Claude/socanmatic issue 1 patches 7cgu4r

Makefile.am

@@ -25,8 +25,11 @@ pkginclude_HEADERS = 	                     \
 	socanmatic/enum301.h                 \
 	socanmatic/enum402.h                 \
 	include/socanmatic/ds301.h           \
+	include/socanmatic/ds305.h           \
 	include/socanmatic/emcy.h            \
-	include/socanmatic/ds402.h
+	include/socanmatic/ds402.h           \
+	include/socanmatic/ds401.h           \
+	include/socanmatic/ds405.h
 
 noinst_HEADERS = include/socanmatic_private.h
 
@@ -38,6 +41,7 @@ lib_LTLIBRARIES = libsocanmatic.la
 libsocanmatic_la_SOURCES =                   \
 	src/sdo.c                            \
 	src/ds301.c                          \
+	src/ds305.c                          \
 	src/error.c                          \
 	src/dict.c                           \
 	src/util.c                           \
@@ -52,6 +56,16 @@ libsocanmatic_la_LIBADD = -ldl
 lib_LTLIBRARIES += libsocanmatic402.la
 libsocanmatic402_la_SOURCES = dict402.c src/ds402.c
 
+# CiA 401 generic I/O device profile
+lib_LTLIBRARIES += libsocanmatic401.la
+libsocanmatic401_la_SOURCES = src/ds401.c
+libsocanmatic401_la_LIBADD = libsocanmatic.la
+
+# CiA 405 IEC 61131-3 device profile
+lib_LTLIBRARIES += libsocanmatic405.la
+libsocanmatic405_la_SOURCES = src/ds405.c
+libsocanmatic405_la_LIBADD = libsocanmatic.la
+
 
 
 # Interfaces

README

@@ -3,6 +3,18 @@ SoCANmatic
 
 CAN Protocol Library for CANopen.
 
+Supported CANopen Profiles
+--------------------------
+* DS301 -- Application layer and communication profile (SDO, PDO,
+  NMT, SYNC, EMCY)
+* DS305 -- Layer Setting Services (LSS): configure a node's node-ID
+  and bit-rate over the bus.  Also exposed via `canmat lss ...`.
+* DS401 -- Generic I/O device profile: read/write digital and
+  analogue I/O.
+* DS402 -- Drives and motion control device profile.
+* DS405 -- Interface and device profile for IEC 61131-3 programmable
+  devices (network variables).
+
 Electronic Data Sheets (EDS)
 ----------------------------
 The included `canmatc` program translates CiA EDS files to C code. The

canmatc

@@ -42,7 +42,7 @@
 # NOTE: The ConfigParser module has been renamed to configparser in
 # Python 3
 
-import ConfigParser
+import configparser
 import sys
 import re
 
@@ -104,7 +104,7 @@ def check_eds_entry(filename, section, params):
         # is var type
         if 'objecttype' in params:
             if 'VAR' != params['objecttype']:
-                print "%s: section %s, bad ObjectType %s\n" % (filename, section, params['objecttype'])
+                print("%s: section %s, bad ObjectType %s\n" % (filename, section, params['objecttype']))
                 exit(-1)
         else:
             params['objecttype'] = 'VAR'
@@ -113,9 +113,15 @@ def check_eds_entry(filename, section, params):
 def parse_file( obj_dict, enum_dict, name ):
     '''Write all object dictaries sectons from file in obj_dict.
        Entries are indexed by EDS section.'''
-    config = ConfigParser.ConfigParser()
+    # interpolation=None: EDS values may contain a literal '%'
+    # strict=False: tolerate duplicate options/sections in vendor EDS files
+    # inline_comment_prefixes=(';',): Python 2's ConfigParser stripped
+    #   inline ';' comments by default; Python 3 does not, so restore it
+    #   (EDS files put ';' comments after values, e.g. "AccessType=rw ; ...")
+    config = configparser.ConfigParser(interpolation=None, strict=False,
+                                       inline_comment_prefixes=(';',))
     fp = open(name, "r")
-    config.readfp( fp )
+    config.read_file( fp )
     for s in config.sections():
         if re.match(r'^[0-9a-fA-F]+(sub[0-9a-fA-F]+)?$', s):
             obj_dict[s] = config2objdict( config, s )
@@ -147,7 +153,9 @@ def sect2index( section ):
 def map_enum( function, enum_dict, typename ):
     def h(elt):
         function(elt.name, elt.value, elt.desc)
-    map( h, enum_dict[typename] )
+    # map() is lazy in Python 3; consume it so the side effects run
+    for elt in enum_dict[typename]:
+        h(elt)
 
 def escape_const(s):
        s = re.sub(r' |-',"_", s.upper())
@@ -225,13 +233,13 @@ def print_dict( name, output, header, namespace, odict, enum_dict ):
         (index,subindex) = sect2index( section )
         return (index << 8) + subindex
 
