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Slave stack - various fixes and start unit tests #191

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merged 3 commits into from
Dec 11, 2024
Merged

Slave stack - various fixes and start unit tests #191

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d3bb15c
Start unit test on mailbox response
Dec 9, 2024
748477f
Fix: SDO response - complete access
Dec 10, 2024
68f6753
Fix: OD generator: addEntry type size is not enforced, leading to siz…
Dec 10, 2024
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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -38,16 +38,18 @@ if (GTest_FOUND)
unit/gateway-t.cc
unit/kickcat-t.cc
unit/link-t.cc
unit/mailbox-t.cc
unit/prints-t.cc
unit/protocol-t.cc
unit/slave-t.cc
unit/socket-t.cc
unit/Time.cc
unit/CoE/protocol-t.cc
unit/mailbox/request-t.cc
unit/mailbox/response-t.cc
)

target_link_libraries(kickcat_unit kickcat GTest::gmock_main)
target_include_directories(kickcat_unit PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/unit)
set_kickcat_properties(kickcat_unit)
add_test(NAME kickcat COMMAND kickcat_unit WORKING_DIRECTORY ${CMAKE_BINARY_DIR})

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4 changes: 2 additions & 2 deletions examples/master/load_esi/load_esi.cc
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Expand Up @@ -3,12 +3,12 @@

using namespace kickcat;

int main()
int main(int, char const* argv[])
{
CoE::EsiParser parser;

nanoseconds t1 = since_epoch();
CoE::Dictionary coe_dict = parser.load("ingenia_esi.xml");
CoE::Dictionary coe_dict = parser.load(argv[1]);
nanoseconds t2 = since_epoch();

// dangerous lack of error checking.
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Binary file modified examples/slave/nuttx/xmc4800/boards/wdc_foot/foot.bin
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135 changes: 132 additions & 3 deletions examples/slave/nuttx/xmc4800/boards/wdc_foot/foot.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
<Groups>
<Group SortOrder="0">
<Type>XMC4800 Wandercraft</Type>
<Name LcId="1033">foot</Name>
<Name LcId="1033">Foot</Name>
</Group>
</Groups>
<Devices>
Expand All @@ -36,7 +36,8 @@
</Info>
<GroupType>XMC4800 Wandercraft</GroupType>
<Profile>
<ProfileNo>402</ProfileNo>
<!-- Profile custom -->
<ProfileNo>0</ProfileNo>
<!-- Dictionnary -->
<Dictionary>

Expand Down Expand Up @@ -157,6 +158,79 @@
</SubItem>
</DataType>

<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Subindex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
<Backup>0</Backup>
<Setting>0</Setting>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Subindex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
<Backup>0</Backup>
<Setting>0</Setting>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>

<DataType>
<Name>DT2000</Name> <!-- Value ?-->
<BitSize>80</BitSize>
Expand Down Expand Up @@ -204,7 +278,21 @@

<!-- Objects -->
<Objects>

<Object>
<Index>#x1000</Index>
<Name>Device Type</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>m</Category>
<Backup>0</Backup>
<Setting>0</Setting>
</Flags>
</Object>
<Object>
<Index>#x1018</Index>
<Name>Identity Object</Name>
Expand Down Expand Up @@ -244,6 +332,47 @@
</Info>
</Object>

<Object>
<Index>#x1c12</Index>
<Name>RxPDO assign</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Subindex 000</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>RxPDO assign Element 1</Name>
<Info>
<DefaultData>0016</DefaultData>
</Info>
</SubItem>
</Info>
</Object>
<Object>
<Index>#x1c13</Index>
<Name>TxPDO assign</Name>
<Type>DT1C13</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Subindex 000</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>TxPDO assign Element 1</Name>
<Info>
<DefaultData>001a</DefaultData>
</Info>
</SubItem>
</Info>
</Object>

<Object>
<Index>#x2000</Index>
<Name>FreezeValue</Name>
Expand Down
60 changes: 36 additions & 24 deletions examples/slave/nuttx/xmc4800/od_populator.cc
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Expand Up @@ -8,19 +8,31 @@ namespace kickcat::CoE
{
CoE::Dictionary dictionary;

{
CoE::Object object
{
0x1000,
CoE::ObjectCode::VAR,
"Device Type",
{}
};
CoE::addEntry<uint32_t>(object,0,32,0,7,static_cast<CoE::DataType>(7),"",0x0);
dictionary.push_back(std::move(object));
}

{
CoE::Object object
{
0x1018,
CoE::ObjectCode::ARRAY,
CoE::ObjectCode::RECORD,
"Identity Object",
{}
};
CoE::addEntry(object,0,8, 7,static_cast<CoE::DataType>(5),"Subindex 000",0x4);
CoE::addEntry(object,1,32,7,static_cast<CoE::DataType>(7),"Vendor ID",0x6a5);
CoE::addEntry(object,2,32,7,static_cast<CoE::DataType>(7),"Product code",0xb0cad0);
CoE::addEntry(object,3,32,7,static_cast<CoE::DataType>(7),"Revision number",0x0);
CoE::addEntry(object,4,32,7,static_cast<CoE::DataType>(7),"Serial number",0xcafedeca);
CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0x4);
CoE::addEntry<uint32_t>(object,1,32,16,7,static_cast<CoE::DataType>(7),"Vendor ID",0x6a5);
CoE::addEntry<uint32_t>(object,2,32,48,7,static_cast<CoE::DataType>(7),"Product code",0xb0cad0);
CoE::addEntry<uint32_t>(object,3,32,80,7,static_cast<CoE::DataType>(7),"Revision number",0x0);
CoE::addEntry<uint32_t>(object,4,32,112,7,static_cast<CoE::DataType>(7),"Serial number",0xcafedeca);
dictionary.push_back(std::move(object));
}

