Add Configuration Manager functionality

CMakeLists.txt

@@ -65,6 +65,9 @@ set_property(CACHE CO_NODE_GUARD_LOG PROPERTY STRINGS ${LOG_STATE_VALUES})
 set(CO_LSS_LOG ON CACHE STRING "log lss events")
 set_property(CACHE CO_LSS_LOG PROPERTY STRINGS ${LOG_STATE_VALUES})
 
+set(CO_CONF_MNGR_LOG ON CACHE STRING "log mngr events")
+set_property(CACHE CO_CONF_MNGR_LOG PROPERTY STRINGS ${LOG_STATE_VALUES})
+
 set(MAX_NODES "16"
   CACHE STRING "max number of statically allocated nodes")
 
@@ -92,6 +95,9 @@ set(SDO_TIMEOUT "100"
 set(CO_THREAD_PRIO "10"
   CACHE STRING "priority of main thread")
 
+set(CO_CONF_MNGR "127"
+  CACHE STRING "number of supported slaves in configuration manager")
+
 set(CO_THREAD_STACK_SIZE "4096"
   CACHE STRING "stack size of main thread")
 

co_options.h.in

@@ -44,4 +44,8 @@
 #define MAX_ERRORS      (@MAX_ERRORS@)
 #endif
 
+#ifndef CO_CONF_MNGR
+#define CO_CONF_MNGR    (@CO_CONF_MNGR@)
+#endif
+
 #endif /* CO_OPTIONS_H */

include/co_api.h

@@ -172,6 +172,28 @@ typedef enum co_dtype
    DTYPE_IDENTITY        = 0x0023,
 } co_dtype_t;
 
+#if CO_CONF_MNGR > 1
+typedef enum co_mngr_status
+{
+   ERROR_STATUS_OK,
+   ERROR_STATUS_A,
+   ERROR_STATUS_B,
+   ERROR_STATUS_C,
+   ERROR_STATUS_D,
+   ERROR_STATUS_E,
+   ERROR_STATUS_F,
+   ERROR_STATUS_G,
+   ERROR_STATUS_H,
+   ERROR_STATUS_I,
+   ERROR_STATUS_J,
+   ERROR_STATUS_K,
+   ERROR_STATUS_L,
+   ERROR_STATUS_M,
+   ERROR_STATUS_N,
+   ERROR_STATUS_O,
+} co_mngr_status_t;
+#endif
+
 /* Entry flags */
 #define OD_READ      (1U << 0)  /**< Entry is readable */
 #define OD_WRITE     (1U << 1)  /**< Entry is writeable */
@@ -284,6 +306,13 @@ typedef struct co_cfg
 
    /** Function to close dictionary store */
    int (*close)(void * arg);
+
+#if CO_CONF_MNGR > 1
+   /** Function to write dcf configuration to slaves */
+   co_mngr_status_t (*cb_write_dcf) (void * arg, uint8_t node);
+#endif
+
+   int num_devices;
 } co_cfg_t;
 
 /**
@@ -459,6 +488,10 @@ CO_EXPORT int co_error_clear (co_client_t * client, uint8_t mask);
  */
 CO_EXPORT int co_error_get (co_client_t * client, uint8_t * error);
 
+CO_EXPORT co_mngr_status_t co_nmt_mngr_startup (co_client_t * client);
+
+CO_EXPORT co_mngr_status_t co_nmt_mngr_startup_node (co_client_t * client, uint8_t node);
+
 #ifdef __cplusplus
 }
 #endif

include/co_obj.h

@@ -91,6 +91,45 @@ extern const co_entry_t OD1800[];
 /** Entry descriptor for RPDO mapping parameter object (1A00h - 1BFFh) */
 extern const co_entry_t OD1A00[];
 
+/** Entry descriptor for NMT inhibit time value object (102Ah) */
+extern const co_entry_t OD102A[];
+
+/** Entry descriptor for Expected configuration date value object (1F26h) */
+extern const co_entry_t OD1F26[];
+
+/** Entry descriptor for Expected configuration time value object (1F27h) */
+extern const co_entry_t OD1F27[];
+
+/** Entry descriptor for NMT startup value object (1F80h) */
+extern const co_entry_t OD1F80[];
+
+/** Entry descriptor for NMT slave assignment value object (1F81h) */
+extern const co_entry_t OD1F81[];
+
+/** Entry descriptor for Request NMT value object (1F82h) */
+extern const co_entry_t OD1F82[];
+
+/** Entry descriptor for Request node guarding value object (1F83h) */
+extern const co_entry_t OD1F83[];
+
+/** Entry descriptor for Device type identification value object (1F84h) */
+extern const co_entry_t OD1F84[];
+
+/** Entry descriptor for Vendor identification value object (1F85h) */
+extern const co_entry_t OD1F85[];
+
+/** Entry descriptor for Product code value object (1F86h) */
+extern const co_entry_t OD1F86[];
+
+/** Entry descriptor for Revision number value object (1F87h) */
+extern const co_entry_t OD1F87[];
+
+/** Entry descriptor for Serial number value object (1F88h) */
+extern const co_entry_t OD1F88[];;
+
+/** Entry descriptor for Boot time value object (1F89h) */
+extern const co_entry_t OD1F89[];
+
 /**
  * Access function for Error register object (1001h)
  *
@@ -519,6 +558,266 @@ uint32_t co_od1A00_fn (
    uint8_t subindex,
    uint32_t * value);
 
+/**
+ * Access function for NMT inhibit time value object (102Ah)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od102a_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Expected configuration date value object (1F26h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f26_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Expected configuration time value object (1F27h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f27_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for NMT startup value object (1F80h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f80_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for NMT slave assignment value object (1F81h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f81_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Request NMT value object (1F82h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f82_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Request node guarding value object (1F83h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f83_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Device type identification value object (1F84h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f84_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Vendor identification value object (1F85h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f85_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Product code value object (1F86h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f86_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Revision number value object (1F87h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f87_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Serial number value object (1F88h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f88_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
+/**
+ * Access function for Boot time value object (1F89h)
+ *
+ * @param net           network handle
+ * @param event         read/write/restore
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ * @param value         value to read or write
+ *
+ * @return sdo abort code
+ */
+uint32_t co_od1f89_fn (
+   co_net_t * net,
+   od_event_t event,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex,
+   uint32_t * value);
+
 #ifdef __cplusplus
 }
 #endif