Error: Object Dictionary entry 0x%lX\n", errInfo);
} else {
log_printf("Error: PDO initialization failed: %d\n", err);
}
Expand Down
63 changes: 63 additions & 0 deletions CANopenNode_STM32/CO_driver_target.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,11 @@
#include <stddef.h>
#include <stdint.h>

#ifdef USE_FREERTOS_LOCKING
#include "FreeRTOS.h"
#include "task.h"
#endif

// Determining the CANOpen Driver

#if defined(FDCAN) || defined(FDCAN1) || defined(FDCAN2) || defined(FDCAN3)
Expand All @@ -45,7 +50,13 @@
#error This STM32 Do not support CAN or FDCAN
#endif

#ifdef USE_CO_STORAGE_FLASH
#define CO_CONFIG_STORAGE CO_CONFIG_STORAGE_ENABLE
#define CO_CONFIG_CRC16 CO_CONFIG_CRC16_ENABLE
#else
#undef CO_CONFIG_STORAGE_ENABLE // We don't need Storage option, implement based on your use case and remove this line from here
#endif


#ifdef CO_DRIVER_CUSTOM
#include "CO_driver_custom.h"
Expand Down Expand Up @@ -134,9 +145,60 @@ typedef struct {
uint8_t attr;
/* Additional variables (target specific) */
void* addrNV;
#ifdef USE_CO_STORAGE_FLASH
uint16_t offset;
uint16_t reservedSpace;
uint16_t crc;
#endif
} CO_storage_entry_t;

/* (un)lock critical section in CO_CANsend() */
#ifdef USE_FREERTOS_LOCKING

// NOTE: valid for STM32F3XX. Not tested on other MCUs
// This works as long as you don't have interrupts pre-empting each other, which call the CO_LOCK_* macros below!
#define CO_VECTACTIVE_MASK (0xFFUL)
#define CO_IS_IRQ() ((portNVIC_INT_CTRL_REG & CO_VECTACTIVE_MASK) != 0)

#define CO_ENTER_CRITICAL_SECTION() \
do \
{ \
if (CO_IS_IRQ()) \
{ \
taskENTER_CRITICAL_FROM_ISR(); \
} \
else \
{ \
taskENTER_CRITICAL(); \
} \
} while (0)

#define CO_EXIT_CRITICAL_SECTION() \
do \
{ \
if (CO_IS_IRQ()) \
{ \
taskEXIT_CRITICAL_FROM_ISR(0); \
} \
else \
{ \
taskEXIT_CRITICAL(); \
} \
} while (0)

/* (un)lock critical section in CO_CANsend() */
#define CO_LOCK_CAN_SEND(CAN_MODULE) CO_ENTER_CRITICAL_SECTION()
#define CO_UNLOCK_CAN_SEND(CAN_MODULE) CO_EXIT_CRITICAL_SECTION()

/* (un)lock critical section when accessing Object Dictionary */
#define CO_LOCK_OD(CAN_MODULE) CO_ENTER_CRITICAL_SECTION()
#define CO_UNLOCK_OD(CAN_MODULE) CO_EXIT_CRITICAL_SECTION()

/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
#define CO_LOCK_EMCY(CAN_MODULE) CO_ENTER_CRITICAL_SECTION()
#define CO_UNLOCK_EMCY(CAN_MODULE) CO_EXIT_CRITICAL_SECTION()

#else
// Why disabling the whole Interrupt
#define CO_LOCK_CAN_SEND(CAN_MODULE) \
do { \
Expand All @@ -160,6 +222,7 @@ typedef struct {
__disable_irq(); \
} while (0)
#define CO_UNLOCK_OD(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_od)
#endif

/* Synchronization between CAN receive and message processing threads. */
#define CO_MemoryBarrier()
Expand Down
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