diff --git a/misc/CanopenNode/Kconfig b/misc/CanopenNode/Kconfig index 3d51afc34a..2b004f79e5 100644 --- a/misc/CanopenNode/Kconfig +++ b/misc/CanopenNode/Kconfig @@ -18,1578 +18,13 @@ menuconfig PKG_USING_CANOPENNODE if PKG_USING_CANOPENNODE -config PKG_CANOPENNODE_CAN_DEV_NAME - string "RT-Thread CAN device name" - default "can1" - help - RT-Thread CAN device name passed to rt_device_find(). It is used by the - default auto-initialized instance and as the fallback device name when - CO_CANmodule_init() is called with a NULL CAN pointer. Change this when - the BSP exposes the CAN controller as a different device, such as can0. - -config PKG_CANOPENNODE_CAN_BINDING_COUNT - int "RT-Thread CAN device binding table size" - range 1 8 - default 1 - help - Maximum number of RT-Thread CAN devices that can be bound to CANopenNode - CAN modules at the same time. Keep the default value 1 for single-CAN - products and increase it only when multiple CANopenNode instances run on - separate RT-Thread CAN devices. - -config PKG_CANOPENNODE_USING_RTT_CAN_FILTER - bool "Use coarse RT-Thread CAN HDR filters as CANopen RX ingress" - default n - depends on RT_CAN_USING_HDR - depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 - help - Compile the active CANopenNode RX rules into a bounded set of coarse - standard-ID RT-Thread HDR mask filters. Hardware filters are only an - ingress prefilter: co_rx always performs the final CANopenNode - ident/mask/RTR match before dispatching callbacks. - - Runtime COB-ID changes mark the hardware filter set dirty and refresh - the bounded coarse table before CO_CANrxBufferInit() returns when CAN is - already in normal mode. The normal mainline path also retries a pending - refresh. If the bounded compiler cannot represent all active rules, it - falls back to broad standard-frame ingress filters without narrowing the - CANopenNode software rule set. - - The generic STM32 bxCAN RT-Thread mask-filter path compares RTR, so DTR - and RTR rules consume separate coarse-filter coverage. Configure at - least two banks when both data and remote frames must be received. - - Enabling this option gives the single configured CANopenNode CAN module - exclusive ownership of the HDR bank range selected below. Multi-binding - configurations keep this option unavailable because one global bank - range cannot describe controllers with different filter-bank partitions. - Reduce the range or disable this option if another component configures - HDR filters on the same CAN device. - -config PKG_CANOPENNODE_RX_HDR_BANK_BASE - int "CANopen RX first HDR bank" - range 0 27 - default 0 - depends on PKG_CANOPENNODE_USING_RTT_CAN_FILTER - help - First hardware filter bank exclusively owned by the CANopen RX ingress - compiler. Every ingress filter uses an explicit bank index starting at - this value; the port does not rely on driver auto-assignment. On the - current STM32 bxCAN driver, use banks 0..13 for CAN1 and 14..27 for - CAN2. The default 0 matches the package default CAN device, can1. - -config PKG_CANOPENNODE_RX_HDR_BANK_COUNT - int "CANopen RX HDR bank count" - range 2 14 - default 8 - depends on PKG_CANOPENNODE_USING_RTT_CAN_FILTER - help - Number of consecutive hardware filter banks exclusively owned by the - CANopen RX ingress compiler, beginning at - PKG_CANOPENNODE_RX_HDR_BANK_BASE. More banks preserve narrower hardware - masks and reject more unrelated traffic. The configured range must be - valid for the selected CAN controller/BSP. The software matcher remains - authoritative regardless of this value. - -menu "RT-Thread runtime options" - -menu "CAN RX helper thread" - -config PKG_CANOPENNODE_RX_THREAD_STACK_SIZE - int "Stack size" - default 2048 - help - Stack size in bytes for the CAN RX helper thread. - -config PKG_CANOPENNODE_RX_THREAD_PRIORITY - int "Priority" - default 2 - help - RT-Thread priority for the CAN RX helper thread. Lower numeric values are - higher priority in RT-Thread. - -config PKG_CANOPENNODE_RX_THREAD_TICK - int "Time slice" - default 10 - help - Time slice passed when creating the CAN RX helper thread. - -config PKG_CANOPENNODE_RX_BATCH_SIZE - int "CAN RX batch read size" - range 1 64 - default 8 - help - Maximum number of struct rt_can_msg frames read by the co_rx helper in - one rt_device_read() call. Larger values reduce wake/read overhead but - increase stack usage because the batch buffer is allocated on the RX - thread stack. - -endmenu - - -menu "CANopen mainline thread" - -config PKG_CANOPENNODE_MAIN_THREAD_STACK_SIZE - int "Stack size" - default 2048 - help - Stack size in bytes for the CANopenNode mainline thread. This thread - runs CO_process(), including NMT, SDO, heartbeat, emergency and reset - command handling. Increase it if the enabled CANopen objects, logging or - Object Dictionary callbacks consume more stack. A value that is too small - can cause stack overflow and hard-to-debug runtime faults; a value that - is too large only wastes RAM. - -config PKG_CANOPENNODE_MAIN_THREAD_PRIORITY - int "Priority" - default 10 - help - RT-Thread priority for the CANopenNode mainline thread. Lower numeric - values are higher priority in RT-Thread. Keep this lower priority than - the realtime thread so SDO/NMT/heartbeat work cannot delay SYNC, SRDO, - RPDO and TPDO processing when those objects are enabled. Setting it too - high can disturb time-critical tasks; setting it too low can make SDO - transfers and heartbeat handling sluggish when the system is busy. - -config PKG_CANOPENNODE_MAIN_THREAD_TICK - int "Time slice" - default 10 - help - Time slice passed when creating the CANopenNode mainline thread. Larger - values let the thread run longer before round-robin rescheduling at the - same priority. Smaller values improve fairness with peer threads but may - increase scheduling overhead. - -endmenu - - -menu "CANopen realtime thread" - -config PKG_CANOPENNODE_RT_THREAD_STACK_SIZE - int "Stack size" - default 2048 - help - Stack size in bytes for the CANopenNode realtime thread. This thread runs - the periodic SYNC, SRDO, RPDO and TPDO processing path when those objects - are enabled. Increase it if user code is added near the realtime section - or if enabled SRDO/PDO/SYNC features use more stack. A value that is too - small risks stack overflow; a value that is too large wastes RAM in every - CANopenNodeRTT instance. - -config PKG_CANOPENNODE_RT_THREAD_PRIORITY - int "Priority" - default 3 - help - RT-Thread priority for the CANopenNode realtime thread. Lower numeric - values are higher priority. This should normally be higher priority than - the mainline thread because it executes the fixed-period - SYNC/SRDO/RPDO/TPDO path when those objects are enabled. Setting it too - low increases PDO or SRDO jitter; setting it too high can starve other - time-critical device or control threads. - -config PKG_CANOPENNODE_RT_THREAD_TICK - int "Time slice" - default 10 - help - Time slice passed when creating the CANopenNode realtime thread. The - thread normally wakes from a semaphore and runs briefly, so this value has - limited effect unless other threads share the same priority. Larger - values reduce round-robin switching; smaller values improve fairness. - -config PKG_CANOPENNODE_TIMER_PERIOD_US - int "Processing period in us" - range 1 1000000 - default 1000 - help - Requested period for realtime CANopen processing. The default 1000 us - matches the common 1 ms CANopenNode model. Smaller values reduce PDO and - SYNC latency only if the RT-Thread tick rate can represent that period; - otherwise the wrapper rounds up to at least one system tick. Larger values - reduce CPU load but increase PDO latency and timing jitter. - -endmenu - - -menu "CANopen application runtime" - -config PKG_CANOPENNODE_APP_FIRST_HB_TIME_MS - int "First heartbeat time in ms" - range 0 65535 - default 500 - help - First heartbeat producer delay passed to CO_CANopenInit(). This controls - how long the node waits after communication initialization before sending - its first heartbeat. A smaller value lets a master detect the node sooner - but can produce heartbeat traffic before the application is fully ready. - A larger value gives the application more startup margin but delays - network supervision. - -config PKG_CANOPENNODE_APP_SDO_SRV_TIMEOUT_MS - int "SDO server timeout in ms" - range 1 65535 - default 1000 - help - SDO server timeout passed to CO_CANopenInit(). This is the maximum idle - time the local SDO server allows during an SDO transfer before aborting - it. Smaller values detect broken clients faster but can abort transfers on - a busy or slow bus. Larger values tolerate slow masters but keep failed - transfers and their resources open longer. - -config PKG_CANOPENNODE_APP_SDO_CLI_TIMEOUT_MS - int "SDO client timeout in ms" - range 1 65535 - default 500 - help - Default SDO client timeout passed to CO_CANopenInit(). This affects SDO - client operations initiated by this node, for example gateway or - application-driven client transfers. Smaller values fail faster when the - remote server is absent or slow. Larger values tolerate slow devices and - bus congestion but make application-level error recovery slower. - -config PKG_CANOPENNODE_APP_SDO_CLI_BLOCK - bool "Enable SDO client block transfer by default" - default n - depends on PKG_CANOPENNODE_USING_SDO_CLIENT - depends on PKG_CANOPENNODE_SDO_CLI_BLOCK - help - Default SDO client block-transfer flag passed to CO_CANopenInit(). Block - transfer can improve throughput for large SDO client uploads/downloads - when both peers support it. - -endmenu - - -menuconfig PKG_CANOPENNODE_APP_AUTO_INIT - bool "Default CANopenNode application" - default y - help - Automatically create one default CANopenNode RT-Thread application - instance during RT-Thread application initialization. Disable this when - the product creates CANopenNodeRTT instances explicitly. - -if PKG_CANOPENNODE_APP_AUTO_INIT - -config PKG_CANOPENNODE_AUTO_INIT_NODE_ID - int "Node-ID" - range 1 127 - default 1 - help - CANopen Node-ID used by the default auto-initialized instance. - -choice - prompt "CAN bitrate in kbit/s" - default PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 - help - CAN bitrate used by the default auto-initialized CANopenNode instance. - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_10 - bool "10" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_20 - bool "20" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_50 - bool "50" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_125 - bool "125" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_250 - bool "250" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_500 - bool "500" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_800 - bool "800" - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 - bool "1000" - -endchoice - -config PKG_CANOPENNODE_AUTO_INIT_BITRATE - int - default 10 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_10 - default 20 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_20 - default 50 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_50 - default 125 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_125 - default 250 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_250 - default 500 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_500 - default 800 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_800 - default 1000 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 - default 1000 - -config PKG_CANOPENNODE_GATEWAY_RTT_CONSOLE - bool "RT-Thread MSH console bridge" - default n - depends on PKG_CANOPENNODE_USING_GATEWAY_ASCII - depends on RT_USING_FINSH && FINSH_USING_MSH - depends on !PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST - depends on !PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST - select PKG_CANOPENNODE_USING_SDO_CLIENT - select PKG_CANOPENNODE_SDO_CLI_SEGMENTED - select PKG_CANOPENNODE_SDO_CLI_LOCAL - select PKG_CANOPENNODE_NMT_MASTER - select PKG_CANOPENNODE_GATEWAY_ASCII_SDO - select PKG_CANOPENNODE_GATEWAY_ASCII_NMT - select PKG_CANOPENNODE_GATEWAY_ASCII_ERROR_DESC - select PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_HELP - help - Register the canopen_gw MSH command for the default auto-initialized - CANopenNode instance. - -endif - - -menuconfig PKG_CANOPENNODE_USING_HIGH_RES_TIME - bool "High-resolution time source" - default n - depends on RT_USING_CLOCK_TIME - help - Enable the dedicated hardware-timer microsecond time source. When this - option is disabled, the wrapper uses RT-Thread tick based timing. - -if PKG_CANOPENNODE_USING_HIGH_RES_TIME - -config PKG_CANOPENNODE_HIGH_RES_TIMER_NAME - string "Hardware timer device name" - default "timer0" - help - Dedicated RT-Thread clock-timer device used by the high-resolution time - source. The BSP/user must verify that this device maps to a physical - 32-bit, 1 MHz-capable, up-counting timer and is not used by another - component. - -endif - -endmenu - -menu "CANopenNode CO_CONFIG groups" - -menu "Common flags" - -config PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE - bool "Global mainline callback-pre flag" - default n - help - Set CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE for mainline CANopenNode objects. - This allows supported objects to call application-registered - callback-pre functions after fast preprocessing. In RT-Thread this is - normally used to wake a lower-priority mainline thread after CAN RX or - other high-priority preprocessing found more work to do. - - Enable this when the port will register callback-pre hooks and use them - to signal semaphores, events or other non-blocking scheduling objects. - -config PKG_CANOPENNODE_GLOBAL_RT_CALLBACK_PRE - bool "Global realtime callback-pre flag" - default n - help - Set CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE for realtime objects such as - SYNC and PDO. This allows supported realtime objects to run custom - callback-pre functions after their fast preprocessing path. - - Use this when the RT-Thread port needs SYNC/PDO preprocessing to wake a - realtime worker, update a lightweight event flag or trigger deterministic - application-side preprocessing. The callback body must remain short and - must not call blocking APIs. - -config PKG_CANOPENNODE_GLOBAL_TIMERNEXT - bool "Global timerNext_us calculation flag" - default n - select PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE - select RT_USING_EVENT - help - Enable the RT-Thread event-driven CANopen mainline scheduler and set - CO_CONFIG_GLOBAL_FLAG_TIMERNEXT. Supported process functions calculate - the next recommended processing deadline in timerNext_us, while - callback-pre hooks wake the mainline thread early when asynchronous CAN - or runtime work arrives. - - The scheduler uses one per-instance RT-Thread event. Repeated wakeups - coalesce into a single work-available indication; CANopenNode remains the - owner of protocol state and receive buffers. - - RT_USING_EVENT and PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE are selected - automatically because timerNext-based sleeping is unsafe without an - asynchronous wake path. - -config PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC - bool "Global dynamic Object Dictionary flag" - default y - help - Set CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC. Supported objects will re-read - related OD communication parameters when those OD entries are written, - instead of only applying them during communication reset. - - Keep this enabled for configurable demo and field devices. Disable only - when the product forbids runtime communication-parameter changes and the - smaller/static behavior is intentional. - -config PKG_CANOPENNODE_USING_MULTIPLE_OD - bool "Enable multiple Object Dictionary runtime config" - default n - help - Define CO_MULTIPLE_OD and let the RT-Thread wrapper pass a persistent - CO_config_t initialized from OD_INIT_CONFIG() to CO_new(). Enable this - when the product needs CANopenNode multiple Object Dictionary support or - explicit runtime object counts. Leave disabled for the smaller default - single Object Dictionary build. - -endmenu - -menu "CiA 301 NMT and heartbeat" - -config PKG_CANOPENNODE_NMT_CALLBACK_CHANGE - bool "NMT callback on state change" - default n - help - Add CO_CONFIG_NMT_CALLBACK_CHANGE to CO_CONFIG_NMT. This enables an - application callback when the local NMT state changes, for example when - the node enters pre-operational, operational or stopped state. - - Enable this when the application needs to start/stop process I/O, - update LEDs, notify diagnostics or gate PDO processing based on NMT - state transitions. - -config PKG_CANOPENNODE_NMT_MASTER - bool "Enable simple NMT master" - default n - help - Add CO_CONFIG_NMT_MASTER to CO_CONFIG_NMT. This enables simple NMT master - support so the local node can transmit NMT commands to other nodes, such - as start remote node, stop remote node or reset communication. - - Leave disabled for a normal slave-only device. - -menuconfig PKG_CANOPENNODE_USING_HB_CONS - bool "Enable heartbeat consumer" - default y - help - Enable CO_HBconsumer and add CO_CONFIG_HB_CONS_ENABLE to - CO_CONFIG_HB_CONS. A heartbeat consumer monitors heartbeat producer - messages from configured remote nodes, detects timeouts, remote reset and - NMT state changes, and reports those states to the stack/application. - - Keep enabled when the device depends on one or more remote CANopen nodes - and must detect loss of communication. - -if PKG_CANOPENNODE_USING_HB_CONS - -choice - prompt "Heartbeat consumer NMT-change callback mode" - default PKG_CANOPENNODE_HB_CONS_CALLBACK_NONE - help - Select how heartbeat consumer state changes are reported to the - application. Use no callback for polling-only applications, one common - callback for simple supervision, or multiple callbacks when per-node - start/timeout/reset handling is required. - - CANopenNode does not allow the common and multi callback bits to be set - at the same time. - -config PKG_CANOPENNODE_HB_CONS_CALLBACK_NONE - bool "No heartbeat consumer change callback" - help - Do not add heartbeat-consumer state-change callback flags. The - application can still inspect heartbeat consumer state through normal - processing or query functions if enabled. - -config PKG_CANOPENNODE_HB_CONS_CALLBACK_CHANGE - bool "Common heartbeat consumer change callback" - help - Add CO_CONFIG_HB_CONS_CALLBACK_CHANGE. One common callback is invoked - when a monitored node's NMT state changes. - -config PKG_CANOPENNODE_HB_CONS_CALLBACK_MULTI - bool "Multiple heartbeat consumer callbacks" - help - Add CO_CONFIG_HB_CONS_CALLBACK_MULTI. Separate callbacks can be - registered for per-node NMT change, heartbeat started, timeout and remote - reset events. - -endchoice - -config PKG_CANOPENNODE_HB_CONS_QUERY_FUNCT - bool "Enable heartbeat consumer query functions" - default n - help - Add CO_CONFIG_HB_CONS_QUERY_FUNCT to CO_CONFIG_HB_CONS. This exposes - query helpers for the heartbeat/NMT state of monitored nodes. - - Enable this when application code wants to poll the supervision result - instead of relying only on callbacks. - -endif - -endmenu - -menu "CiA 301 legacy node guarding" - -comment "Node guarding is legacy and is not covered by demo CI profiles; prefer heartbeat supervision." - -menuconfig PKG_CANOPENNODE_USING_NODE_GUARDING - bool "Enable legacy node guarding" - default n - help - Enable CANopen node guarding support. Node guarding is the legacy - error-control method where a master polls a node and checks the returned - state/toggle information. - - This package does not need node guarding for the default demo or CI - profiles. For new designs, prefer NMT plus heartbeat producer/consumer - and configure heartbeat timing, for example with - PKG_CANOPENNODE_APP_FIRST_HB_TIME_MS and heartbeat consumer settings. - - Enable node guarding only for older CANopen networks, older masters, or - devices that explicitly require node/life guarding compatibility. The - slave path also requires Object Dictionary entries 0x100C Guard Time and - 0x100D Lifetime Factor; the bundled demo OD does not define them. - -if PKG_CANOPENNODE_USING_NODE_GUARDING - -config PKG_CANOPENNODE_NODE_GUARDING_SLAVE - bool "Enable node guarding slave" - default n - help - Add CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE. The local device can respond - to node guarding requests from an external master. - - Enable this only when the product Object Dictionary defines 0x100C Guard - Time and 0x100D Lifetime Factor. Prefer heartbeat supervision for new - products. - -config PKG_CANOPENNODE_NODE_GUARDING_MASTER - bool "Enable node guarding master" - default n - help - Add CO_CONFIG_NODE_GUARDING_MASTER_ENABLE. The local device can poll - other nodes using the legacy node guarding mechanism. - - Enable only when this RT-Thread node must act as the compatibility - master for legacy nodes. - -config PKG_CANOPENNODE_NODE_GUARDING_MASTER_COUNT - int - prompt "Node guarding master count" if PKG_CANOPENNODE_NODE_GUARDING_MASTER - range 0 127 - default 127 - help - Maximum number of nodes monitored by the node guarding master. The value - remains defined even when the prompt is hidden, so CO_driver_target.h can - keep a stable CO_CONFIG_NODE_GUARDING_MASTER_COUNT mapping. - -endif - -endmenu - -menu "CiA 301 emergency object" - -config PKG_CANOPENNODE_EM_PRODUCER - bool "Emergency producer" - default y - help - Add CO_CONFIG_EM_PRODUCER to CO_CONFIG_EM. The local node can transmit - EMCY messages when CO_errorReport() or CO_errorReset() changes the active - error state. - -config PKG_CANOPENNODE_EM_PROD_CONFIGURABLE - bool "Configurable emergency COB-ID" - default n - depends on PKG_CANOPENNODE_EM_PRODUCER - help - Add CO_CONFIG_EM_PROD_CONFIGURABLE. OD object 0x1014 can configure the - emergency producer COB-ID. When disabled, the default EMCY COB-ID is - derived from the node ID and 0x1014 is effectively fixed/read-only. - -config PKG_CANOPENNODE_EM_PROD_INHIBIT - bool "Emergency inhibit timer" - default n - depends on PKG_CANOPENNODE_EM_PRODUCER - help - Add CO_CONFIG_EM_PROD_INHIBIT. OD object 0x1015 limits the minimum time - between produced EMCY messages, reducing bursts when an error toggles or - multiple faults are reported quickly. - -config PKG_CANOPENNODE_EM_HISTORY - bool "Emergency history" - default y - help - Add CO_CONFIG_EM_HISTORY. Store recent emergency error codes in the - predefined error field, OD object 0x1003, so diagnostic tools can read - fault history after the fault was reported. - -config PKG_CANOPENNODE_EM_STATUS_BITS - bool "Expose emergency status bits through OD" - default n - help - Add CO_CONFIG_EM_STATUS_BITS. Expose CO_EM_errorStatusBits_t through the - Object Dictionary for diagnostics or manufacturer-specific inspection. - - Enable only when OD access to raw error status bits is required. - -config PKG_CANOPENNODE_EM_CONSUMER - bool "Emergency consumer" - default n - help - Add CO_CONFIG_EM_CONSUMER. The local node can receive EMCY messages from - other nodes and report them to an application callback. - - Enable this for supervisors, gateways, masters or devices that must react - to remote node faults. - -config PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT - int "Emergency status bit count" - range 48 256 - default 80 - help - Number of local emergency status bits. CANopenNode uses the first 48 bits - internally; the remaining bits can be used by manufacturer/application - errors. The value must be a multiple of 8 because CANopenNode stores and - checks the status as whole bytes. The stack default manufacturer error - condition reads status bytes 8 and 9, so - PKG_CANOPENNODE_ERR_CONDITION_MANUFACTURER_STACK requires this value to - be at least 80. CANopenNode default is 80. - -config PKG_CANOPENNODE_ERR_CONDITION_GENERIC_STACK - bool "Generic error condition uses stack default" - default y - help - Define CO_CONFIG_ERR_CONDITION_GENERIC using the stack default condition. - It maps stack generic error status bits into bit 0 of CANopen error - register object 0x1001. - -config PKG_CANOPENNODE_ERR_CONDITION_COMMUNICATION_STACK - bool "Communication error condition uses stack default" - default y - help - Define CO_CONFIG_ERR_CONDITION_COMMUNICATION using stack communication - error status bits. This feeds the communication error bit in CANopen - error register object 0x1001. - -config PKG_CANOPENNODE_ERR_CONDITION_MANUFACTURER_STACK - bool "Manufacturer error condition uses stack default" - depends on PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT >= 80 - default y - help - Define CO_CONFIG_ERR_CONDITION_MANUFACTURER using the stack default - manufacturer error bits. This feeds the manufacturer-specific error bit - in CANopen error register object 0x1001. This option requires at least - 80 emergency status bits because it reads errorStatusBits[8] and - errorStatusBits[9]. - -config PKG_CANOPENNODE_ERR_CONDITION_CURRENT_ZERO - bool "Define current error condition as false" - default n - help - Define CO_CONFIG_ERR_CONDITION_CURRENT as 0. Use this when the product - does not report current-related errors through the CANopen error - register. Leave disabled if the application will provide its own macro. - -config PKG_CANOPENNODE_ERR_CONDITION_VOLTAGE_ZERO - bool "Define voltage error condition as false" - default n - help - Define CO_CONFIG_ERR_CONDITION_VOLTAGE as 0. Use this when the product - does not report voltage-related errors through the CANopen error - register. Leave disabled if the application will provide its own macro. - -config PKG_CANOPENNODE_ERR_CONDITION_TEMPERATURE_ZERO - bool "Define temperature error condition as false" - default n - help - Define CO_CONFIG_ERR_CONDITION_TEMPERATURE as 0. Use this when the - product does not report temperature-related errors through the CANopen - error register. Leave disabled if the application will provide its own - macro. - -config PKG_CANOPENNODE_ERR_CONDITION_DEV_PROFILE_ZERO - bool "Define device-profile error condition as false" - default n - help - Define CO_CONFIG_ERR_CONDITION_DEV_PROFILE as 0. Use this when the - selected CANopen device profile does not map any profile-specific error - into the CANopen error register. Leave disabled if the application will - provide its own macro. - -endmenu - -menu "CiA 301 SDO" - -comment "SDO provides Object Dictionary upload/download for configuration and diagnostics." -comment "Most slave devices need SDO server; SDO client is for masters/gateways/tools." - -menuconfig PKG_CANOPENNODE_USING_SDO_SERVER - bool "Enable SDO server" - default y - help - Enable CO_SDOserver.c and CO_CONFIG_SDO_SRV. The SDO server lets another - node or configuration tool read/write this device's Object Dictionary. - - Keep enabled for most CANopen devices. - -if PKG_CANOPENNODE_USING_SDO_SERVER - -config PKG_CANOPENNODE_SDO_SRV_SEGMENTED - bool "SDO server segmented transfer" - default y - help - Add CO_CONFIG_SDO_SRV_SEGMENTED. Segmented transfer allows OD entries - larger than one expedited SDO frame to be transferred in several CAN - frames. - -config PKG_CANOPENNODE_SDO_SRV_BLOCK - bool "SDO server block transfer" - default n - depends on PKG_CANOPENNODE_SDO_SRV_SEGMENTED - select PKG_CANOPENNODE_USING_CRC16 - help - Add CO_CONFIG_SDO_SRV_BLOCK. Block transfer improves throughput for large - objects but needs segmented transfer and a larger SDO buffer. - -config PKG_CANOPENNODE_SDO_SRV_BUFFER_SIZE - int "SDO server buffer size" - range 900 4096 if PKG_CANOPENNODE_SDO_SRV_BLOCK - range 20 4096 if !PKG_CANOPENNODE_SDO_SRV_BLOCK - default 1000 if PKG_CANOPENNODE_SDO_SRV_BLOCK - default 32 - help - Internal SDO server buffer size in bytes. Segmented server transfer - requires at least 20 bytes; block transfer requires at least 900 bytes - because CANopenNode verifies that constraint at compile time. Increase - the value for large OD entries or higher block-transfer throughput. - -endif - -menuconfig PKG_CANOPENNODE_USING_SDO_CLIENT - bool "Enable SDO client" - default n - select PKG_CANOPENNODE_USING_FIFO - help - Enable CO_SDOclient.c and add CO_CONFIG_SDO_CLI_ENABLE to - CO_CONFIG_SDO_CLI. SDO client lets this node read/write Object - Dictionary entries on remote nodes. - - Enable for NMT masters, gateways, commissioning tools or devices that - configure other CANopen nodes. It selects FIFO support because the SDO - client uses a circular buffer. - -if PKG_CANOPENNODE_USING_SDO_CLIENT - -config PKG_CANOPENNODE_SDO_CLI_SEGMENTED - bool "SDO client segmented transfer" - default y - help - Add CO_CONFIG_SDO_CLI_SEGMENTED. The client can transfer data larger than - an expedited SDO frame by exchanging several segments. - -config PKG_CANOPENNODE_SDO_CLI_BLOCK - bool "SDO client block transfer" - default n - depends on PKG_CANOPENNODE_SDO_CLI_SEGMENTED - select PKG_CANOPENNODE_FIFO_ALT_READ - select PKG_CANOPENNODE_FIFO_CRC16_CCITT - help - Add CO_CONFIG_SDO_CLI_BLOCK. Block transfer improves throughput for large - uploads/downloads. It also requires FIFO alternate read and CRC16-CCITT - support, which are selected automatically. - -config PKG_CANOPENNODE_SDO_CLI_LOCAL - bool "SDO client local transfer" - default n - help - Add CO_CONFIG_SDO_CLI_LOCAL. If the SDO client targets the same node ID - as the local SDO server, data can be transferred locally without sending - CAN frames. - -config PKG_CANOPENNODE_SDO_CLI_BUFFER_SIZE - int "SDO client buffer size" - range 1000 4096 if PKG_CANOPENNODE_SDO_CLI_BLOCK - range 7 4096 if !PKG_CANOPENNODE_SDO_CLI_BLOCK - default 1000 if PKG_CANOPENNODE_SDO_CLI_BLOCK - default 32 - help - Internal SDO client circular buffer size in bytes. Segmented transfer can - work with a buffer as small as 7 bytes if the application services it - frequently. Block transfer requires at least 1000 bytes so the maximum - block size can be used, matching CANopenNode's upstream configuration. - -endif - -endmenu - -menuconfig PKG_CANOPENNODE_USING_TIME - bool "CiA 301 TIME object" - default y - help - Enable CO_TIME.c and CO_CONFIG_TIME. TIME transfers a CANopen time stamp - object, allowing a node to consume network time or produce a time stamp - for other nodes. - - Default mode enables TIME consumer. Enable producer only on the node that - owns or distributes the network time base. - -if PKG_CANOPENNODE_USING_TIME - -config PKG_CANOPENNODE_TIME_PRODUCER - bool "TIME producer" - default n - help - Add CO_CONFIG_TIME_PRODUCER. The local node can transmit TIME messages - using the COB-ID and enable bits configured by OD object 0x1012. +rsource "port/rtthread/Kconfig" -endif - -menu "CiA 301 SYNC and PDO" - -comment "SYNC provides a network synchronization event; PDO transfers process data." -comment "RPDO receives process data; TPDO transmits process data." - -menuconfig PKG_CANOPENNODE_USING_SYNC - bool "Enable SYNC object" - default y - help - Enable CO_SYNC.c and CO_CONFIG_SYNC. SYNC consumer detects network SYNC - messages. SYNC producer sends SYNC messages when this node is selected as - the network synchronizer. - -if PKG_CANOPENNODE_USING_SYNC - -config PKG_CANOPENNODE_SYNC_PRODUCER - bool "SYNC producer" - default y - help - Add CO_CONFIG_SYNC_PRODUCER. The local node can produce SYNC messages - according to OD objects such as 0x1005 and 0x1006. - -endif - -menuconfig PKG_CANOPENNODE_USING_PDO - bool "Enable PDO objects" - default y - help - Enable CO_PDO.c and CO_CONFIG_PDO. PDOs are the normal fast process-data - channel in CANopen. RPDO writes received mapped values into the local OD - or application access functions; TPDO sends mapped local values to the - CAN bus. - -if PKG_CANOPENNODE_USING_PDO - -config PKG_CANOPENNODE_RPDO - bool "Receive PDO" - default y - help - Add CO_CONFIG_RPDO_ENABLE. Enable receive PDO objects, used for process - data consumed by this node. - -config PKG_CANOPENNODE_TPDO - bool "Transmit PDO" - default y - help - Add CO_CONFIG_TPDO_ENABLE. Enable transmit PDO objects, used for process - data produced by this node. - -config PKG_CANOPENNODE_RPDO_TIMERS - bool "RPDO timers" - default y - depends on PKG_CANOPENNODE_RPDO - help - Add CO_CONFIG_RPDO_TIMERS_ENABLE. Enable RPDO timeout/event-timer related - processing so missing or late received PDOs can be detected according to - OD configuration. - -config PKG_CANOPENNODE_TPDO_TIMERS - bool "TPDO timers" - default y - depends on PKG_CANOPENNODE_TPDO - help - Add CO_CONFIG_TPDO_TIMERS_ENABLE. Enable TPDO inhibit time and event - timer handling. This controls minimum send spacing and periodic/event - driven TPDO transmission. - -config PKG_CANOPENNODE_PDO_SYNC - bool "PDO SYNC support" - default y - depends on PKG_CANOPENNODE_USING_SYNC - help - Add CO_CONFIG_PDO_SYNC_ENABLE. PDO objects can use synchronous - transmission types and the SYNC counter/window rules from the OD. - -config PKG_CANOPENNODE_PDO_OD_IO_ACCESS - bool "PDO OD IO access" - default y - help - Add CO_CONFIG_PDO_OD_IO_ACCESS. PDO mapping uses OD_IO_t read/write - accessors instead of direct memory access. This is more flexible for - application variables, hardware-backed values and validation hooks, but - uses slightly more code/data than direct memory mapping. - -config PKG_CANOPENNODE_PDO_BITWISE_MAPPING - bool "PDO bitwise mapping" - default n - depends on PKG_CANOPENNODE_PDO_OD_IO_ACCESS - help - Add CO_CONFIG_PDO_BITWISE_MAPPING. PDO mapped lengths are tracked in bits - instead of bytes, allowing bit-level mapping. Requires PDO OD IO access. - -endif - -endmenu - -menuconfig PKG_CANOPENNODE_USING_STORAGE - bool "CiA 301 parameter storage" - default n - help - Enable CO_storage.c and CO_CONFIG_STORAGE_ENABLE. Storage implements - parameter save/restore support for OD objects 0x1010 and 0x1011. - - Each CANopenNodeRTT instance owns its storage object and entry table. - The selected OD_PERSIST_* groups are initialized automatically after - CO_CANinit() and before CO_CANopenInit(). Select one RT-Thread storage - implementation below: built-in DFS, built-in EEPROM/AT24CXX, or a - user-provided backend. - -if PKG_CANOPENNODE_USING_STORAGE - -config PKG_CANOPENNODE_STORAGE_MAX_ENTRIES_COUNT - int "CANopenNode storage maximum entry count" - range 1 