-    sections = odict.keys()
+    sections = list(odict.keys())
     sections.sort(key=key_index)
 
     def key_name(i):
         return odict[ sections[i] ]['parametername'].upper()
 
-    btree_name = range(0,len(sections))
+    btree_name = list(range(0,len(sections)))
     btree_name.sort( key=key_name )
 
     # print

include/socanmatic.h

@@ -67,6 +67,9 @@
 #include "socanmatic/sdo.h"
 #include "socanmatic/pdo.h"
 #include "socanmatic/probe.h"
+#include "socanmatic/ds305.h"
 #include "socanmatic/ds402.h"
+#include "socanmatic/ds401.h"
+#include "socanmatic/ds405.h"
 
 #endif //SOCANMATIC_H

include/socanmatic/ds305.h

@@ -0,0 +1,194 @@
+/* Copyright (c) 2013-2026, Georgia Tech Research Corporation
+ * All rights reserved.
+ *
+ * Author(s): SoCANmatic contributors
+ *
+ * Georgia Tech Humanoid Robotics Lab
+ * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
+ *
+ *
+ * This file is provided under the following "BSD-style" License:
+ *
+ *
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+
+#ifndef SOCANMATIC_305_H
+#define SOCANMATIC_305_H
+
+/**
+ * \file ds305.h
+ *
+ * \brief CiA 305 Layer Setting Services (LSS)
+ *
+ * LSS lets an LSS master configure the node-ID and bit-rate of LSS
+ * slaves over the CAN bus.  This is useful for nodes that have no
+ * hardware address switches: they power up unconfigured (node-ID
+ * 0xFF), are placed in configuration mode, assigned an address, and
+ * told to store it.
+ *
+ * All LSS traffic uses two fixed COB-IDs and 8-byte frames whose
+ * first byte is the command specifier.
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** COB-ID for LSS master -> slave requests */
+#define CANMAT_LSS_COBID_TX ((canid_t)0x7E5)
+
+/** COB-ID for LSS slave -> master responses */
+#define CANMAT_LSS_COBID_RX ((canid_t)0x7E4)
+
+/** Node-ID assigned to an unconfigured LSS slave */
+#define CANMAT_LSS_NODE_ID_UNCONFIGURED ((uint8_t)0xFF)
+
+/** LSS command specifiers (byte 0 of an LSS frame) */
+typedef enum canmat_lss_cs {
+    CANMAT_LSS_CS_SWITCH_GLOBAL          = 0x04, ///< switch all slaves to a mode
+    CANMAT_LSS_CS_CONFIGURE_NODE_ID      = 0x11, ///< set node-ID of the selected slave
+    CANMAT_LSS_CS_CONFIGURE_BIT_TIMING   = 0x13, ///< set bit-timing of the selected slave
+    CANMAT_LSS_CS_ACTIVATE_BIT_TIMING    = 0x15, ///< activate a previously configured bit-timing
+    CANMAT_LSS_CS_STORE_CONFIGURATION    = 0x17, ///< persist configuration in non-volatile memory
+
+    CANMAT_LSS_CS_SWITCH_SEL_VENDOR      = 0x40, ///< selective switch, vendor-id sub-command
+    CANMAT_LSS_CS_SWITCH_SEL_PRODUCT     = 0x41, ///< selective switch, product-code sub-command
+    CANMAT_LSS_CS_SWITCH_SEL_REVISION    = 0x42, ///< selective switch, revision sub-command
+    CANMAT_LSS_CS_SWITCH_SEL_SERIAL      = 0x43, ///< selective switch, serial sub-command
+    CANMAT_LSS_CS_SWITCH_SEL_RESPONSE    = 0x44, ///< slave confirms selective switch
+
+    CANMAT_LSS_CS_INQUIRE_VENDOR         = 0x5A, ///< read the slave's vendor-id
+    CANMAT_LSS_CS_INQUIRE_PRODUCT        = 0x5B, ///< read the slave's product-code
+    CANMAT_LSS_CS_INQUIRE_REVISION       = 0x5C, ///< read the slave's revision
+    CANMAT_LSS_CS_INQUIRE_SERIAL         = 0x5D, ///< read the slave's serial number
+    CANMAT_LSS_CS_INQUIRE_NODE_ID        = 0x5E, ///< read the slave's active node-ID
+} canmat_lss_cs_t;
+
+/** LSS mode used with switch-mode-global */
+typedef enum canmat_lss_mode {
+    CANMAT_LSS_MODE_OPERATION     = 0x00, ///< normal CANopen operation
