Data storage base

Base module for Data storage. More...

Collaboration diagram for Data storage base:

Files
file	CO_storage.h
	CANopen data storage base object.

Data Structures
struct	CO_storage_t
	Data storage object. More...

Enumerations
enum	CO_storage_attributes_t { CO_storage_cmd = 0x01 , CO_storage_auto = 0x02 , CO_storage_restore = 0x04 }
	Attributes (bit masks) for Data storage object. More...

Functions
CO_ReturnError_t	CO_storage_init (CO_storage_t *storage, CO_CANmodule_t *CANmodule, OD_entry_t *OD_1010_StoreParameters, OD_entry_t *OD_1011_RestoreDefaultParameters, ODR_t(*store)(CO_storage_entry_t *entry, CO_CANmodule_t *CANmodule), ODR_t(*restore)(CO_storage_entry_t *entry, CO_CANmodule_t *CANmodule), CO_storage_entry_t *entries, uint8_t entriesCount)
	Initialize data storage object.

Detailed Description

Base module for Data storage.

CANopen provides OD objects 0x1010 and 0x1011 for control of storing and restoring data. Data source is usually a group of variables inside object dictionary, but it is not limited to OD.

When object dictionary is generated (OD.h and OD.c files), OD variables are grouped into structures according to 'Storage group' parameter.

Autonomous data storing must be implemented target specific, if in use.

OD object 0x1010 - Store parameters:

• Sub index 0: Highest sub-index supported
• Sub index 1: Save all parameters, UNSIGNED32
• Sub index 2: Save communication parameters, UNSIGNED32
• Sub index 3: Save application parameters, UNSIGNED32
• Sub index 4 - 127: Manufacturer specific, UNSIGNED32

Sub-indexes 1 and above:

• Reading provides information about its storage functionality:
  • bit 0: If set, CANopen device saves parameters on command
  • bit 1: If set, CANopen device saves parameters autonomously
• Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.

OD object 0x1011 - Restore default parameters

• Sub index 0: Highest sub-index supported
• Sub index 1: Restore all default parameters, UNSIGNED32
• Sub index 2: Restore communication default parameters, UNSIGNED32
• Sub index 3: Restore application default parameters, UNSIGNED32
• Sub index 4 - 127: Manufacturer specific, UNSIGNED32

Sub-indexes 1 and above:

• Reading provides information about its restoring capability:
  • bit 0: If set, CANopen device restores parameters
• Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.

Enumeration Type Documentation

CO_storage_attributes_t

enum CO_storage_attributes_t

Attributes (bit masks) for Data storage object.

Enumerator
CO_storage_cmd	CANopen device saves parameters on OD 1010 command.
CO_storage_auto	CANopen device saves parameters autonomously.
CO_storage_restore	CANopen device restores parameters on OD 1011 command

Function Documentation

CO_storage_init()

CO_ReturnError_t CO_storage_init	(	CO_storage_t *	storage,
		CO_CANmodule_t *	CANmodule,
		OD_entry_t *	OD_1010_StoreParameters,
		OD_entry_t *	OD_1011_RestoreDefaultParameters,
		ODR_t(*	store )(CO_storage_entry_t *entry, CO_CANmodule_t *CANmodule),
		ODR_t(*	restore )(CO_storage_entry_t *entry, CO_CANmodule_t *CANmodule),
		CO_storage_entry_t *	entries,
		uint8_t	entriesCount )

Initialize data storage object.

This function should be called by application after the program startup, before CO_CANopenInit(). This function initializes storage object and OD extensions on objects 1010 and 1011. Function does not load stored data on startup, because loading data is target specific.

Parameters

storage	This object will be initialized. It must be defined by application and must exist permanently.
CANmodule	CAN device, for optional usage.
OD_1010_StoreParameters	OD entry for 0x1010 -"Store parameters". Entry is optional, may be NULL.
OD_1011_RestoreDefaultParameters	OD entry for 0x1011 -"Restore default parameters". Entry is optional, may be NULL.
store	Pointer to externally defined function, which will store data specified by CO_storage_entry_t. Function will be called when OD variable 0x1010 will be written. Argument to function is entry, where 'entry->subIndexOD' equals accessed subIndex. Function returns value from ODR_t : "ODR_OK" in case of success, "ODR_HW" in case of hardware error.
restore	Same as 'store', but for restoring default data.
entries	Pointer to array of storage entries. Array must be defined and initialized by application and must exist permanently. Structure CO_storage_entry_t is target specific and must be defined by CO_driver_target.h. See CO_driver.h for required parameters.
entriesCount	Count of storage entries

Returns

CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.