255 - default 1 - help - Maximum number of CO_storage_entry_t objects supported by CANopenNode - storage. Increase this when more than one OD_PERSIST_* group is enabled - or when the application supplies additional storage entries. - -config PKG_CANOPENNODE_STORAGE_PERSIST_COMM - bool "Persist CANopen communication parameters" - default y - help - Add OD_PERSIST_COMM to the RT-Thread storage table. - This maps communication parameters to sub-index 2 of OD 0x1010 Store - parameters and OD 0x1011 Restore default parameters. The generated OD.h - must provide OD_PERSIST_COMM. - -config PKG_CANOPENNODE_STORAGE_PERSIST_APP - bool "Persist CANopen application parameters" - default n - help - Add OD_PERSIST_APP to the RT-Thread storage table. - This maps application parameters to sub-index 3 of OD 0x1010 and OD - 0x1011. Enable this only when the generated OD.h provides - OD_PERSIST_APP. - -config PKG_CANOPENNODE_STORAGE_PERSIST_MANU - bool "Persist CANopen manufacturer parameters" - default n - help - Add OD_PERSIST_MANU to the RT-Thread storage table. - This maps manufacturer parameters to sub-index 4 of OD 0x1010 and OD - 0x1011. Enable this only when the generated OD.h provides - OD_PERSIST_MANU. - -rsource "port/rtthread/storage/Kconfig" - -endif - -menuconfig PKG_CANOPENNODE_USING_LEDS - bool "CiA 303-3 CANopen LED indicators" - default y - help - Enable CO_LEDs.c and CO_CONFIG_LEDS_ENABLE. This calculates CANopen run - and error LED states from NMT and error-control state. Board code can map - the calculated states to real GPIO LEDs later, or the package can drive - RT-Thread PIN outputs when PKG_CANOPENNODE_LEDS_USING_RTT_PIN is enabled. - -if PKG_CANOPENNODE_USING_LEDS - -config PKG_CANOPENNODE_LEDS_USING_RTT_PIN - bool "Drive CANopen LEDs with RT-Thread PIN" - default n - depends on RT_USING_PIN - help - Configure RT-Thread PIN outputs for the CiA 303-3 CANopen run and error - LED states calculated by CO_LEDs. Disable this when the application maps - CANopen LED states itself through CANopenNodeRTT::outStatusLEDGreen and - CANopenNodeRTT::outStatusLEDRed. - -config PKG_CANOPENNODE_LEDS_RTT_PIN_RUN - int "CANopen run LED pin number" - default -1 - depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN - help - RT-Thread PIN number for the CANopen run/green LED. Set to -1 to leave - the run LED unbound. - -config PKG_CANOPENNODE_LEDS_RTT_PIN_ERROR - int "CANopen error LED pin number" - default -1 - depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN - help - RT-Thread PIN number for the CANopen error/red LED. Set to -1 to leave - the error LED unbound. - -config PKG_CANOPENNODE_LEDS_RTT_PIN_RUN_ACTIVE_HIGH - bool "CANopen run LED pin is active high" - default y - depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN - help - Select the electrical polarity for the configured run/green LED pin. - Enable for active-high LEDs and disable for active-low LEDs. - -config PKG_CANOPENNODE_LEDS_RTT_PIN_ERROR_ACTIVE_HIGH - bool "CANopen error LED pin is active high" - default y - depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN - help - Select the electrical polarity for the configured error/red LED pin. - Enable for active-high LEDs and disable for active-low LEDs. - -endif - -menu "CiA 304 safety-related objects" - -menuconfig PKG_CANOPENNODE_USING_GFC - bool "Enable GFC object" - default n - help - Enable CO_GFC.c and CO_CONFIG_GFC. GFC is the Global Fail-safe Command - object used with safety-related communication. - - Leave disabled for ordinary CiA 301 devices. - -if PKG_CANOPENNODE_USING_GFC - -config PKG_CANOPENNODE_GFC_CONSUMER - bool "GFC consumer" - default n - help - Add CO_CONFIG_GFC_CONSUMER. The local node can consume Global Fail-safe - Command messages. - -config PKG_CANOPENNODE_GFC_PRODUCER - bool "GFC producer" - default n - help - Add CO_CONFIG_GFC_PRODUCER. The local node can produce Global Fail-safe - Command messages. - -endif - -menuconfig PKG_CANOPENNODE_USING_SRDO - bool "Enable SRDO object" - default n - select PKG_CANOPENNODE_USING_CRC16 - help - Enable CO_SRDO.c and CO_CONFIG_SRDO. SRDO is Safety Related Data Object - communication. Enable only when the whole safety design, OD entries, - timing and validation requirements are intentionally implemented. - -if PKG_CANOPENNODE_USING_SRDO - -config PKG_CANOPENNODE_SRDO_CHECK_TX - bool "SRDO TX data check" - default n - help - Add CO_CONFIG_SRDO_CHECK_TX. Check SRDO transmit data before sending the - safety-related message pair. - -config PKG_CANOPENNODE_SRDO_MINIMUM_DELAY - int "SRDO minimum delay in us" - range 0 1000000 - default 0 - help - Minimum delay in microseconds between the first and second transmitted - SRDO CANopen message. - -endif - -endmenu - -menu "CiA 305 LSS" - -comment "LSS discovers/configures node ID and bitrate during commissioning." -comment "LSS slave is for configurable devices; LSS master is for tools/gateways/managers." - -menuconfig PKG_CANOPENNODE_USING_LSS_SLAVE - bool "Enable LSS slave" - default y - help - Enable CO_LSSslave.c and add CO_CONFIG_LSS_SLAVE to CO_CONFIG_LSS. The - local node can be discovered/configured by an LSS master. - -if PKG_CANOPENNODE_USING_LSS_SLAVE - -config PKG_CANOPENNODE_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND - bool "LSS slave fastscan direct respond" - default n - help - Add CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND. The LSS slave sends the - fastscan response directly from the receive path. - - Use only after checking the target driver's realtime constraints; keep - receive-path processing short. - -endif - -menuconfig PKG_CANOPENNODE_USING_LSS_MASTER - bool "Enable LSS master" - default n - help - Enable CO_LSSmaster.c and add CO_CONFIG_LSS_MASTER to CO_CONFIG_LSS. The - local node can scan and configure LSS slaves. - - Enable for commissioning tools or gateways, not for a simple fixed-ID - device. - -endmenu - -menuconfig PKG_CANOPENNODE_USING_GATEWAY_ASCII - bool "CiA 309-3 ASCII gateway" - default n - select PKG_CANOPENNODE_USING_FIFO - select PKG_CANOPENNODE_FIFO_ASCII_COMMANDS - help - Enable CO_gateway_ascii.c and CO_CONFIG_GTW_ASCII. This option compiles - CANopenNode ASCII gateway support and related helpers. The RT-Thread - wrapper schedules Gateway processing from its CANopen mainline. No - command transport is registered unless the MSH console bridge under - RT-Thread runtime options is also enabled. - - Applications that do not use the MSH bridge may register another - transport with CO_GTWA_write() and CO_GTWA_initRead(). - - Gateway command groups depend on SDO client, NMT master and/or LSS master - options below. - -if PKG_CANOPENNODE_USING_GATEWAY_ASCII - -config PKG_CANOPENNODE_GATEWAY_MULTI_NET - bool "Gateway multi-network flag" - default n - help - Add CO_CONFIG_GTW_MULTI_NET to CO_CONFIG_GTW. CANopenNode documents this - flag as currently not implemented; keep it disabled unless testing that - code path explicitly. - -config PKG_CANOPENNODE_GATEWAY_ASCII_SDO - bool "Gateway ASCII SDO commands" - default y - depends on PKG_CANOPENNODE_USING_SDO_CLIENT - select PKG_CANOPENNODE_FIFO_ASCII_DATATYPES - help - Add CO_CONFIG_GTW_ASCII_SDO. Enable ASCII commands that perform SDO - uploads/downloads through the SDO client. - -config PKG_CANOPENNODE_GATEWAY_ASCII_NMT - bool "Gateway ASCII NMT commands" - default n - depends on PKG_CANOPENNODE_NMT_MASTER - help - Add CO_CONFIG_GTW_ASCII_NMT. Enable ASCII commands that transmit NMT - master commands. - -config PKG_CANOPENNODE_GATEWAY_ASCII_LSS - bool "Gateway ASCII LSS commands" - default n - depends on PKG_CANOPENNODE_USING_LSS_MASTER - help - Add CO_CONFIG_GTW_ASCII_LSS. Enable ASCII commands for LSS master scan - and configuration operations. - -config PKG_CANOPENNODE_GATEWAY_ASCII_LOG - bool "Gateway ASCII log" - default n - help - Add CO_CONFIG_GTW_ASCII_LOG. Enable the gateway message log buffer for - diagnostic output. - -config PKG_CANOPENNODE_GATEWAY_ASCII_ERROR_DESC - bool "Gateway ASCII error descriptions" - default n - help - Add CO_CONFIG_GTW_ASCII_ERROR_DESC. Include textual error descriptions - in gateway output where supported. - -config PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_HELP - bool "Gateway ASCII help command" - default n - help - Add CO_CONFIG_GTW_ASCII_PRINT_HELP. Enable the non-standard "help" - command for interactive gateway sessions. - -config PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_LEDS - bool "Gateway ASCII LED status print" - default n - depends on PKG_CANOPENNODE_USING_LEDS - help - Add CO_CONFIG_GTW_ASCII_PRINT_LEDS. Enable the non-standard "led" - Gateway command, which prints the calculated CANopen run/error LED - states on the Gateway output. It does not control physical LED GPIOs. - -config PKG_CANOPENNODE_GTW_BLOCK_DL_LOOP - int "Gateway SDO block download loop count" - range 1 127 - default 1 - help - Number of CO_SDOclientDownload() loops performed during one gateway block - download processing pass. Increase only after measuring mainline latency. - -config PKG_CANOPENNODE_GTWA_COMM_BUF_SIZE - int "Gateway ASCII command buffer size" - range 32 8192 - default 200 - help - ASCII gateway command buffer size in bytes. Increase if commands or data - payloads are truncated. - -config PKG_CANOPENNODE_GTWA_LOG_BUF_SIZE - int "Gateway ASCII log buffer size" - range 0 65536 - default 2000 - help - ASCII gateway message log buffer size in bytes. Set to 0 only if gateway - logging is intentionally unused. - -endif - -menu "Helper and debug objects" - -comment "FIFO/CRC16 are helpers for optional modules; trace/debug are bring-up aids." - -config PKG_CANOPENNODE_USING_CRC16 - bool "Enable CRC16 helper" - default n - help - Enable CO_CONFIG_CRC16_ENABLE and compile crc16-ccitt.c unless an - external CRC16 implementation is selected. Required by SDO block transfer - and FIFO CRC16-CCITT support. - -config PKG_CANOPENNODE_CRC16_EXTERNAL - bool "Use external CRC16 implementation" - default n - depends on PKG_CANOPENNODE_USING_CRC16 - help - Add CO_CONFIG_CRC16_EXTERNAL. CANopenNode will expect the target/application - to provide the CRC16 implementation instead of compiling its internal - crc16-ccitt.c source. - -config PKG_CANOPENNODE_USING_FIFO - bool "Enable FIFO helper" - default n - help - Enable CO_fifo.c and CO_CONFIG_FIFO_ENABLE. FIFO provides circular-buffer - utilities used by SDO client, ASCII gateway and related data paths. This - option may be selected automatically by features that need it. - -config PKG_CANOPENNODE_FIFO_ALT_READ - bool "FIFO alternate read" - default n - depends on PKG_CANOPENNODE_USING_FIFO - help - Add CO_CONFIG_FIFO_ALT_READ. Enables alternate-read support in the FIFO, - used by SDO block-transfer paths that need to read data while preserving - buffer state until the transfer is confirmed. - -config PKG_CANOPENNODE_FIFO_CRC16_CCITT - bool "FIFO CRC16-CCITT support" - default n - depends on PKG_CANOPENNODE_USING_FIFO - select PKG_CANOPENNODE_USING_CRC16 - help - Add CO_CONFIG_FIFO_CRC16_CCITT. Enables CRC16-CCITT calculation over FIFO - data. This also causes the CRC16 source to be compiled unless an external - CRC implementation is selected. - -config PKG_CANOPENNODE_FIFO_ASCII_COMMANDS - bool "FIFO ASCII command support" - default n - depends on PKG_CANOPENNODE_USING_FIFO - help - Add CO_CONFIG_FIFO_ASCII_COMMANDS. Enables FIFO helpers used for ASCII - command parsing in the CiA 309-3 gateway. - -config PKG_CANOPENNODE_FIFO_ASCII_DATATYPES - bool "FIFO ASCII datatype support" - default n - depends on PKG_CANOPENNODE_USING_FIFO - help - Add CO_CONFIG_FIFO_ASCII_DATATYPES. Enables ASCII datatype conversion - helpers used by gateway SDO commands. +rsource "core/Kconfig" -config PKG_CANOPENNODE_TRACE_AVAILABLE - bool - default n +rsource "profile/Kconfig" -menuconfig PKG_CANOPENNODE_USING_TRACE - bool "Enable trace recorder (unavailable)" - default n - depends on PKG_CANOPENNODE_TRACE_AVAILABLE - help - Do not enable CO_trace.c or CO_CONFIG_TRACE_ENABLE. The current - CANopenNode trace module is not ported to the SDO server and Object - Dictionary APIs used by this package. Upstream keeps CO_CONFIG_TRACE - disabled for the same reason; enabling it references obsolete symbols - such as CO_t::SDO and CO_SDO_t and can break the build. - - Keep this disabled until CO_trace.c/.h are ported to the current - CO_SDOserver_t and OD_* APIs and trace=y is covered by build tests. - -if PKG_CANOPENNODE_USING_TRACE - -config PKG_CANOPENNODE_TRACE_OWN_INTTYPES - bool "Trace owns inttypes format macros" - default n - help - Add CO_CONFIG_TRACE_OWN_INTTYPES. Let the trace module define the integer - format macros it needs when the target C library does not provide them - correctly. - -endif - -menuconfig PKG_CANOPENNODE_USING_DEBUG - bool "Enable CANopenNode RT-Thread debug logs" - default n - depends on RT_USING_ULOG - help - Enable RT-Thread ulog diagnostics for the CANopenNode RT-Thread port and - expose CANopenNode internal debug macros through CO_DEBUG_COMMON(msg). - The port uses LOG_E, LOG_W, LOG_I and LOG_D according to runtime event - severity. - - Use for bring-up and troubleshooting. Leave disabled for normal release - builds unless the project has a defined debug logging policy. - -if PKG_CANOPENNODE_USING_DEBUG - -config PKG_CANOPENNODE_DEBUG_COMMON - bool "Default common debug macro" - default y - help - Add CO_CONFIG_DEBUG_COMMON. Enable common CANopenNode debug output paths. - This option also provides the CO_DEBUG_COMMON(msg) ulog sink used by - target-specific debug output. - -config PKG_CANOPENNODE_DEBUG_SDO_CLIENT - bool "SDO client debug output" - default n - depends on PKG_CANOPENNODE_USING_SDO_CLIENT - help - Add CO_CONFIG_DEBUG_SDO_CLIENT. Enable additional SDO client debug output - during uploads/downloads and error handling. Messages are routed through - the same CO_DEBUG_COMMON(msg) ulog sink. - -config PKG_CANOPENNODE_DEBUG_SDO_SERVER - bool "SDO server debug output" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - help - Add CO_CONFIG_DEBUG_SDO_SERVER. Enable additional SDO server debug output - during OD access and transfer state handling. Messages are routed through - the same CO_DEBUG_COMMON(msg) ulog sink. - -config PKG_CANOPENNODE_USING_FRAME_TRACE - bool "Trace CAN RX/TX frames with ulog" - default n - help - Emit debug logs for each CAN frame submitted to or received from the - RT-Thread CAN device. The trace prints frame metadata with LOG_D and the - payload with LOG_HEX(). This is intended for bring-up and bus-level - diagnostics. - -endif - -endmenu - -endmenu - -menu "Object Dictionary" - -config PKG_CANOPENNODE_USING_DEMO_OD - bool "Use package default Object Dictionary" - default y - help - Compile the package-provided generated OD.c/OD.h from examples/demo_device - and add its directory to the include path. - - This Object Dictionary can be used independently of all optional demo/test - modules. Enabling this option does not require any PKG_CANOPENNODE_DEMO_* - option to be enabled. - - Disable this option when the BSP or application supplies a custom OD.c - and OD.h through its own SConscript/include path. - -if PKG_CANOPENNODE_USING_DEMO_OD - -menu "Optional demo/test modules" - -config PKG_CANOPENNODE_DEMO_TIME_DIAGNOSTIC - bool "Enable demo TIME consumer diagnostic object updates" - default n - depends on PKG_CANOPENNODE_USING_TIME - depends on PKG_CANOPENNODE_USING_SDO_SERVER - select PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE - select PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC - help - Publish demo/test TIME consumer diagnostics through OD 0x2300. The - demo module counts valid DLC=6 TIME receptions with callback-pre and - publishes the applied CO_TIME_t milliseconds/day values after CO_process(). - - This option is intended for automated validation with the generated demo - OD. Product firmware with a custom OD should provide its own application - observability contract instead. - -config PKG_CANOPENNODE_DEMO_EMCY_CONSUMER_DIAGNOSTIC - bool "Enable demo EMCY consumer diagnostic object updates" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 - select PKG_CANOPENNODE_EM_CONSUMER - help - Publish demo/test EMCY consumer diagnostics through OD 0x2301. The - demo records each remote EMCY callback with RT-Thread atomics and - publishes one coherent latest-message snapshot after CO_process(). - - Local EMCY messages reported by CANopenNode with ident == 0 are excluded. - Repeated remote messages and errorCode == 0 recovery messages are counted. - The CANopenNode EMCY callback has no application object, so this generated - demo diagnostic is limited to one CANopenNodeRTT instance. This option is - intended for automated validation, not as a product-level remote fault manager. - -config PKG_CANOPENNODE_DEMO_GFC_DIAGNOSTIC - bool "Enable demo GFC protocol diagnostic and producer trigger" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - select PKG_CANOPENNODE_USING_GFC - select PKG_CANOPENNODE_GFC_CONSUMER - select PKG_CANOPENNODE_GFC_PRODUCER - help - Publish test-only GFC consumer/producer state through OD 0x2302. The - receive