Expand All @@ -32,8 +44,8 @@ namespace kickcat::CoE
"RxPDO Map 1",
{}
};
CoE::addEntry(object,0,8,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry(object,1,32,15,static_cast<CoE::DataType>(7),"RxPDO Map 1 Element 1",0x10);
CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry<uint32_t>(object,1,32,16,15,static_cast<CoE::DataType>(7),"RxPDO Map 1 Element 1",0x10);
dictionary.push_back(std::move(object));
}

Expand All @@ -45,8 +57,8 @@ namespace kickcat::CoE
"TxPDO Map 1",
{}
};
CoE::addEntry(object,0,8,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry(object,1,32,15,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 1",0xe0);
CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry<uint32_t>(object,1,32,16,15,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 1",0xe0);
dictionary.push_back(std::move(object));
}

Expand All @@ -58,11 +70,11 @@ namespace kickcat::CoE
"Sync manager type",
{}
};
CoE::addEntry(object,0,8,7,static_cast<CoE::DataType>(5),"Subindex 0",0x4);
CoE::addEntry(object,1,8,7,static_cast<CoE::DataType>(5),"Subindex 1",0x1);
CoE::addEntry(object,2,8,7,static_cast<CoE::DataType>(5),"Subindex 2",0x2);
CoE::addEntry(object,3,8,7,static_cast<CoE::DataType>(5),"Subindex 3",0x3);
CoE::addEntry(object,4,8,7,static_cast<CoE::DataType>(5),"Subindex 4",0x4);
CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 0",0x4);
CoE::addEntry<uint32_t>(object,1,8,16,7,static_cast<CoE::DataType>(5),"Subindex 1",0x1);
CoE::addEntry<uint32_t>(object,2,8,24,7,static_cast<CoE::DataType>(5),"Subindex 2",0x2);
CoE::addEntry<uint32_t>(object,3,8,32,7,static_cast<CoE::DataType>(5),"Subindex 3",0x3);
CoE::addEntry<uint32_t>(object,4,8,40,7,static_cast<CoE::DataType>(5),"Subindex 4",0x4);
dictionary.push_back(std::move(object));
}

Expand All @@ -74,8 +86,8 @@ namespace kickcat::CoE
"RxPDO assign",
{}
};
CoE::addEntry(object,0,8,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry(object,1,32,15,static_cast<CoE::DataType>(7),"RxPDO assign Element 1",0x1600);
CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry<uint16_t>(object,1,16,16,15,static_cast<CoE::DataType>(6),"RxPDO assign Element 1",0x1600);
dictionary.push_back(std::move(object));
}

Expand All @@ -87,25 +99,25 @@ namespace kickcat::CoE
"TxPDO assign",
{}
};
CoE::addEntry(object,0,8,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry(object,1,32,15,static_cast<CoE::DataType>(7),"TxPDO assign Element 1",0x1a00);
CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
CoE::addEntry<uint16_t>(object,1,16,16,15,static_cast<CoE::DataType>(6),"TxPDO assign Element 1",0x1a00);
dictionary.push_back(std::move(object));
}

{
CoE::Object object
{
0x2000,
CoE::ObjectCode::ARRAY,
CoE::ObjectCode::RECORD,
"FreezeValue",
{}
};
CoE::addEntry(object,0,8,7,static_cast<CoE::DataType>(5),"Subindex 000",0x2);
CoE::addEntry(object,1,32,63,static_cast<CoE::DataType>(7),"ForceSensor0",0x2);
CoE::addEntry(object,2,32,63,static_cast<CoE::DataType>(7),"IMU",0x2);
CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0x2);
CoE::addEntry<uint32_t>(object,1,32,16,63,static_cast<CoE::DataType>(7),"ForceSensor0",0x2);
CoE::addEntry<uint32_t>(object,2,32,48,63,static_cast<CoE::DataType>(7),"IMU",0x2);
dictionary.push_back(std::move(object));
}

return dictionary;
return dictionary;
}
}
4 changes: 2 additions & 2 deletions lib/include/kickcat/CoE/EsiParser.h
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Expand Up @@ -38,7 +38,7 @@ namespace kickcat::CoE

uint16_t loadAccess(tinyxml2::XMLNode* node);

std::tuple<DataType, uint16_t> toType(tinyxml2::XMLNode* node);
std::tuple<DataType, uint16_t, uint16_t> parseType(tinyxml2::XMLNode* node);

tinyxml2::XMLNode* findNodeType(tinyxml2::XMLNode* node);

Expand All @@ -61,7 +61,7 @@ namespace kickcat::CoE
tinyxml2::XMLElement* dtypes_;
tinyxml2::XMLElement* objects_;

static const std::unordered_map<std::string, std::tuple<DataType, uint16_t>> BASIC_TYPES;
static const std::unordered_map<std::string, DataType> BASIC_TYPES;
static const std::unordered_map<std::string, uint8_t> SM_CONF;
};
}
Expand Down
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