+    CANMAT_LSS_MODE_CONFIGURATION = 0x01, ///< accept LSS configuration commands
+} canmat_lss_mode_t;
+
+/** Bit-timing table selector 0: the standard CiA 301 table.
+ *
+ * The value is the table index for each supported bit rate.  Index 5
+ * is reserved by the standard and intentionally omitted.
+ */
+typedef enum canmat_lss_baud {
+    CANMAT_LSS_BAUD_1000 = 0, ///< 1000 kbit/s
+    CANMAT_LSS_BAUD_800  = 1, ///<  800 kbit/s
+    CANMAT_LSS_BAUD_500  = 2, ///<  500 kbit/s
+    CANMAT_LSS_BAUD_250  = 3, ///<  250 kbit/s
+    CANMAT_LSS_BAUD_125  = 4, ///<  125 kbit/s
+    CANMAT_LSS_BAUD_50   = 6, ///<   50 kbit/s
+    CANMAT_LSS_BAUD_20   = 7, ///<   20 kbit/s
+    CANMAT_LSS_BAUD_10   = 8, ///<   10 kbit/s
+} canmat_lss_baud_t;
+
+/** The four fields of an LSS address, matching identity object 0x1018 */
+typedef struct canmat_lss_addr {
+    uint32_t vendor_id;     ///< 0x1018 sub 1
+    uint32_t product_code;  ///< 0x1018 sub 2
+    uint32_t revision;      ///< 0x1018 sub 3
+    uint32_t serial;        ///< 0x1018 sub 4
+} canmat_lss_addr_t;
+
+
+/** Switch all LSS slaves on the bus to the given mode.
+ *
+ * Unconfirmed: there is no response frame.
+ */
+enum canmat_status
+canmat_lss_switch_mode_global( canmat_iface_t *cif, enum canmat_lss_mode mode );
+
+/** Switch the single slave matching \a addr into configuration mode.
+ *
+ * Confirmed: waits for the slave's 0x44 response.  Returns
+ * CANMAT_ERR_PROTO if no matching slave answered.
+ */
+enum canmat_status
+canmat_lss_switch_mode_selective( canmat_iface_t *cif, const canmat_lss_addr_t *addr );
+
+/** Assign a node-ID to the slave currently in configuration mode.
+ *
+ * The slave's error code (0 on success) is stored in \a err if
+ * non-NULL.  Returns CANMAT_ERR_DEV if the slave reported an error.
+ */
+enum canmat_status
+canmat_lss_configure_node_id( canmat_iface_t *cif, uint8_t node_id, uint8_t *err );
+
+/** Configure the bit-timing of the slave in configuration mode.
+ *
+ * \a table_selector selects the bit-timing table (0 is the standard
+ * CiA 301 table); \a table_index is an entry within it (see
+ * ::canmat_lss_baud).  The slave's error code is stored in \a err.
+ */
+enum canmat_status
+canmat_lss_configure_bit_timing( canmat_iface_t *cif, uint8_t table_selector,
+                                 uint8_t table_index, uint8_t *err );
+
+/** Activate a previously configured bit-timing after \a switch_delay_ms.
+ *
+ * Unconfirmed: there is no response frame.
+ */
+enum canmat_status
+canmat_lss_activate_bit_timing( canmat_iface_t *cif, uint16_t switch_delay_ms );
+
+/** Store the current configuration in the slave's non-volatile memory.
+ *
+ * The slave's error code is stored in \a err if non-NULL.
+ */
+enum canmat_status
+canmat_lss_store_configuration( canmat_iface_t *cif, uint8_t *err );
+
+/** Read the active node-ID of the slave in configuration mode. */
+enum canmat_status
+canmat_lss_inquire_node_id( canmat_iface_t *cif, uint8_t *node_id );
+
+/** Read the full LSS address of the slave in configuration mode. */
+enum canmat_status
+canmat_lss_inquire_identity( canmat_iface_t *cif, canmat_lss_addr_t *addr );
+
+/** Describe an LSS configuration error code. */
+const char *canmat_lss_strerror( uint8_t err );
+
+
+#ifdef __cplusplus
+}
+#endif
+
+/* ex: set shiftwidth=4 tabstop=4 expandtab: */
+/* Local Variables:                          */
+/* mode: c                                   */
+/* c-basic-offset: 4                         */
+/* indent-tabs-mode:  nil                    */
+/* End:                                      */
+#endif // SOCANMATIC_305_H