git commit -m "first commit for v2"

Devices/Libraries/Systems/CANopenSocket/examples/basicDevice/CO_application.c

@@ -0,0 +1,130 @@
+/*
+ * Application interface for CANopenNode.
+ *
+ * @file        CO_application.c
+ * @author      Janez Paternoster
+ * @copyright   2020 Janez Paternoster
+ *
+ * This file is part of CANopenNode, an opensource CANopen Stack.
+ * Project home page is <https://github.com/CANopenNode/CANopenNode>.
+ * For more information on CANopen see <http://www.can-cia.org/>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+
+#include "CO_application.h"
+#include "CO_version.h"
+#include "OD.h"
+#include "testingVariables.h"
+#include <stdio.h>
+
+
+/* Define object for testingVariables */
+testingVariables_t testVar;
+/* Extension for OD object */
+OD_extension_t OD_version_extension;
+
+
+/*
+ * Custom function for reading OD object _Version_
+ *
+ * For more information see file CO_ODinterface.h, OD_IO_t.
+ */
+static ODR_t OD_read_version(OD_stream_t *stream, void *buf,
+                             OD_size_t count, OD_size_t *countRead)
+{
+    if (stream == NULL || buf == NULL || countRead == NULL) {
+        return ODR_DEV_INCOMPAT;
+    }
+
+    switch (stream->subIndex) {
+        case 1: {
+            OD_size_t len = strlen(CO_VERSION_CANOPENNODE);
+            if (len > count) len = count;
+            memcpy(buf, CO_VERSION_CANOPENNODE, len);
+
+            *countRead = stream->dataLength = len;
+            return ODR_OK;
+        }
+        case 2: {
+            OD_size_t len = strlen(CO_VERSION_APPLICATION);
+            if (len > count) len = count;
+            memcpy(buf, CO_VERSION_APPLICATION, len);
+
+            *countRead = stream->dataLength = len;
+            return ODR_OK;
+        }
+        default:
+            return OD_readOriginal(stream, buf, count, countRead);
+    }
+}
+
+
+/******************************************************************************/
+CO_ReturnError_t app_programStart(bool_t CANopenConfigured, uint32_t *errInfo) {
+    (void) CANopenConfigured;
+    CO_ReturnError_t err = CO_ERROR_NO;
+
+    /* increment auto-storage variable */
+    OD_PERSIST_TEST_AUTO.x2106_power_onCounter ++;
+
+    /* Initialize custom read-only OD object "Version" */
+    OD_version_extension.object = NULL;
+    OD_version_extension.read = OD_read_version;
+    OD_version_extension.write = NULL;
+    OD_extension_init(OD_ENTRY_H2105_version, &OD_version_extension);
+
+    /* Initialize more advanced object, which operates with testing variables
+     * OD_ENTRY_H2120_testingVariables is constant defined in OD.h. More
+     * flexible alternative for third argument is 'OD_find(&OD, 0x2120)' */
+    err = testingVariables_init(&testVar,
+                                errInfo,
+                                OD_ENTRY_H2120_testingVariables);
+
+    return err;
+}
+
+
+/******************************************************************************/
+void app_communicationReset(bool_t CANopenConfigured) {
+
+    /* example printouts */
+    if (CANopenConfigured)
+        printf("CANopen Node-ID is configured and all services will work.\n");
+    else
+        printf("CANopen Node-ID is unconfigured, so only LSS slave will work.\n");
+
+    printf("Printing 'OD_PERSIST_APP.x2120_testingVariables.stringLong':\n%s\n",
+           OD_PERSIST_TEST.x2120_testingVariables.stringLong);
+
+    fflush(stdout);
+}
+
+
+/******************************************************************************/
+void app_programEnd() {
+
+}
+
+
+/******************************************************************************/
+void app_programAsync(bool_t CANopenConfigured, uint32_t timer1usDiff) {
+    (void) CANopenConfigured; (void) timer1usDiff; /* unused */
+}
+
+
+/******************************************************************************/
+void app_program1ms(bool_t CANopenConfigured, uint32_t timer1usDiff) {
+    (void) CANopenConfigured; (void) timer1usDiff; /* unused */
+}