OD storage

Files
file	CO_OD_storage.h
	CANopen Object Dictionary storage object for Linux SocketCAN.

Data Structures
struct	CO_OD_storage_t
	Object Dictionary storage object. More...

Functions
CO_SDO_abortCode_t	CO_ODF_1010 (CO_ODF_arg_t *ODF_arg)
	Callback for use inside CO_OD_configure() function for OD object 1010.
CO_SDO_abortCode_t	CO_ODF_1011 (CO_ODF_arg_t *ODF_arg)
	Callback for use inside CO_OD_configure() function for OD object 1011.
int	CO_OD_storage_saveSecure (uint8_t *odAddress, uint32_t odSize, char *filename)
	Save memory block to a file. More...
int	CO_OD_storage_restoreSecure (char *filename)
	Remove OD storage file. More...
CO_ReturnError_t	CO_OD_storage_init (CO_OD_storage_t *odStor, uint8_t *odAddress, uint32_t odSize, char *filename)
	Initialize OD storage object and load data from file. More...
CO_ReturnError_t	CO_OD_storage_autoSave (CO_OD_storage_t *odStor, uint32_t timer1usDiff, uint32_t delay_us)
	Automatically save memory block if differs from file. More...
void	CO_OD_storage_autoSaveClose (CO_OD_storage_t *odStor)
	Closes file opened by CO_OD_storage_autoSave. More...

Detailed Description

Object Dictionary storage implementation for CANopenNode on Linux

Function Documentation

CO_OD_storage_saveSecure()

int CO_OD_storage_saveSecure	(	uint8_t *	odAddress,
		uint32_t	odSize,
		char *	filename
	)

Save memory block to a file.

Function renames current file to filename.old, copies contents from odAddress to filename, adds two bytes of CRC code. It then verifies the written file and in case of errors sets back the old file and returns error.

Function is used with CANopen OD object at index 1010.

Parameters

odAddress	Address of the memory block, which will be stored.
odSize	Size of the above memory block.
filename	Name of the file, where data will be stored.

Returns

0 on success, -1 on error.

CO_OD_storage_restoreSecure()

int CO_OD_storage_restoreSecure

(

char *

filename

)

Remove OD storage file.

Function renames current file to filename.old, then creates empty file and writes two bytes "-\n" to it. When program will start next time, default values are used for Object Dictionary. In case of error in renaming to .old it keeps the original file and returns error.

Writing data to file is secured with mutex CO_LOCK_OD.

Function is used with CANopen OD object at index 1011.

Parameters

filename

Name of the file.

Returns

0 on success, -1 on error.

CO_OD_storage_init()

CO_ReturnError_t CO_OD_storage_init	(	CO_OD_storage_t *	odStor,
		uint8_t *	odAddress,
		uint32_t	odSize,
		char *	filename
	)

Initialize OD storage object and load data from file.

Called after program startup. Load storage file and copy data to Object Dictionary variables.

Parameters

odStor	This object will be initialized.
odAddress	Address of the memory block from Object dictionary, where data will be copied.
odSize	Size of the above memory block.
filename	Name of the file, where data are stored.

Returns

CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_DATA_CORRUPT (Data in file corrupt), CO_ERROR_CRC (CRC from MBR does not match the CRC of OD_ROM block in file), CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OUT_OF_MEMORY (malloc failed).

CO_OD_storage_autoSave()

CO_ReturnError_t CO_OD_storage_autoSave	(	CO_OD_storage_t *	odStor,
		uint32_t	timer1usDiff,
		uint32_t	delay_us
	)

Automatically save memory block if differs from file.

Should be called cyclically by program. It first verifies, if memory block differs from file and if it does, it saves it to file with two additional CRC bytes. File remains opened.

Parameters

odStor	OD storage object.
timer1usDiff	Time difference in microseconds since last call.
delay_us	Delay (inhibit) time between writes to disk in microseconds (60000 for example).

Returns

CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_DATA_CORRUPT (Data in file corrupt), CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OUT_OF_MEMORY (malloc failed).

CO_OD_storage_autoSaveClose()

void CO_OD_storage_autoSaveClose

(

CO_OD_storage_t *

odStor

)

Closes file opened by CO_OD_storage_autoSave.

Parameters

odStor

OD storage object.