callback only increments an RT-Thread atomic counter and latches - safe_requested. A mainline sequence request triggers CO_GFCsend() and - publishes its completion/result for automated Host validation. - - This option validates protocol behavior only. It does not implement a - functional-safety state machine or control real safety actuators. - -config PKG_CANOPENNODE_DEMO_SRDO_DIAGNOSTIC - bool "Enable demo SRDO diagnostic fixture" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 - depends on PKG_CANOPENNODE_USING_DEMO_OD - select PKG_CANOPENNODE_USING_SRDO - select PKG_CANOPENNODE_SRDO_CHECK_TX - help - Enable the test-only SRDO fixture in the generated demo Object - Dictionary. The fixture exposes two deterministic SRDO channels and OD - 0x2306 state/TX-request observability for Host protocol validation. - - The generated OD_RAM.x2306_srdo_diagnostic object is global, so this - fixture is intentionally limited to one CANopenNodeRTT instance / CAN - binding. Multi-instance products must keep this fixture disabled and - provide instance-specific Object Dictionaries and diagnostics. - - This option validates CANopenNode SRDO protocol behavior only. It does - not claim SIL/PL compliance, functional-safety certification, redundant - hardware coverage, WCET proof or machine-level safety timing. - -config PKG_CANOPENNODE_DEMO_SDO_BLOCK_TEST - bool "Enable demo SDO server block-transfer DOMAIN fixture" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - depends on PKG_CANOPENNODE_SDO_SRV_BLOCK - help - Publish the test-only variable-length DOMAIN at OD 0x2304 for SDO Server - Block Transfer validation. The bounded backend accepts up to - 2048 bytes, uses no dynamic memory or persistence and relies on - CANopenNode for the SDO block state machine and CRC handling. - - A partial download may leave the one-buffer fixture dirty after abort; - the next complete download re-establishes a valid payload. Keep this - disabled in normal product firmware. - -config PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST - bool "Enable demo MCU SDO client test control/status" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - select PKG_CANOPENNODE_USING_SDO_CLIENT - select PKG_CANOPENNODE_SDO_CLI_SEGMENTED - select PKG_CANOPENNODE_SDO_CLI_LOCAL - help - Publish test-only MCU SDO client control/status through OD 0x2303. - The Host commits request_seq after all request fields are written, then - the CANopenNode mainline drives CO_SDOclient non-blockingly. The - segmented/local validation profile keeps flags=0. Block-transfer - validation may set bit 0 when PKG_CANOPENNODE_SDO_CLI_BLOCK is enabled. - - The demo uses the first generated SDO client object and is intended for - automated validation with the package demo Object Dictionary. - -config PKG_CANOPENNODE_DEMO_STORAGE_DIAGNOSTIC - bool "Enable demo EEPROM Storage diagnostic" - default n - depends on PKG_CANOPENNODE_USING_SDO_SERVER - depends on PKG_CANOPENNODE_USING_STORAGE_EEPROM - depends on PKG_CANOPENNODE_USING_STORAGE_AT24C - depends on PKG_CANOPENNODE_STORAGE_PERSIST_COMM - help - Publish test-only EEPROM Storage diagnostics through OD 0x2305. The diagnostic exposes the existing CO_storageEeprom raw layout, - captures the startup storage result and pre-master 0x1017 value, and - supports full raw baseline backup/restore plus controlled corruption. - -config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST - bool "Enable automatic demo NMT master test" - default n - depends on PKG_CANOPENNODE_APP_AUTO_INIT - select PKG_CANOPENNODE_NMT_MASTER - select PKG_CANOPENNODE_USING_HB_CONS - select PKG_CANOPENNODE_HB_CONS_QUERY_FUNCT - select PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC - help - Automatically validate NMT master control of a configurable remote node - with heartbeat supervision. The demo configures one OD 0x1016 consumer - entry for the target node, waits until that node is online, and then - sends START, STOP, PREOP, RESET_COMM, RESET_NODE and final START. - - Each normal command waits for the expected remote NMT state before the - next command is sent. Reset commands additionally require observing the - remote boot-up transition before PRE-OP is accepted. Keep this disabled - in normal product firmware. - -config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_TARGET_NODE_ID - int "Demo NMT master test target Node-ID" - range 1 127 - default 2 - depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST - help - Remote CANopen Node-ID controlled by the automatic NMT master test. - The runtime rejects a value equal to the active local Node-ID. Node-ID 0 - is intentionally excluded because broadcast reset commands would also - affect the local node. - -config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_HB_TIMEOUT_MS - int "Demo NMT master test heartbeat timeout in ms" - range 100 60000 - default 1500 - depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST - help - Consumer timeout written to one demo OD 0x1016 entry for the target - node. The remote test peer must produce heartbeat faster than this - timeout. A 500 ms producer heartbeat is recommended for the default. - -config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_STATE_TIMEOUT_MS - int "Demo NMT master test state transition timeout in ms" - range 100 60000 - default 3000 - depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST - help - Maximum time allowed after a fixture PRE-OP normalization command or - formal NMT command to confirm the expected remote state. Initial peer - discovery waits without timeout. Reset commands must first expose a - boot-up/non-active transition and then return to PRE-OP. - -endmenu +rsource "demo/Kconfig" config PKG_CANOPENNODE_PATH string @@ -1615,7 +50,3 @@ config PKG_CANOPENNODE_VER endif - -endmenu - -endif diff --git a/misc/CanopenNode/core/Kconfig b/misc/CanopenNode/core/Kconfig new file mode 100644 index 0000000000..c987168163 --- /dev/null +++ b/misc/CanopenNode/core/Kconfig @@ -0,0 +1,1054 @@ +# Kconfig for generic CANopenNode protocol and CO_CONFIG options. + +menu "CANopenNode CO_CONFIG groups" + +menu "Common flags" + +config PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE + bool "Global mainline callback-pre flag" + default n + help + Set CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE for mainline CANopenNode objects. + This allows supported objects to call application-registered + callback-pre functions after fast preprocessing. In RT-Thread this is + normally used to wake a lower-priority mainline thread after CAN RX or + other high-priority preprocessing found more work to do. + + Enable this when the port will register callback-pre hooks and use them + to signal semaphores, events or other non-blocking scheduling objects. + +config PKG_CANOPENNODE_GLOBAL_RT_CALLBACK_PRE + bool "Global realtime callback-pre flag" + default n + help + Set CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE for realtime objects such as + SYNC and PDO. This allows supported realtime objects to run custom + callback-pre functions after their fast preprocessing path. + + Use this when the RT-Thread port needs SYNC/PDO preprocessing to wake a + realtime worker, update a lightweight event flag or trigger deterministic + application-side preprocessing. The callback body must remain short and + must not call blocking APIs. + +config PKG_CANOPENNODE_GLOBAL_TIMERNEXT + bool "Global timerNext_us calculation flag" + default n + select PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE + select RT_USING_EVENT + help + Enable the RT-Thread event-driven CANopen mainline scheduler and set + CO_CONFIG_GLOBAL_FLAG_TIMERNEXT. Supported process functions calculate + the next recommended processing deadline in timerNext_us, while + callback-pre hooks wake the mainline thread early when asynchronous CAN + or runtime work arrives. + + The scheduler uses one per-instance RT-Thread event. Repeated wakeups + coalesce into a single work-available indication; CANopenNode remains the + owner of protocol state and receive buffers. + + RT_USING_EVENT and PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE are selected + automatically because timerNext-based sleeping is unsafe without an + asynchronous wake path. + +config PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC + bool "Global dynamic Object Dictionary flag" + default y + help + Set CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC. Supported objects will re-read + related OD communication parameters when those OD entries are written, + instead of only applying them during communication reset. + + Keep this enabled for configurable demo and field devices. Disable only + when the product forbids runtime communication-parameter changes and the + smaller/static behavior is intentional. + +config PKG_CANOPENNODE_USING_MULTIPLE_OD + bool "Enable multiple Object Dictionary runtime config" + default n + help + Define CO_MULTIPLE_OD and let the RT-Thread wrapper pass a persistent + CO_config_t initialized from OD_INIT_CONFIG() to CO_new(). Enable this + when the product needs CANopenNode multiple Object Dictionary support or + explicit runtime object counts. Leave disabled for the smaller default + single Object Dictionary build. + +endmenu + +menu "CiA 301 NMT and heartbeat" + +config PKG_CANOPENNODE_NMT_CALLBACK_CHANGE + bool "NMT callback on state change" + default n + help + Add CO_CONFIG_NMT_CALLBACK_CHANGE to CO_CONFIG_NMT. This enables an + application callback when the local NMT state changes, for example when + the node enters pre-operational, operational or stopped state. + + Enable this when the application needs to start/stop process I/O, + update LEDs, notify diagnostics or gate PDO processing based on NMT + state transitions. + +config PKG_CANOPENNODE_NMT_STATE_LOG + bool "Log local NMT state changes" + default y + depends on PKG_CANOPENNODE_USING_DEBUG + select PKG_CANOPENNODE_NMT_CALLBACK_CHANGE + help + Register the RT-Thread wrapper callback with CO_NMT_initCallbackChanged() + and log each local NMT state transition. The callback is registered again + after every successful Communication Reset because CO_NMT_init() clears + the CANopenNode NMT object. + + CANopenNode provides a single NMT state-change callback slot. Disable + this option if product code needs to own that callback directly; the + callback capability can still be enabled separately above. + +config PKG_CANOPENNODE_NMT_MASTER + bool "Enable simple NMT master" + default n + help + Add CO_CONFIG_NMT_MASTER to CO_CONFIG_NMT. This enables simple NMT master + support so the local node can transmit NMT commands to other nodes, such + as start remote node, stop remote node or reset communication. + + Leave disabled for a normal slave-only device. + +menuconfig PKG_CANOPENNODE_USING_HB_CONS + bool "Enable heartbeat consumer" + default y + help + Enable CO_HBconsumer and add CO_CONFIG_HB_CONS_ENABLE to + CO_CONFIG_HB_CONS. A heartbeat consumer monitors heartbeat producer + messages from configured remote nodes, detects timeouts, remote reset and + NMT state changes, and reports those states to the stack/application. + + Keep enabled when the device depends on one or more remote CANopen nodes + and must detect loss of communication. + +if PKG_CANOPENNODE_USING_HB_CONS + +choice + prompt "Heartbeat consumer NMT-change callback mode" + default PKG_CANOPENNODE_HB_CONS_CALLBACK_NONE + help + Select how heartbeat consumer state changes are reported to the + application. Use no callback for polling-only applications, one common + callback for simple supervision, or multiple callbacks when per-node + start/timeout/reset handling is required. + + CANopenNode does not allow the common and multi callback bits to be set + at the same time. + +config PKG_CANOPENNODE_HB_CONS_CALLBACK_NONE + bool "No heartbeat consumer change callback" + help + Do not add heartbeat-consumer state-change callback flags. The + application can still inspect heartbeat consumer state through normal + processing or query functions if enabled. + +config PKG_CANOPENNODE_HB_CONS_CALLBACK_CHANGE + bool "Common heartbeat consumer change callback" + help + Add CO_CONFIG_HB_CONS_CALLBACK_CHANGE. One common callback is invoked + when a monitored node's NMT state changes. + +config PKG_CANOPENNODE_HB_CONS_CALLBACK_MULTI + bool "Multiple heartbeat consumer callbacks" + help + Add CO_CONFIG_HB_CONS_CALLBACK_MULTI. Separate callbacks can be + registered for per-node NMT change, heartbeat started, timeout and remote + reset events. + +endchoice + +config PKG_CANOPENNODE_HB_CONS_QUERY_FUNCT + bool "Enable heartbeat consumer query functions" + default n + help + Add CO_CONFIG_HB_CONS_QUERY_FUNCT to CO_CONFIG_HB_CONS. This exposes + query helpers for the heartbeat/NMT state of monitored nodes. + + Enable this when application code wants to poll the supervision result + instead of relying only on callbacks. + +endif + +endmenu + +menu "CiA 301 legacy node guarding" + +comment "Node guarding is legacy and is not covered by demo CI profiles; prefer heartbeat supervision." + +menuconfig PKG_CANOPENNODE_USING_NODE_GUARDING + bool "Enable legacy node guarding" + default n + help + Enable CANopen node guarding support. Node guarding is the legacy + error-control method where a master polls a node and checks the returned + state/toggle information. + + This package does not need node guarding for the default demo or CI + profiles. For new designs, prefer NMT plus heartbeat producer/consumer + and configure heartbeat timing, for example with + PKG_CANOPENNODE_APP_FIRST_HB_TIME_MS and heartbeat consumer settings. + + Enable node guarding only for older CANopen networks, older masters, or + devices that explicitly require node/life guarding compatibility. The + slave path also requires Object Dictionary entries 0x100C Guard Time and + 0x100D Lifetime Factor; the bundled demo OD does not define them. + +if PKG_CANOPENNODE_USING_NODE_GUARDING + +config PKG_CANOPENNODE_NODE_GUARDING_SLAVE + bool "Enable node guarding slave" + default n + help + Add CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE. The local device can respond + to node guarding requests from an external master. + + Enable this only when the product Object Dictionary defines 0x100C Guard + Time and 0x100D Lifetime Factor. Prefer heartbeat supervision for new + products. + +config PKG_CANOPENNODE_NODE_GUARDING_MASTER + bool "Enable node guarding master" + default n + help + Add CO_CONFIG_NODE_GUARDING_MASTER_ENABLE. The local device can poll + other nodes using the legacy node guarding mechanism. + + Enable only when this RT-Thread node must act as the compatibility + master for legacy nodes. + +config PKG_CANOPENNODE_NODE_GUARDING_MASTER_COUNT + int + prompt "Node guarding master count" if PKG_CANOPENNODE_NODE_GUARDING_MASTER + range 0 127 + default 127 + help + Maximum number of nodes monitored by the node guarding master. The value + remains defined even when the prompt is hidden, so CO_driver_target.h can + keep a stable CO_CONFIG_NODE_GUARDING_MASTER_COUNT mapping. + +endif + +endmenu + +menu "CiA 301 emergency object" + +config PKG_CANOPENNODE_EM_PRODUCER + bool "Emergency producer" + default y + help + Add CO_CONFIG_EM_PRODUCER to CO_CONFIG_EM. The local node can transmit + EMCY messages when CO_errorReport() or CO_errorReset() changes the active + error state. + +config PKG_CANOPENNODE_EM_PROD_CONFIGURABLE + bool "Configurable emergency COB-ID" + default n + depends on PKG_CANOPENNODE_EM_PRODUCER + help + Add CO_CONFIG_EM_PROD_CONFIGURABLE. OD object 0x1014 can configure the + emergency producer COB-ID. When disabled, the default EMCY COB-ID is + derived from the node ID and 0x1014 is effectively fixed/read-only. + +config PKG_CANOPENNODE_EM_PROD_INHIBIT + bool "Emergency inhibit timer" + default n + depends on PKG_CANOPENNODE_EM_PRODUCER + help + Add CO_CONFIG_EM_PROD_INHIBIT. OD object 0x1015 limits the minimum time + between produced EMCY messages, reducing bursts when an error toggles or + multiple faults are reported quickly. + +config PKG_CANOPENNODE_EM_HISTORY + bool "Emergency history" + default y + help + Add CO_CONFIG_EM_HISTORY. Store recent emergency error codes in the + predefined error field, OD object 0x1003, so diagnostic tools can read + fault history after the fault was reported. + +config PKG_CANOPENNODE_EM_STATUS_BITS + bool "Expose emergency status bits through OD" + default n + help + Add CO_CONFIG_EM_STATUS_BITS. Expose CO_EM_errorStatusBits_t through the + Object Dictionary for diagnostics or manufacturer-specific inspection. + + Enable only when OD access to raw error status bits is required. + +config PKG_CANOPENNODE_EM_CONSUMER + bool "Emergency consumer" + default n + help + Add CO_CONFIG_EM_CONSUMER. The local node can receive EMCY messages from + other nodes and report them to an application callback. + + Enable this for supervisors, gateways, masters or devices that must react + to remote node faults. + +config PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT + int "Emergency status bit count" + range 48 256 + default 80 + help + Number of local emergency status bits. CANopenNode uses the first 48 bits + internally; the remaining bits can be used by manufacturer/application + errors. The value must be a multiple of 8 because CANopenNode stores and + checks the status as whole bytes. The stack default manufacturer error + condition reads status bytes 8 and 9, so + PKG_CANOPENNODE_ERR_CONDITION_MANUFACTURER_STACK requires this value to + be at least 80. CANopenNode default is 80. + +config PKG_CANOPENNODE_ERR_CONDITION_GENERIC_STACK + bool "Generic error condition uses stack default" + default y + help + Define CO_CONFIG_ERR_CONDITION_GENERIC using the stack default condition. + It maps stack generic error status bits into bit 0 of CANopen error + register object 0x1001. + +config PKG_CANOPENNODE_ERR_CONDITION_COMMUNICATION_STACK + bool "Communication error condition uses stack default" + default y + help + Define CO_CONFIG_ERR_CONDITION_COMMUNICATION using stack communication + error status bits. This feeds the communication error bit in CANopen + error register object 0x1001. + +config PKG_CANOPENNODE_ERR_CONDITION_MANUFACTURER_STACK + bool "Manufacturer error condition uses stack default" + depends on PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT >= 80 + default y + help + Define CO_CONFIG_ERR_CONDITION_MANUFACTURER using the stack default + manufacturer error bits. This feeds the manufacturer-specific error bit + in CANopen error register object 0x1001. This option requires at least + 80 emergency status bits because it reads errorStatusBits[8] and + errorStatusBits[9]. + +config PKG_CANOPENNODE_ERR_CONDITION_CURRENT_ZERO + bool "Define current error condition as false" + default n + help + Define CO_CONFIG_ERR_CONDITION_CURRENT as 0. Use this when the product + does not report current-related errors through the CANopen error + register. Leave disabled if the application will provide its own macro. + +config PKG_CANOPENNODE_ERR_CONDITION_VOLTAGE_ZERO + bool "Define voltage error condition as false" + default n + help + Define CO_CONFIG_ERR_CONDITION_VOLTAGE as 0. Use this when the product + does not report voltage-related errors through the CANopen error + register. Leave disabled if the application will provide its own macro. + +config PKG_CANOPENNODE_ERR_CONDITION_TEMPERATURE_ZERO + bool "Define temperature error condition as false" + default n + help + Define CO_CONFIG_ERR_CONDITION_TEMPERATURE as 0. Use this when the + product does not report temperature-related errors through the CANopen + error register. Leave disabled if the application will provide its own + macro. + +config PKG_CANOPENNODE_ERR_CONDITION_DEV_PROFILE_ZERO + bool "Define device-profile error condition as false" + default n + help + Define CO_CONFIG_ERR_CONDITION_DEV_PROFILE as 0. Use this when the + selected CANopen device profile does not map any profile-specific error + into the CANopen error register. Leave disabled if the application will + provide its own macro. + +endmenu + +menu "CiA 301 SDO" + +comment "SDO provides Object Dictionary upload/download for configuration and diagnostics." +comment "Most slave devices need SDO server; SDO client is for masters/gateways/tools." + +menuconfig PKG_CANOPENNODE_USING_SDO_SERVER + bool "Enable SDO server" + default y + help + Enable CO_SDOserver.c and CO_CONFIG_SDO_SRV. The SDO server lets another + node or configuration tool read/write this device's Object Dictionary. + + Keep enabled for most CANopen devices. + +if PKG_CANOPENNODE_USING_SDO_SERVER + +config PKG_CANOPENNODE_SDO_SRV_SEGMENTED + bool "SDO server segmented transfer" + default y + help + Add CO_CONFIG_SDO_SRV_SEGMENTED. Segmented transfer allows OD entries + larger than one expedited SDO frame to be transferred in several CAN + frames. + +config PKG_CANOPENNODE_SDO_SRV_BLOCK + bool "SDO server block transfer" + default n + depends on PKG_CANOPENNODE_SDO_SRV_SEGMENTED + select PKG_CANOPENNODE_USING_CRC16 + help + Add CO_CONFIG_SDO_SRV_BLOCK. Block transfer improves throughput for large + objects but needs segmented transfer and a larger SDO buffer. + +config PKG_CANOPENNODE_SDO_SRV_BUFFER_SIZE + int "SDO server buffer size" + range 900 4096 if PKG_CANOPENNODE_SDO_SRV_BLOCK + range 20 4096 if !PKG_CANOPENNODE_SDO_SRV_BLOCK + default 1000 if PKG_CANOPENNODE_SDO_SRV_BLOCK + default 32 + help + Internal SDO server buffer size in bytes. Segmented server transfer + requires at least 20 bytes; block transfer requires at least 900 bytes + because CANopenNode verifies that constraint at compile time. Increase + the value for large OD entries or higher block-transfer throughput. + +endif + +menuconfig PKG_CANOPENNODE_USING_SDO_CLIENT + bool "Enable SDO client" + default n + select PKG_CANOPENNODE_USING_FIFO + help + Enable CO_SDOclient.c and add CO_CONFIG_SDO_CLI_ENABLE to + CO_CONFIG_SDO_CLI. SDO client lets this node read/write Object + Dictionary entries on remote nodes. + + Enable for NMT masters, gateways, commissioning tools or devices that + configure other CANopen nodes. It selects FIFO support because the SDO + client uses a circular buffer. + +if PKG_CANOPENNODE_USING_SDO_CLIENT + +config PKG_CANOPENNODE_SDO_CLI_SEGMENTED + bool "SDO client segmented transfer" + default y + help + Add CO_CONFIG_SDO_CLI_SEGMENTED. The client can transfer data larger than + an expedited SDO frame by exchanging several segments. + +config PKG_CANOPENNODE_SDO_CLI_BLOCK + bool "SDO client block transfer" + default n + depends on PKG_CANOPENNODE_SDO_CLI_SEGMENTED + select PKG_CANOPENNODE_FIFO_ALT_READ + select PKG_CANOPENNODE_FIFO_CRC16_CCITT + help + Add CO_CONFIG_SDO_CLI_BLOCK. Block transfer improves throughput for large + uploads/downloads. It also requires FIFO alternate read and CRC16-CCITT + support, which are selected automatically. + +config PKG_CANOPENNODE_SDO_CLI_LOCAL + bool "SDO client local transfer" + default n + help + Add CO_CONFIG_SDO_CLI_LOCAL. If the SDO client targets the same node ID + as the local SDO server, data can be transferred locally without sending + CAN frames. + +config PKG_CANOPENNODE_SDO_CLI_BUFFER_SIZE + int "SDO client buffer size" + range 1000 4096 if PKG_CANOPENNODE_SDO_CLI_BLOCK + range 7 4096 if !PKG_CANOPENNODE_SDO_CLI_BLOCK + default 1000 if PKG_CANOPENNODE_SDO_CLI_BLOCK + default 32 + help + Internal SDO client circular buffer size in bytes. Segmented transfer can + work with a buffer as small as 7 bytes if the application services it + frequently. Block transfer requires at least 1000 bytes so the maximum + block size can be used, matching CANopenNode's upstream configuration. + +endif + +endmenu + +menuconfig PKG_CANOPENNODE_USING_TIME + bool "CiA 301 TIME object" + default y + help + Enable CO_TIME.c and CO_CONFIG_TIME. TIME transfers a CANopen time stamp + object, allowing a node to consume network time or produce a time stamp + for other nodes. + + Default mode enables TIME consumer. Enable producer only on the node that + owns or distributes the network time base. + +if PKG_CANOPENNODE_USING_TIME + +config PKG_CANOPENNODE_TIME_PRODUCER + bool "TIME producer" + default n + help + Add CO_CONFIG_TIME_PRODUCER. The local node can transmit TIME messages + using the COB-ID and enable bits configured by OD object 0x1012. + +endif + +menu "CiA 301 SYNC and PDO" + +comment "SYNC provides a network synchronization event; PDO transfers process data." +comment "RPDO receives process data; TPDO transmits process data." + +menuconfig PKG_CANOPENNODE_USING_SYNC + bool "Enable SYNC object" + default y + help + Enable CO_SYNC.c and CO_CONFIG_SYNC. SYNC consumer detects network SYNC + messages. SYNC producer sends SYNC messages when this node is selected as + the network synchronizer. + +if PKG_CANOPENNODE_USING_SYNC + +config PKG_CANOPENNODE_SYNC_PRODUCER + bool "SYNC producer" + default y + help + Add CO_CONFIG_SYNC_PRODUCER. The local node can produce SYNC messages + according to OD objects such as 0x1005 and 0x1006. + +endif + +menuconfig PKG_CANOPENNODE_USING_PDO + bool "Enable PDO objects" + default y + help + Enable CO_PDO.c and CO_CONFIG_PDO. PDOs are the normal fast process-data + channel in CANopen. RPDO writes received mapped values into the local OD + or application access functions; TPDO sends mapped local values to the + CAN bus. + +if PKG_CANOPENNODE_USING_PDO + +config PKG_CANOPENNODE_RPDO + bool "Receive PDO" + default y + help + Add CO_CONFIG_RPDO_ENABLE. Enable receive PDO objects, used for process + data consumed by this node. + +config PKG_CANOPENNODE_TPDO + bool "Transmit PDO" + default y + help + Add CO_CONFIG_TPDO_ENABLE. Enable transmit PDO objects, used for process + data produced by this node. + +config PKG_CANOPENNODE_RPDO_TIMERS + bool "RPDO timers" + default y + depends on PKG_CANOPENNODE_RPDO + help + Add CO_CONFIG_RPDO_TIMERS_ENABLE. Enable RPDO timeout/event-timer related + processing so missing or late received PDOs can be detected according to + OD configuration. + +config PKG_CANOPENNODE_TPDO_TIMERS + bool "TPDO timers" + default y + depends on PKG_CANOPENNODE_TPDO + help + Add CO_CONFIG_TPDO_TIMERS_ENABLE. Enable TPDO inhibit time and event + timer handling. This controls minimum send spacing and periodic/event + driven TPDO transmission. + +config PKG_CANOPENNODE_PDO_SYNC + bool "PDO SYNC support" + default y + depends on PKG_CANOPENNODE_USING_SYNC + help + Add CO_CONFIG_PDO_SYNC_ENABLE. PDO objects can use synchronous + transmission types and the SYNC counter/window rules from the OD. + +config PKG_CANOPENNODE_PDO_OD_IO_ACCESS + bool "PDO OD IO access" + default y + help + Add CO_CONFIG_PDO_OD_IO_ACCESS. PDO mapping uses OD_IO_t read/write + accessors instead of direct memory access. This is more flexible for + application variables, hardware-backed values and validation hooks, but + uses slightly more code/data than direct memory mapping. + +config PKG_CANOPENNODE_PDO_BITWISE_MAPPING + bool "PDO bitwise mapping" + default n + depends on PKG_CANOPENNODE_PDO_OD_IO_ACCESS + help + Add CO_CONFIG_PDO_BITWISE_MAPPING. PDO mapped lengths are tracked in bits + instead of bytes, allowing bit-level mapping. Requires PDO OD IO access. + +endif + +endmenu + +menuconfig PKG_CANOPENNODE_USING_STORAGE + bool "CiA 301 parameter storage" + default n + help + Enable CO_storage.c and CO_CONFIG_STORAGE_ENABLE. Storage implements + parameter save/restore support for OD objects 0x1010 and 0x1011. + + Each CANopenNodeRTT instance owns its storage object and entry table. + The selected OD_PERSIST_* groups are initialized automatically after + CO_CANinit() and before CO_CANopenInit(). Select one RT-Thread storage + implementation below: built-in DFS, built-in EEPROM/AT24CXX, or a + user-provided backend. + +if PKG_CANOPENNODE_USING_STORAGE + +config PKG_CANOPENNODE_STORAGE_MAX_ENTRIES_COUNT + int "CANopenNode storage maximum entry count" + range 1 255 + default 1 + help + Maximum number of CO_storage_entry_t objects supported by CANopenNode + storage. Increase this when more than one OD_PERSIST_* group is enabled + or when the application supplies additional storage entries. + +config PKG_CANOPENNODE_STORAGE_PERSIST_COMM + bool "Persist CANopen communication parameters" + default y + help + Add OD_PERSIST_COMM to the RT-Thread storage table. + This maps communication parameters to sub-index 2 of OD 0x1010 Store + parameters and OD 0x1011 Restore default parameters. The generated OD.h + must provide OD_PERSIST_COMM. + +config PKG_CANOPENNODE_STORAGE_PERSIST_APP + bool "Persist CANopen application parameters" + default n + help + Add OD_PERSIST_APP to the RT-Thread storage table. + This maps application parameters to sub-index 3 of OD 0x1010 and OD + 0x1011. Enable this only when the generated OD.h provides + OD_PERSIST_APP. + +config PKG_CANOPENNODE_STORAGE_PERSIST_MANU + bool "Persist CANopen manufacturer parameters" + default n + help + Add OD_PERSIST_MANU to the RT-Thread storage table. + This maps manufacturer parameters to sub-index 4 of OD 0x1010 and OD + 0x1011. Enable this only when the generated OD.h provides + OD_PERSIST_MANU. + +rsource "../port/rtthread/storage/Kconfig" + +endif + +menuconfig PKG_CANOPENNODE_USING_LEDS + bool "CiA 303-3 CANopen LED indicators" + default y + help + Enable CO_LEDs.c and CO_CONFIG_LEDS_ENABLE. This calculates CANopen run + and error LED states from NMT and error-control state. Board code can map + the calculated states to real GPIO LEDs later, or the package can drive + RT-Thread PIN outputs when PKG_CANOPENNODE_LEDS_USING_RTT_PIN is enabled. + +if PKG_CANOPENNODE_USING_LEDS + +config PKG_CANOPENNODE_LEDS_USING_RTT_PIN + bool "Drive CANopen LEDs with RT-Thread PIN" + default n + depends on RT_USING_PIN + help + Configure RT-Thread PIN outputs for the CiA 303-3 CANopen run and error + LED states calculated by CO_LEDs. Disable this when the application maps + CANopen LED states itself through CANopenNodeRTT::outStatusLEDGreen and + CANopenNodeRTT::outStatusLEDRed. + +config PKG_CANOPENNODE_LEDS_RTT_PIN_RUN + int "CANopen run LED pin number" + default -1 + depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN + help + RT-Thread PIN number for the CANopen run/green LED. Set to -1 to leave + the run LED unbound. + +config PKG_CANOPENNODE_LEDS_RTT_PIN_ERROR + int "CANopen error LED pin number" + default -1 + depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN + help + RT-Thread PIN number for the CANopen error/red LED. Set to -1 to leave + the error LED unbound. + +config PKG_CANOPENNODE_LEDS_RTT_PIN_RUN_ACTIVE_HIGH + bool "CANopen run LED pin is active high" + default y + depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN + help + Select the electrical polarity for the configured run/green LED pin. + Enable for active-high LEDs and disable for active-low LEDs. + +config PKG_CANOPENNODE_LEDS_RTT_PIN_ERROR_ACTIVE_HIGH + bool "CANopen error LED pin is active high" + default y + depends on PKG_CANOPENNODE_LEDS_USING_RTT_PIN + help + Select the electrical polarity for the configured error/red LED pin. + Enable for active-high LEDs and disable for active-low LEDs. + +endif + +menu "CiA 304 safety-related objects" + +menuconfig PKG_CANOPENNODE_USING_GFC + bool "Enable GFC object" + default n + help + Enable CO_GFC.c and CO_CONFIG_GFC. GFC is the Global Fail-safe Command + object used with safety-related communication. + + Leave disabled for ordinary CiA 301 devices. + +if PKG_CANOPENNODE_USING_GFC + +config PKG_CANOPENNODE_GFC_CONSUMER + bool "GFC consumer" + default n + help + Add CO_CONFIG_GFC_CONSUMER. The local node can consume Global Fail-safe + Command messages. + +config PKG_CANOPENNODE_GFC_PRODUCER + bool "GFC producer" + default n + help + Add CO_CONFIG_GFC_PRODUCER. The local node can produce Global Fail-safe + Command messages. + +endif + +menuconfig PKG_CANOPENNODE_USING_SRDO + bool "Enable SRDO object" + default n + select PKG_CANOPENNODE_USING_CRC16 + help + Enable CO_SRDO.c and CO_CONFIG_SRDO. SRDO is Safety Related Data Object + communication. Enable only when the whole safety design, OD entries, + timing and validation requirements are intentionally implemented. + +if PKG_CANOPENNODE_USING_SRDO + +config PKG_CANOPENNODE_SRDO_CHECK_TX + bool "SRDO TX data check" + default n + help + Add CO_CONFIG_SRDO_CHECK_TX. Check SRDO transmit data before sending the + safety-related message pair. + +config PKG_CANOPENNODE_SRDO_MINIMUM_DELAY + int "SRDO minimum delay in us" + range 0 1000000 + default 0 + help + Minimum delay in microseconds between the first and second transmitted + SRDO CANopen message. + +endif + +endmenu + +menu "CiA 305 LSS" + +comment "LSS discovers/configures node ID and bitrate during commissioning." +comment "LSS slave is for configurable devices; LSS master is for tools/gateways/managers." + +menuconfig PKG_CANOPENNODE_USING_LSS_SLAVE + bool "Enable LSS slave" + default y + help + Enable CO_LSSslave.c and add CO_CONFIG_LSS_SLAVE to CO_CONFIG_LSS. The + local node can be discovered/configured by an LSS master. + +if PKG_CANOPENNODE_USING_LSS_SLAVE + +config PKG_CANOPENNODE_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND + bool "LSS slave fastscan direct respond" + default n + help + Add CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND. The LSS slave sends the + fastscan response directly from the receive path. + + Use only after checking the target driver's realtime constraints; keep + receive-path processing short. + +endif + +menuconfig PKG_CANOPENNODE_USING_LSS_MASTER + bool "Enable LSS master" + default n + help + Enable CO_LSSmaster.c and add CO_CONFIG_LSS_MASTER to CO_CONFIG_LSS. The + local node can scan and configure LSS slaves. + + Enable for commissioning tools or gateways, not for a simple fixed-ID + device. + +endmenu + +menuconfig PKG_CANOPENNODE_USING_GATEWAY_ASCII + bool "CiA 309-3 ASCII gateway" + default n + select PKG_CANOPENNODE_USING_FIFO + select PKG_CANOPENNODE_FIFO_ASCII_COMMANDS + help + Enable CO_gateway_ascii.c and CO_CONFIG_GTW_ASCII. This option compiles + CANopenNode ASCII gateway support and related helpers. The RT-Thread + wrapper schedules Gateway processing from its CANopen mainline. No + command transport is registered unless the MSH console bridge under + RT-Thread runtime options is also enabled. + + Applications that do not use the MSH bridge may register another + transport with CO_GTWA_write() and CO_GTWA_initRead(). + + Gateway command groups depend on SDO client, NMT master and/or LSS master + options below. + +if PKG_CANOPENNODE_USING_GATEWAY_ASCII + +config PKG_CANOPENNODE_GATEWAY_MULTI_NET + bool "Gateway multi-network flag" + default n + help + Add CO_CONFIG_GTW_MULTI_NET to CO_CONFIG_GTW. CANopenNode documents this + flag as currently not implemented; keep it disabled unless testing that + code path explicitly. + +config PKG_CANOPENNODE_GATEWAY_ASCII_SDO + bool "Gateway ASCII SDO commands" + default y + depends on PKG_CANOPENNODE_USING_SDO_CLIENT + select PKG_CANOPENNODE_FIFO_ASCII_DATATYPES + help + Add CO_CONFIG_GTW_ASCII_SDO. Enable ASCII commands that perform SDO + uploads/downloads through the SDO client. + +config PKG_CANOPENNODE_GATEWAY_ASCII_NMT + bool "Gateway ASCII NMT commands" + default n + depends on PKG_CANOPENNODE_NMT_MASTER + help + Add CO_CONFIG_GTW_ASCII_NMT. Enable ASCII commands that transmit NMT + master commands. + +config PKG_CANOPENNODE_GATEWAY_ASCII_LSS + bool "Gateway ASCII LSS commands" + default n + depends on PKG_CANOPENNODE_USING_LSS_MASTER + help + Add CO_CONFIG_GTW_ASCII_LSS. Enable ASCII commands for LSS master scan + and configuration operations. + +config PKG_CANOPENNODE_GATEWAY_ASCII_LOG + bool "Gateway ASCII log" + default n + help + Add CO_CONFIG_GTW_ASCII_LOG. Enable the gateway message log buffer for + diagnostic output. + +config PKG_CANOPENNODE_GATEWAY_ASCII_ERROR_DESC + bool "Gateway ASCII error descriptions" + default n + help + Add CO_CONFIG_GTW_ASCII_ERROR_DESC. Include textual error descriptions + in gateway output where supported. + +config PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_HELP + bool "Gateway ASCII help command" + default n + help + Add CO_CONFIG_GTW_ASCII_PRINT_HELP. Enable the non-standard "help" + command for interactive gateway sessions. + +config PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_LEDS + bool "Gateway ASCII LED status print" + default n + depends on PKG_CANOPENNODE_USING_LEDS + help + Add CO_CONFIG_GTW_ASCII_PRINT_LEDS. Enable the non-standard "led" + Gateway command, which prints the calculated CANopen run/error LED + states on the Gateway output. It does not control physical LED GPIOs. + +config PKG_CANOPENNODE_GTW_BLOCK_DL_LOOP + int "Gateway SDO block download loop count" + range 1 127 + default 1 + help + Number of CO_SDOclientDownload() loops performed during one gateway block + download processing pass. Increase only after measuring mainline latency. + +config PKG_CANOPENNODE_GTWA_COMM_BUF_SIZE + int "Gateway ASCII command buffer size" + range 32 8192 + default 200 + help + ASCII gateway command buffer size in bytes. Increase if commands or data + payloads are truncated. + +config PKG_CANOPENNODE_GTWA_LOG_BUF_SIZE + int "Gateway ASCII log buffer size" + range 0 65536 + default 2000 + help + ASCII gateway message log buffer size in bytes. Set to 0 only if gateway + logging is intentionally unused. + +endif + +menu "Helper and debug objects" + +comment "FIFO/CRC16 are helpers for optional modules; trace/debug are bring-up aids." + +config PKG_CANOPENNODE_USING_CRC16 + bool "Enable CRC16 helper" + default n + help + Enable CO_CONFIG_CRC16_ENABLE and compile crc16-ccitt.c unless an + external CRC16 implementation is selected. Required by SDO block transfer + and FIFO CRC16-CCITT support. + +config PKG_CANOPENNODE_CRC16_EXTERNAL + bool "Use external CRC16 implementation" + default n + depends on PKG_CANOPENNODE_USING_CRC16 + help + Add CO_CONFIG_CRC16_EXTERNAL. CANopenNode will expect the target/application + to provide the CRC16 implementation instead of compiling its internal + crc16-ccitt.c source. + +config PKG_CANOPENNODE_USING_FIFO + bool "Enable FIFO helper" + default n + help + Enable CO_fifo.c and CO_CONFIG_FIFO_ENABLE. FIFO provides circular-buffer + utilities used by SDO client, ASCII gateway and related data paths. This + option may be selected automatically by features that need it. + +config PKG_CANOPENNODE_FIFO_ALT_READ + bool "FIFO alternate read" + default n + depends on PKG_CANOPENNODE_USING_FIFO + help + Add CO_CONFIG_FIFO_ALT_READ. Enables alternate-read support in the FIFO, + used by SDO block-transfer paths that need to read data while preserving + buffer state until the transfer is confirmed. + +config PKG_CANOPENNODE_FIFO_CRC16_CCITT + bool "FIFO CRC16-CCITT support" + default n + depends on PKG_CANOPENNODE_USING_FIFO + select PKG_CANOPENNODE_USING_CRC16 + help + Add CO_CONFIG_FIFO_CRC16_CCITT. Enables CRC16-CCITT calculation over FIFO + data. This also causes the CRC16 source to be compiled unless an external + CRC implementation is selected. + +config PKG_CANOPENNODE_FIFO_ASCII_COMMANDS + bool "FIFO ASCII command support" + default n + depends on PKG_CANOPENNODE_USING_FIFO + help + Add CO_CONFIG_FIFO_ASCII_COMMANDS. Enables FIFO helpers used for ASCII + command parsing in the CiA 309-3 gateway. + +config PKG_CANOPENNODE_FIFO_ASCII_DATATYPES + bool "FIFO ASCII datatype support" + default n + depends on PKG_CANOPENNODE_USING_FIFO + help + Add CO_CONFIG_FIFO_ASCII_DATATYPES. Enables ASCII datatype conversion + helpers used by gateway SDO commands. + +config PKG_CANOPENNODE_TRACE_AVAILABLE + bool + default n + +menuconfig PKG_CANOPENNODE_USING_TRACE + bool "Enable trace recorder (unavailable)" + default n + depends on PKG_CANOPENNODE_TRACE_AVAILABLE + help + Do not enable CO_trace.c or CO_CONFIG_TRACE_ENABLE. The current + CANopenNode trace module is not ported to the SDO server and Object + Dictionary APIs used by this package. Upstream keeps CO_CONFIG_TRACE + disabled for the same reason; enabling it references obsolete symbols + such as CO_t::SDO and CO_SDO_t and can break the build. + + Keep this disabled until CO_trace.c/.h are ported to the current + CO_SDOserver_t and OD_* APIs and trace=y is covered by build tests. + +if PKG_CANOPENNODE_USING_TRACE + +config PKG_CANOPENNODE_TRACE_OWN_INTTYPES + bool "Trace owns inttypes format macros" + default n + help + Add CO_CONFIG_TRACE_OWN_INTTYPES. Let the trace module define the integer + format macros it needs when the target C library does not provide them + correctly. + +endif + +menuconfig PKG_CANOPENNODE_USING_DEBUG + bool "Enable CANopenNode RT-Thread debug logs" + default n + depends on RT_USING_ULOG + help + Enable RT-Thread ulog diagnostics for the CANopenNode RT-Thread port and + expose CANopenNode internal debug macros through CO_DEBUG_COMMON(msg). + The port uses LOG_E, LOG_W, LOG_I and LOG_D according to runtime event + severity. + + Use for bring-up and troubleshooting. Leave disabled for normal release + builds unless the project has a defined debug logging policy. + +if PKG_CANOPENNODE_USING_DEBUG + +config PKG_CANOPENNODE_DEBUG_COMMON + bool "Default common debug macro" + default y + help + Add CO_CONFIG_DEBUG_COMMON. Enable common CANopenNode debug output paths. + This option also provides the CO_DEBUG_COMMON(msg) ulog sink used by + target-specific debug output. + +config PKG_CANOPENNODE_DEBUG_SDO_CLIENT + bool "SDO client debug output" + default n + depends on PKG_CANOPENNODE_USING_SDO_CLIENT + help + Add CO_CONFIG_DEBUG_SDO_CLIENT. Enable additional SDO client debug output + during uploads/downloads and error handling. Messages are routed through + the same CO_DEBUG_COMMON(msg) ulog sink. + +config PKG_CANOPENNODE_DEBUG_SDO_SERVER + bool "SDO server debug output" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + help + Add CO_CONFIG_DEBUG_SDO_SERVER. Enable additional SDO server debug output + during OD access and transfer state handling. Messages are routed through + the same CO_DEBUG_COMMON(msg) ulog sink. + +config PKG_CANOPENNODE_USING_FRAME_TRACE + bool "Trace CAN RX/TX frames with ulog" + default n + help + Emit debug logs for each CAN frame submitted to or received from the + RT-Thread CAN device. The trace prints frame metadata with LOG_D and the + payload with LOG_HEX(). This is intended for bring-up and bus-level + diagnostics. + +endif + +endmenu + +endmenu diff --git a/misc/CanopenNode/demo/Kconfig b/misc/CanopenNode/demo/Kconfig new file mode 100644 index 0000000000..a9d25c57dd --- /dev/null +++ b/misc/CanopenNode/demo/Kconfig @@ -0,0 +1,193 @@ +# Kconfig for package Object Dictionary and optional generic demo/test modules. + +menu "Object Dictionary" + +config PKG_CANOPENNODE_USING_DEMO_OD + bool "Use package default Object Dictionary" + default y + help + Compile the package-provided generated OD.c/OD.h from examples/demo_device + and add its directory to the include path. + + This Object Dictionary can be used independently of all optional demo/test + modules. Enabling this option does not require any PKG_CANOPENNODE_DEMO_* + option to be enabled. + + Disable this option when the BSP or application supplies a custom OD.c + and OD.h through its own SConscript/include path. + +if PKG_CANOPENNODE_USING_DEMO_OD + +menu "Optional demo/test modules" + +config PKG_CANOPENNODE_DEMO_TIME_DIAGNOSTIC + bool "Enable demo TIME consumer diagnostic object updates" + default n + depends on PKG_CANOPENNODE_USING_TIME + depends on PKG_CANOPENNODE_USING_SDO_SERVER + select PKG_CANOPENNODE_GLOBAL_CALLBACK_PRE + select PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC + help + Publish demo/test TIME consumer diagnostics through OD 0x2300. The + demo module counts valid DLC=6 TIME receptions with callback-pre and + publishes the applied CO_TIME_t milliseconds/day values after CO_process(). + + This option is intended for automated validation with the generated demo + OD. Product firmware with a custom OD should provide its own application + observability contract instead. + +config PKG_CANOPENNODE_DEMO_EMCY_CONSUMER_DIAGNOSTIC + bool "Enable demo EMCY consumer diagnostic object updates" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 + select PKG_CANOPENNODE_EM_CONSUMER + help + Publish demo/test EMCY consumer diagnostics through OD 0x2301. The + demo records each remote EMCY callback with RT-Thread atomics and + publishes one coherent latest-message snapshot after CO_process(). + + Local EMCY messages reported by CANopenNode with ident == 0 are excluded. + Repeated remote messages and errorCode == 0 recovery messages are counted. + The CANopenNode EMCY callback has no application object, so this generated + demo diagnostic is limited to one CANopenNodeRTT instance. This option is + intended for automated validation, not as a product-level remote fault manager. + +config PKG_CANOPENNODE_DEMO_GFC_DIAGNOSTIC + bool "Enable demo GFC protocol diagnostic and producer trigger" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + select PKG_CANOPENNODE_USING_GFC + select PKG_CANOPENNODE_GFC_CONSUMER + select PKG_CANOPENNODE_GFC_PRODUCER + help + Publish test-only GFC consumer/producer state through OD 0x2302. The + receive callback only increments an RT-Thread atomic counter and latches + safe_requested. A mainline sequence request triggers CO_GFCsend() and + publishes its completion/result for automated Host validation. + + This option validates protocol behavior only. It does not implement a + functional-safety state machine or control real safety actuators. + +config PKG_CANOPENNODE_DEMO_SRDO_DIAGNOSTIC + bool "Enable demo SRDO diagnostic fixture" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 + depends on PKG_CANOPENNODE_USING_DEMO_OD + select PKG_CANOPENNODE_USING_SRDO + select PKG_CANOPENNODE_SRDO_CHECK_TX + help + Enable the test-only SRDO fixture in the generated demo Object + Dictionary. The fixture exposes two deterministic SRDO channels and OD + 0x2306 state/TX-request observability for Host protocol validation. + + The generated OD_RAM.x2306_srdo_diagnostic object is global, so this + fixture is intentionally limited to one CANopenNodeRTT instance / CAN + binding. Multi-instance products must keep this fixture disabled and + provide instance-specific Object Dictionaries and diagnostics. + + This option validates CANopenNode SRDO protocol behavior only. It does + not claim SIL/PL compliance, functional-safety certification, redundant + hardware coverage, WCET proof or machine-level safety timing. + +config PKG_CANOPENNODE_DEMO_SDO_BLOCK_TEST + bool "Enable demo SDO server block-transfer DOMAIN fixture" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + depends on PKG_CANOPENNODE_SDO_SRV_BLOCK + help + Publish the test-only variable-length DOMAIN at OD 0x2304 for SDO Server + Block Transfer validation. The bounded backend accepts up to + 2048 bytes, uses no dynamic memory or persistence and relies on + CANopenNode for the SDO block state machine and CRC handling. + + A partial download may leave the one-buffer fixture dirty after abort; + the next complete download re-establishes a valid payload. Keep this + disabled in normal product firmware. + +config PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST + bool "Enable demo MCU SDO client test control/status" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + select PKG_CANOPENNODE_USING_SDO_CLIENT + select PKG_CANOPENNODE_SDO_CLI_SEGMENTED + select PKG_CANOPENNODE_SDO_CLI_LOCAL + help + Publish test-only MCU SDO client control/status through OD 0x2303. + The Host commits request_seq after all request fields are written, then + the CANopenNode mainline drives CO_SDOclient non-blockingly. The + segmented/local validation profile keeps flags=0. Block-transfer + validation may set bit 0 when PKG_CANOPENNODE_SDO_CLI_BLOCK is enabled. + + The demo uses the first generated SDO client object and is intended for + automated validation with the package demo Object Dictionary. + +config PKG_CANOPENNODE_DEMO_STORAGE_DIAGNOSTIC + bool "Enable demo EEPROM Storage diagnostic" + default n + depends on PKG_CANOPENNODE_USING_SDO_SERVER + depends on PKG_CANOPENNODE_USING_STORAGE_EEPROM + depends on PKG_CANOPENNODE_USING_STORAGE_AT24C + depends on PKG_CANOPENNODE_STORAGE_PERSIST_COMM + help + Publish test-only EEPROM Storage diagnostics through OD 0x2305. The diagnostic exposes the existing CO_storageEeprom raw layout, + captures the startup storage result and pre-master 0x1017 value, and + supports full raw baseline backup/restore plus controlled corruption. + +config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST + bool "Enable automatic demo NMT master test" + default n + depends on PKG_CANOPENNODE_APP_AUTO_INIT + select PKG_CANOPENNODE_NMT_MASTER + select PKG_CANOPENNODE_USING_HB_CONS + select PKG_CANOPENNODE_HB_CONS_QUERY_FUNCT + select PKG_CANOPENNODE_GLOBAL_OD_DYNAMIC + help + Automatically validate NMT master control of a configurable remote node + with heartbeat supervision. The demo configures one OD 0x1016 consumer + entry for the target node, waits until that node is online, and then + sends START, STOP, PREOP, RESET_COMM, RESET_NODE and final START. + + Each normal command waits for the expected remote NMT state before the + next command is sent. Reset commands additionally require observing the + remote boot-up transition before PRE-OP is accepted. Keep this disabled + in normal product firmware. + +config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_TARGET_NODE_ID + int "Demo NMT master test target Node-ID" + range 1 127 + default 2 + depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST + help + Remote CANopen Node-ID controlled by the automatic NMT master test. + The runtime rejects a value equal to the active local Node-ID. Node-ID 0 + is intentionally excluded because broadcast reset commands would also + affect the local node. + +config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_HB_TIMEOUT_MS + int "Demo NMT master test heartbeat timeout in ms" + range 100 60000 + default 1500 + depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST + help + Consumer timeout written to one demo OD 0x1016 entry for the target + node. The remote test peer must produce heartbeat faster than this + timeout. A 500 ms producer heartbeat is recommended for the default. + +config PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST_STATE_TIMEOUT_MS + int "Demo NMT master test state transition timeout in ms" + range 100 60000 + default 3000 + depends on PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST + help + Maximum time allowed after a fixture PRE-OP normalization command or + formal NMT command to confirm the expected remote state. Initial peer + discovery waits without timeout. Reset commands must first expose a + boot-up/non-active transition and then return to PRE-OP. + +endmenu + +endif + +endmenu diff --git a/misc/CanopenNode/port/rtthread/Kconfig b/misc/CanopenNode/port/rtthread/Kconfig new file mode 100644 index 0000000000..ee933fcb5a --- /dev/null +++ b/misc/CanopenNode/port/rtthread/Kconfig @@ -0,0 +1,389 @@ +# Kconfig for CANopenNode RT-Thread integration. + +menu "RT-Thread integration" + +config PKG_CANOPENNODE_CAN_DEV_NAME + string "RT-Thread CAN device name" + default "can1" + help + RT-Thread CAN device name passed to rt_device_find(). It is used by the + default auto-initialized instance and as the fallback device name when + CO_CANmodule_init() is called with a NULL CAN pointer. Change this when + the BSP exposes the CAN controller as a different device, such as can0. + +config PKG_CANOPENNODE_CAN_BINDING_COUNT + int "RT-Thread CAN device binding table size" + range 1 8 + default 1 + help + Maximum number of RT-Thread CAN devices that can be bound to CANopenNode + CAN modules at the same time. Keep the default value 1 for single-CAN + products and increase it only when multiple CANopenNode instances run on + separate RT-Thread CAN devices. + +config PKG_CANOPENNODE_USING_RTT_CAN_FILTER + bool "Use coarse RT-Thread CAN HDR filters as CANopen RX ingress" + default n + depends on RT_CAN_USING_HDR + depends on PKG_CANOPENNODE_CAN_BINDING_COUNT = 1 + help + Compile the active CANopenNode RX rules into a bounded set of coarse + standard-ID RT-Thread HDR mask filters. Hardware filters are only an + ingress prefilter: co_rx always performs the final CANopenNode + ident/mask/RTR match before dispatching callbacks. + + Runtime COB-ID changes mark the hardware filter set dirty and refresh + the bounded coarse table before CO_CANrxBufferInit() returns when CAN is + already in normal mode. The normal mainline path also retries a pending + refresh. If the bounded compiler cannot represent all active rules, it + falls back to broad standard-frame ingress filters without narrowing the + CANopenNode software rule set. + + The generic STM32 bxCAN RT-Thread mask-filter path compares RTR, so DTR + and RTR rules consume separate coarse-filter coverage. Configure at + least two banks when both data and remote frames must be received. + + Enabling this option gives the single configured CANopenNode CAN module + exclusive ownership of the HDR bank range selected below. Multi-binding + configurations keep this option unavailable because one global bank + range cannot describe controllers with different filter-bank partitions. + Reduce the range or disable this option if another component configures + HDR filters on the same CAN device. + +config PKG_CANOPENNODE_RX_HDR_BANK_BASE + int "CANopen RX first HDR bank" + range 0 27 + default 0 + depends on PKG_CANOPENNODE_USING_RTT_CAN_FILTER + help + First hardware filter bank exclusively owned by the CANopen RX ingress + compiler. Every ingress filter uses an explicit bank index starting at + this value; the port does not rely on driver auto-assignment. On the + current STM32 bxCAN driver, use banks 0..13 for CAN1 and 14..27 for + CAN2. The default 0 matches the package default CAN device, can1. + +config PKG_CANOPENNODE_RX_HDR_BANK_COUNT + int "CANopen RX HDR bank count" + range 2 14 + default 8 + depends on PKG_CANOPENNODE_USING_RTT_CAN_FILTER + help + Number of consecutive hardware filter banks exclusively owned by the + CANopen RX ingress compiler, beginning at + PKG_CANOPENNODE_RX_HDR_BANK_BASE. More banks preserve narrower hardware + masks and reject more unrelated traffic. The configured range must be + valid for the selected CAN controller/BSP. The software matcher remains + authoritative regardless of this value. + +menu "RT-Thread runtime options" + +menu "CAN RX helper thread" + +config PKG_CANOPENNODE_RX_THREAD_STACK_SIZE + int "Stack size" + default 2048 + help + Stack size in bytes for the CAN RX helper thread. + +config PKG_CANOPENNODE_RX_THREAD_PRIORITY + int "Priority" + default 2 + help + RT-Thread priority for the CAN RX helper thread. Lower numeric values are + higher priority in RT-Thread. + +config PKG_CANOPENNODE_RX_THREAD_TICK + int "Time slice" + default 10 + help + Time slice passed when creating the CAN RX helper thread. + +config PKG_CANOPENNODE_RX_BATCH_SIZE + int "CAN RX batch read size" + range 1 64 + default 8 + help + Maximum number of struct rt_can_msg frames read by the co_rx helper in + one rt_device_read() call. Larger values reduce wake/read overhead but + increase stack usage because the batch buffer is allocated on the RX + thread stack. + +endmenu + + +menu "CANopen mainline thread" + +config PKG_CANOPENNODE_MAIN_THREAD_STACK_SIZE + int "Stack size" + default 2048 + help + Stack size in bytes for the CANopenNode mainline thread. This thread + runs CO_process(), including NMT, SDO, heartbeat, emergency and reset + command handling. Increase it if the enabled CANopen objects, logging or + Object Dictionary callbacks consume more stack. A value that is too small + can cause stack overflow and hard-to-debug runtime faults; a value that + is too large only wastes RAM. + +config PKG_CANOPENNODE_MAIN_THREAD_PRIORITY + int "Priority" + default 10 + help + RT-Thread priority for the CANopenNode mainline thread. Lower numeric + values are higher priority in RT-Thread. Keep this lower priority than + the realtime thread so SDO/NMT/heartbeat work cannot delay SYNC, SRDO, + RPDO and TPDO processing when those objects are enabled. Setting it too + high can disturb time-critical tasks; setting it too low can make SDO + transfers and heartbeat handling sluggish when the system is busy. + +config PKG_CANOPENNODE_MAIN_THREAD_TICK + int "Time slice" + default 10 + help + Time slice passed when creating the CANopenNode mainline thread. Larger + values let the thread run longer before round-robin rescheduling at the + same priority. Smaller values improve fairness with peer threads but may + increase scheduling overhead. + +endmenu + + +menu "CANopen realtime thread" + +config PKG_CANOPENNODE_RT_THREAD_STACK_SIZE + int "Stack size" + default 2048 + help + Stack size in bytes for the CANopenNode realtime thread. This thread runs + the periodic SYNC, SRDO, RPDO and TPDO processing path when those objects + are enabled. Increase it if user code is added near the realtime section + or if enabled SRDO/PDO/SYNC features use more stack. A value that is too + small risks stack overflow; a value that is too large wastes RAM in every + CANopenNodeRTT instance. + +config PKG_CANOPENNODE_RT_THREAD_PRIORITY + int "Priority" + default 3 + help + RT-Thread priority for the CANopenNode realtime thread. Lower numeric + values are higher priority. This should normally be higher priority than + the mainline thread because it executes the fixed-period + SYNC/SRDO/RPDO/TPDO path when those objects are enabled. Setting it too + low increases PDO or SRDO jitter; setting it too high can starve other + time-critical device or control threads. + +config PKG_CANOPENNODE_RT_THREAD_TICK + int "Time slice" + default 10 + help + Time slice passed when creating the CANopenNode realtime thread. The + thread normally wakes from a semaphore and runs briefly, so this value has + limited effect unless other threads share the same priority. Larger + values reduce round-robin switching; smaller values improve fairness. + +config PKG_CANOPENNODE_TIMER_PERIOD_US + int "Processing period in us" + range 1 1000000 + default 1000 + help + Requested period for realtime CANopen processing. The default 1000 us + matches the common 1 ms CANopenNode model. Smaller values reduce PDO and + SYNC latency only if the RT-Thread tick rate can represent that period; + otherwise the wrapper rounds up to at least one system tick. Larger values + reduce CPU load but increase PDO latency and timing jitter. + +endmenu + + +menu "CANopen application runtime" + +config PKG_CANOPENNODE_APP_FIRST_HB_TIME_MS + int "First heartbeat time in ms" + range 0 65535 + default 500 + help + First heartbeat producer delay passed to CO_CANopenInit(). This controls + how long the node waits after communication initialization before sending + its first heartbeat. A smaller value lets a master detect the node sooner + but can produce heartbeat traffic before the application is fully ready. + A larger value gives the application more startup margin but delays + network supervision. + +config PKG_CANOPENNODE_APP_SDO_SRV_TIMEOUT_MS + int "SDO server timeout in ms" + range 1 65535 + default 1000 + help + SDO server timeout passed to CO_CANopenInit(). This is the maximum idle + time the local SDO server allows during an SDO transfer before aborting + it. Smaller values detect broken clients faster but can abort transfers on + a busy or slow bus. Larger values tolerate slow masters but keep failed + transfers and their resources open longer. + +config PKG_CANOPENNODE_APP_SDO_CLI_TIMEOUT_MS + int "SDO client timeout in ms" + range 1 65535 + default 500 + help + Default SDO client timeout passed to CO_CANopenInit(). This affects SDO + client operations initiated by this node, for example gateway or + application-driven client transfers. Smaller values fail faster when the + remote server is absent or slow. Larger values tolerate slow devices and + bus congestion but make application-level error recovery slower. + +config PKG_CANOPENNODE_APP_SDO_CLI_BLOCK + bool "Enable SDO client block transfer by default" + default n + depends on PKG_CANOPENNODE_USING_SDO_CLIENT + depends on PKG_CANOPENNODE_SDO_CLI_BLOCK + help + Default SDO client block-transfer flag passed to CO_CANopenInit(). Block + transfer can improve throughput for large SDO client uploads/downloads + when both peers support it. + +endmenu + + +menuconfig PKG_CANOPENNODE_APP_AUTO_INIT + bool "Default CANopenNode application" + default y + help + Automatically create one default CANopenNode RT-Thread application + instance during RT-Thread application initialization. Disable this when + the product creates CANopenNodeRTT instances explicitly. + +if PKG_CANOPENNODE_APP_AUTO_INIT + +config PKG_CANOPENNODE_AUTO_INIT_NODE_ID + int "Node-ID" + range 1 127 + default 1 + help + CANopen Node-ID used by the default auto-initialized instance. + +choice + prompt "CAN bitrate in kbit/s" + default PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 + help + CAN bitrate used by the default auto-initialized CANopenNode instance. + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_10 + bool "10" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_20 + bool "20" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_50 + bool "50" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_125 + bool "125" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_250 + bool "250" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_500 + bool "500" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_800 + bool "800" + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 + bool "1000" + +endchoice + +config PKG_CANOPENNODE_AUTO_INIT_BITRATE + int + default 10 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_10 + default 20 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_20 + default 50 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_50 + default 125 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_125 + default 250 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_250 + default 500 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_500 + default 800 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_800 + default 1000 if PKG_CANOPENNODE_AUTO_INIT_BITRATE_1000 + default 1000 + +config PKG_CANOPENNODE_GATEWAY_RTT_CONSOLE + bool "RT-Thread MSH console bridge" + default n + depends on PKG_CANOPENNODE_USING_GATEWAY_ASCII + depends on RT_USING_FINSH && FINSH_USING_MSH + depends on !PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST + depends on !PKG_CANOPENNODE_DEMO_NMT_MASTER_TEST + select PKG_CANOPENNODE_USING_SDO_CLIENT + select PKG_CANOPENNODE_SDO_CLI_SEGMENTED + select PKG_CANOPENNODE_SDO_CLI_LOCAL + select PKG_CANOPENNODE_NMT_MASTER + select PKG_CANOPENNODE_GATEWAY_ASCII_SDO + select PKG_CANOPENNODE_GATEWAY_ASCII_NMT + select PKG_CANOPENNODE_GATEWAY_ASCII_ERROR_DESC + select PKG_CANOPENNODE_GATEWAY_ASCII_PRINT_HELP + help + Register the canopen_gw MSH command for the default auto-initialized + CANopenNode instance. + +endif + + +menuconfig PKG_CANOPENNODE_USING_HIGH_RES_TIME + bool "High-resolution time source" + default n + depends on RT_USING_CLOCK_TIME + help + Enable the dedicated hardware-timer microsecond time source. When this + option is disabled, the wrapper uses RT-Thread tick based timing. + +if PKG_CANOPENNODE_USING_HIGH_RES_TIME + +config PKG_CANOPENNODE_HIGH_RES_TIMER_NAME + string "Hardware timer device name" + default "timer0" + help + Dedicated RT-Thread clock-timer device used by the high-resolution time + source. The BSP/user must verify that this device maps to a physical + 32-bit, 1 MHz-capable, up-counting timer and is not used by another + component. + +endif + +endmenu + +config PKG_CANOPENNODE_RTT_CAN_TX_SUCCESS_OBSERVER + bool + default n + help + Internal successful-transmit observer for RT-Thread CAN extensions. + Consumers register through the generic RT-Thread CAN API and select + this capability from their own Kconfig. The CAN driver does not depend + on any device-profile feature symbol. + +config PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS + bool + default n + help + Internal fixed-capacity registry for optional CANopenNodeRTT lifecycle + extensions. Profile adapters select this helper when they need ordered + init/reset/rebind/timer callbacks. The registry allocates no RT resource. + +config PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSION_CAPACITY + int "RT-Thread lifecycle extension capacity" + default 4 + range 1 255 + depends on PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS + help + Maximum number of lifecycle extensions that one CANopenNodeRTT instance + can register. The upper bound matches the uint8_t registry count. Storage + is embedded statically in the application instance; increasing this value + increases per-instance RAM use and does not allocate heap. + +config PKG_CANOPENNODE_RTT_LIFECYCLE_AUTOSTART + bool + default n + depends on PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS + help + Internal support for profile auto factories. Factories only construct and + register extension contexts before the default CANopen application starts; + normal lifecycle callbacks still own runtime init/start/reset/teardown. + +endmenu diff --git a/misc/CanopenNode/port/rtthread/storage/SConscript b/misc/CanopenNode/port/rtthread/storage/SConscript new file mode 100644 index 0000000000..d5a67ea92a --- /dev/null +++ b/misc/CanopenNode/port/rtthread/storage/SConscript @@ -0,0 +1,44 @@ +# RT-Thread SCons script for CANopenNode RT-Thread storage backends. + +import os +from building import * + +cwd = GetCurrentDir() +pkg_dir = os.path.abspath(os.path.join(cwd, '..', '..', '..')) +src = [] + + +def _add_required(path): + abs_path = os.path.join(pkg_dir, path) + if not os.path.isfile(abs_path): + raise RuntimeError('Required CANopenNode storage source is missing: %s' % path) + src.append(path) + + +if GetDepend('PKG_CANOPENNODE_USING_STORAGE'): + storage_impl_count = 0 + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_DFS'): + storage_impl_count += 1 + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_EEPROM'): + storage_impl_count += 1 + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_USER'): + storage_impl_count += 1 + if storage_impl_count != 1: + raise RuntimeError('Exactly one CANopenNode RT-Thread storage implementation must be enabled') + _add_required(os.path.join('CANopenNode', 'storage', 'CO_storage.c')) + _add_required(os.path.join('port', 'rtthread', 'storage', 'CO_storage_RTT.c')) + + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_DFS'): + _add_required(os.path.join('port', 'rtthread', 'storage', 'CO_storage_RTT_dfs.c')) + + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_EEPROM'): + _add_required(os.path.join('CANopenNode', 'storage', 'CO_storageEeprom.c')) + _add_required(os.path.join('port', 'rtthread', 'storage', 'CO_storage_RTT_eeprom.c')) + + if GetDepend('PKG_CANOPENNODE_USING_STORAGE_AT24C'): + _add_required(os.path.join('port', 'rtthread', 'storage', 'CO_storage_RTT_at24c.c')) + + if GetDepend('PKG_CANOPENNODE_LSS_PERSIST'): + _add_required(os.path.join('port', 'rtthread', 'storage', 'CO_lss_persist_RTT.c')) + +Return('src') diff --git a/misc/CanopenNode/profile/Kconfig b/misc/CanopenNode/profile/Kconfig new file mode 100644 index 0000000000..e760ae1256 --- /dev/null +++ b/misc/CanopenNode/profile/Kconfig @@ -0,0 +1,8 @@ +# Kconfig entry for CANopen device profiles. + +menu "CANopen profiles" + +rsource "cia401/Kconfig" +rsource "cia402/Kconfig" + +endmenu diff --git a/misc/CanopenNode/profile/cia401/Kconfig b/misc/CanopenNode/profile/cia401/Kconfig new file mode 100644 index 0000000000..4c58b22ac9 --- /dev/null +++ b/misc/CanopenNode/profile/cia401/Kconfig @@ -0,0 +1,17 @@ +# Kconfig entry for the CiA 401 generic I/O device profile. + +menuconfig PKG_CANOPENNODE_CIA401 + bool "CiA 401 generic I/O device profile" + default n + help + Enable role-neutral CiA 401 definitions. The mandatory base remains a Pure-C local Device process image. Optional + digital/analogue profile semantics and the RT-Thread lifecycle adapter + are separately selectable and preserve the feature-off baseline. + +if PKG_CANOPENNODE_CIA401 + +rsource "device/Kconfig" +rsource "port/rtthread/Kconfig" +rsource "demo/Kconfig" + +endif diff --git a/misc/CanopenNode/profile/cia401/demo/Kconfig b/misc/CanopenNode/profile/cia401/demo/Kconfig new file mode 100644 index 0000000000..123be99c1c --- /dev/null +++ b/misc/CanopenNode/profile/cia401/demo/Kconfig @@ -0,0 +1,18 @@ +menu "Demo" + +config PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEMO + bool "Enable software-only RT-Thread CiA 401 Device demo" + default n + depends on PKG_CANOPENNODE_CIA401_DEVICE_RTT_THREAD + depends on PKG_CANOPENNODE_CIA401_DEVICE_RTT_AUTOSTART + help + Register a bounded software I/O backend for DI/DO/AI/AO. The backend + owns no hardware and is intended only for lifecycle/protocol bring-up. + Because no remote output-setting peer exists, the demo models the CiA 401 + output-supervision prerequisite as already established. Product code must + classify the real Heartbeat/node-guard relationship instead. + The application-generated Object Dictionary must contain every mandatory + and enabled optional CiA 401 object; this option does not replace or + rewrite the selected product/demo Object Dictionary. + +endmenu diff --git a/misc/CanopenNode/profile/cia401/device/Kconfig b/misc/CanopenNode/profile/cia401/device/Kconfig new file mode 100644 index 0000000000..0d456379ff --- /dev/null +++ b/misc/CanopenNode/profile/cia401/device/Kconfig @@ -0,0 +1,72 @@ +# Kconfig for the Pure-C local CiA 401 Device core. + +config PKG_CANOPENNODE_CIA401_DEVICE + bool "Local CiA 401 Device core" + default y + depends on PKG_CANOPENNODE_CIA401 + help + Build the Pure-C generic I/O Device core for Objects 0x6000, 0x6200, + 0x6401 and 0x6411. A device with analogue inputs also requires the + conditional-mandatory 0x6423 global interrupt-enable object and the + associated 0x0080 Operational-entry warning semantics. Generated OD + objects are validated before process-image exchange is enabled. + +if PKG_CANOPENNODE_CIA401_DEVICE + +config PKG_CANOPENNODE_CIA401_DIGITAL_EVENTS + bool "CiA 401 digital input events and filter bridge" + default n + depends on PKG_CANOPENNODE_TPDO + depends on PKG_CANOPENNODE_PDO_OD_IO_ACCESS + help + Enable Objects 0x6002, 0x6003 and 0x6005..0x6008, logical edge + detection, OD-based TPDO event requests and the product filter-enable + bridge. OD_FLAGS_PDO_SIZE must cover every enabled 0x6000 sub-index. + +config PKG_CANOPENNODE_CIA401_DIGITAL_OUTPUT_FAILSAFE + bool "CiA 401 digital output profile semantics" + default n + depends on PKG_CANOPENNODE_RPDO + depends on PKG_CANOPENNODE_PDO_OD_IO_ACCESS + help + Enable Objects 0x6202, 0x6206, 0x6207 and 0x6208, including output + polarity, final physical-output filtering and fail-safe physical output + selection. Product/internal failure and NMT Stopped are independent + fault sources; either keeps fail-safe active until its own source clears. + The product IOIF must provide masked physical writes so 0x6206 keep bits + and 0x6208 blocked bits are never overwritten. The 0x6200 command image + always retains the complete received value. + +config PKG_CANOPENNODE_CIA401_ANALOG_EVENTS + bool "CiA 401 analogue input events" + default n + depends on PKG_CANOPENNODE_TPDO + depends on PKG_CANOPENNODE_PDO_OD_IO_ACCESS + help + Enable optional Objects 0x6421, 0x6422 and 0x6424..0x6428 for 16-bit + analogue-input event selection. Object 0x6423 and its 0x0080 warning are + part of the base analogue-input contract. SDO reads commit communication + state at OD-read completion; TPDO state is committed only after successful + transport submission. + +config PKG_CANOPENNODE_CIA401_ANALOG_OUTPUT_FAILSAFE + bool "CiA 401 analogue output fail-safe" + default n + help + Enable Objects 0x6443/0x6444. Product/internal failure and NMT Stopped + are independent fault sources; either keeps fail-safe active until its + own source clears. Channels with error mode 1 use the 0x6444 value + directly, bypassing normal command conditioning; mode 0 retains the + current output. + +config PKG_CANOPENNODE_CIA401_ANALOG_CONDITIONING + bool "CiA 401 integer analogue conditioning" + default n + help + Enable the integer conditioning views 0x6431/0x6432 and 0x6446/0x6447. + The 16-bit process path applies scaling then offset using widened + arithmetic and performs no undocumented clamp. Values outside INTEGER16 + are not committed to the process image/backend. Float aliases remain + intentionally unopened until their cross-view conversion policy is frozen. + +endif diff --git a/misc/CanopenNode/profile/cia401/port/rtthread/Kconfig b/misc/CanopenNode/profile/cia401/port/rtthread/Kconfig new file mode 100644 index 0000000000..0ace34442a --- /dev/null +++ b/misc/CanopenNode/profile/cia401/port/rtthread/Kconfig @@ -0,0 +1,64 @@ +# RT-Thread lifecycle adapter for the local CiA 401 Device core. + +config PKG_CANOPENNODE_CIA401_DEVICE_RTT_THREAD + bool "Enable RT-Thread CiA 401 Device worker" + default n + depends on PKG_CANOPENNODE_CIA401_DEVICE + depends on RT_USING_HEAP + select PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS + select PKG_CANOPENNODE_RTT_CAN_TX_SUCCESS_OBSERVER if PKG_CANOPENNODE_CIA401_DIGITAL_EVENTS || PKG_CANOPENNODE_CIA401_ANALOG_EVENTS + help + Bind the Pure-C CiA 401 Device before PDO initialization and run one + bounded process pass from a lower-priority co_401 worker woken by the + existing realtime timer. Communication Reset drains stale tokens and + rebinds the new Object Dictionary generation. + +if PKG_CANOPENNODE_CIA401_DEVICE_RTT_THREAD + +config PKG_CANOPENNODE_CIA401_THREAD_STACK_SIZE + int "CiA 401 worker stack size" + default 1536 + +config PKG_CANOPENNODE_CIA401_THREAD_PRIORITY + int "CiA 401 worker priority" + default 6 + help + Must be numerically greater (lower scheduling priority) than the existing co_rt worker. + +config PKG_CANOPENNODE_CIA401_DEVICE_RTT_EMCY_BRIDGE + bool "Bridge CiA 401 profile warnings to EMCY" + default y + depends on PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT >= 73 + select PKG_CANOPENNODE_EM_PRODUCER + help + Consume Pure-C profile warning events after the OD lock is released, + including the mandatory 0x0080 warning for analogue-input devices with + Object 0x6423 disabled on entry to NMT Operational. Error-status bit 0x48 + is reserved by this adapter so it does not collide + with the CiA 402 adapter's 0x40..0x47 per-axis diagnostic bits. + +config PKG_CANOPENNODE_CIA401_DEVICE_RTT_AUTOSTART + bool "Automatically create and attach CiA 401 runtime" + default n + depends on PKG_CANOPENNODE_APP_AUTO_INIT + depends on RT_USING_COMPONENTS_INIT + depends on RT_USING_HEAP + select PKG_CANOPENNODE_RTT_LIFECYCLE_AUTOSTART + help + Allocate only the adapter runtime. The CO_401_device_config_t and IOIF + remain product-owned and must outlive the default CANopenNodeRTT app. + +config PKG_CANOPENNODE_CIA401_DEVICE_RTT_MSH + bool "Enable CiA 401 MSH bench control" + default n + depends on PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEMO + depends on PKG_CANOPENNODE_CIA401_DEVICE_RTT_AUTOSTART + depends on RT_USING_FINSH && FINSH_USING_MSH + help + Register the cia401 MSH command for the software-only RT-Thread demo. + Commands inject raw DI/AI process values, inspect physical DO/AO state, + write the same bound output OD entries used by SDO/RPDO, inject output + fault/supervision state, and wake the existing co_401 worker. This is + bench/debug functionality only and does not change the product IOIF API. + +endif diff --git a/misc/CanopenNode/profile/cia402/Kconfig b/misc/CanopenNode/profile/cia402/Kconfig new file mode 100644 index 0000000000..9889eaa31a --- /dev/null +++ b/misc/CanopenNode/profile/cia402/Kconfig @@ -0,0 +1,18 @@ +# Kconfig entry for the CiA 402 drives and motion-control profile. + +menuconfig PKG_CANOPENNODE_CIA402 + bool "CiA 402 drives and motion control profile" + default n + help + Enable the role-neutral CiA 402 common definitions. The profile remains + disabled by default and does not select PDO, SYNC, SDO Client, RT-Thread + Event, or any hardware-drive dependency. + +if PKG_CANOPENNODE_CIA402 + +rsource "controller/Kconfig" +rsource "device/Kconfig" +rsource "port/rtthread/Kconfig" +rsource "demo/Kconfig" + +endif diff --git a/misc/CanopenNode/profile/cia402/controller/Kconfig b/misc/CanopenNode/profile/cia402/controller/Kconfig new file mode 100644 index 0000000000..f178a0a38b --- /dev/null +++ b/misc/CanopenNode/profile/cia402/controller/Kconfig @@ -0,0 +1,8 @@ +config PKG_CANOPENNODE_CIA402_CONTROLLER + bool "Transport-agnostic CiA 402 Controller PDS API" + default n + help + Enable the Pure-C CiA 402 Controller PDS command sequencer. This helper + observes a remote Statusword and generates PDS-owned Controlword updates. + It does not select or own NMT, Heartbeat Consumer, SDO Client, PDO, SYNC, + Object Dictionary, Node-ID, CAN transport, RT-Thread tasks, or heap memory. diff --git a/misc/CanopenNode/profile/cia402/demo/Kconfig b/misc/CanopenNode/profile/cia402/demo/Kconfig new file mode 100644 index 0000000000..b00f743e65 --- /dev/null +++ b/misc/CanopenNode/profile/cia402/demo/Kconfig @@ -0,0 +1,47 @@ +# Kconfig for the package-provided CiA 402 RT-Thread demo factory. + +menu "Demo" + +config PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEMO + bool "Enable RT-Thread CiA 402 Device demo" + default n + depends on PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD + depends on PKG_CANOPENNODE_APP_AUTO_INIT + depends on RT_USING_COMPONENTS_INIT + depends on RT_USING_HEAP + select PKG_CANOPENNODE_CIA402_DEVICE_RTT_AUTOSTART + select PKG_CANOPENNODE_USING_DEMO_OD + help + Register the package-provided software-only CiA 402 Device factory for + the default CANopenNodeRTT application. PDS transitions complete without + hardware; PP/HM expose one BUSY interval before deterministic completion, + while PV and enabled CSP/CSV/CST modes update deterministic software feedback. + The demo uses logical devices 0..N-1 from the generated demo Object + Dictionary and never controls a physical motor or power stage. Enable + CANopen debug + RT-Thread ULOG for PDS/PP/PV/HM logs; optionally enable + PKG_CANOPENNODE_CIA402_DEMO_SYNC_LOG for cyclic command/feedback snapshots. + +if PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEMO + +config PKG_CANOPENNODE_CIA402_DEMO_AXIS_COUNT + int "Demo logical device count" + range 1 3 + default 3 + help + Number of package demo axes to register. The generated demo Object + Dictionary provides logical devices 0, 1 and 2, so this option is + intentionally limited to 1..3. + +config PKG_CANOPENNODE_CIA402_DEMO_SYNC_LOG + bool "Log cyclic synchronous command/feedback snapshots" + default n + depends on PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH + help + Print CSP/CSV/CST command and feedback snapshots from the lower-priority + co_402 worker. If that worker lags co_rt, intermediate SYNC generations may + be coalesced. This is intended for protocol bring-up only; leave it disabled + for WCET, jitter, or production realtime measurements. + +endif + +endmenu diff --git a/misc/CanopenNode/profile/cia402/device/Kconfig b/misc/CanopenNode/profile/cia402/device/Kconfig new file mode 100644 index 0000000000..6b64452361 --- /dev/null +++ b/misc/CanopenNode/profile/cia402/device/Kconfig @@ -0,0 +1,95 @@ +# Kconfig for the Pure-C local CiA 402 Device core. + +config PKG_CANOPENNODE_CIA402_DEVICE + bool "Local CiA 402 Device core" + default y + help + Build the Pure-C local Device manager, generated-OD binding and PDS + supervisor. This layer has no RT-Thread/BSP dependency and allocates no + axis storage dynamically. + +config PKG_CANOPENNODE_CIA402_DEVICE_DIAGNOSTICS + bool "Per-axis fault diagnostics" + default n + depends on PKG_CANOPENNODE_CIA402_DEVICE + help + Add the Pure-C per-axis diagnostic latch, generated Error-code object + update and deferred report/reset event contract. Each configured axis + must provide a bounded non-blocking DiagIF which maps product/internal + fault origins to independent 0x603F and CANopen EMCY error codes. + This layer does not call CANopenNode emergency APIs directly. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_PP + bool "Profile Position (PP) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + help + Build the Pure-C Profile Position supervisor. An axis advertises PP only + when its DriveIF provides mode entry/exit and profilePosition callbacks; + only then are the PP-specific OD objects required during binding. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_PV + bool "Profile Velocity (PV) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + help + Build the Pure-C Profile Velocity supervisor. An axis advertises PV only + when its DriveIF provides mode entry/exit and profileVelocity callbacks; + only then are the PV-specific OD objects required during binding. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_HM + bool "Homing (HM) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + help + Build the Pure-C Homing supervisor. An axis advertises HM only when its + DriveIF provides mode entry/exit and homing callbacks; only then are the + homing-specific OD objects required during binding. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_CSP + bool "Cyclic Synchronous Position (CSP) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + depends on PKG_CANOPENNODE_USING_SYNC + depends on PKG_CANOPENNODE_USING_PDO + depends on PKG_CANOPENNODE_RPDO + depends on PKG_CANOPENNODE_TPDO + depends on PKG_CANOPENNODE_PDO_SYNC + select PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH + help + Build the bounded CSP target snapshot used by the synchronous fast path. + Runtime capability still requires a complete per-axis SyncIF. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_CSV + bool "Cyclic Synchronous Velocity (CSV) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + depends on PKG_CANOPENNODE_USING_SYNC + depends on PKG_CANOPENNODE_USING_PDO + depends on PKG_CANOPENNODE_RPDO + depends on PKG_CANOPENNODE_TPDO + depends on PKG_CANOPENNODE_PDO_SYNC + select PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH + help + Build the bounded CSV target snapshot used by the synchronous fast path. + Runtime capability still requires a complete per-axis SyncIF. + +config PKG_CANOPENNODE_CIA402_DEVICE_MODE_CST + bool "Cyclic Synchronous Torque (CST) mode" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + depends on PKG_CANOPENNODE_USING_SYNC + depends on PKG_CANOPENNODE_USING_PDO + depends on PKG_CANOPENNODE_RPDO + depends on PKG_CANOPENNODE_TPDO + depends on PKG_CANOPENNODE_PDO_SYNC + select PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH + help + Build the bounded CST target/feedback bridge used by the synchronous fast path. + Runtime capability still requires a complete per-axis SyncIF. + +config PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH + bool + depends on PKG_CANOPENNODE_CIA402_DEVICE + help + Internal guard for the RPDO -> CiA 402 cyclic bridge -> TPDO path. diff --git a/misc/CanopenNode/profile/cia402/port/rtthread/Kconfig b/misc/CanopenNode/profile/cia402/port/rtthread/Kconfig new file mode 100644 index 0000000000..b457f28883 --- /dev/null +++ b/misc/CanopenNode/profile/cia402/port/rtthread/Kconfig @@ -0,0 +1,67 @@ +# Kconfig for the RT-Thread CiA 402 Device adapter. + +config PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD + bool "Enable RT-Thread CiA 402 Device thread" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE + select PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS + help + Integrate an attached local Device manager with CANopenNodeRTT. The + existing realtime timer wakes a lower-priority co_402 supervisor thread. + Disable this option to retain the Pure-C Device core without adding any + CiA 402 RT-Thread thread or semaphore. + +if PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD + +config PKG_CANOPENNODE_CIA402_THREAD_STACK_SIZE + int "CiA 402 thread stack size" + default 2048 + +config PKG_CANOPENNODE_CIA402_THREAD_PRIORITY + int "CiA 402 thread priority" + default 5 + help + Initial supervisor priority. The default keeps co_rt (priority 3) + higher priority. Final priority requires target WCET/jitter validation. + +config PKG_CANOPENNODE_CIA402_DEVICE_RTT_EMCY_BRIDGE + bool "Bridge CiA 402 axis faults to CANopen EMCY" + default y + depends on PKG_CANOPENNODE_CIA402_DEVICE_DIAGNOSTICS + depends on PKG_CANOPENNODE_EM_ERR_STATUS_BITS_COUNT >= 72 + select PKG_CANOPENNODE_EM_PRODUCER + help + Flush axis diagnostic REPORT/RESET events after the Device worker releases + the OD lock while lifecycleMutex still protects the current CO_t. Axis + source uses manufacturer-specific error-status bits 0x40..0x47. + Communication Reset rebinds the new CO_EM_t and replays active faults. + +config PKG_CANOPENNODE_CIA402_DEVICE_RTT_AUTOSTART + bool "Automatically create and attach CiA 402 Device runtime" + default n + depends on PKG_CANOPENNODE_APP_AUTO_INIT + depends on RT_USING_COMPONENTS_INIT + depends on RT_USING_HEAP + select PKG_CANOPENNODE_RTT_LIFECYCLE_AUTOSTART + help + Enable heap-backed automatic construction of the CiA 402 RT-Thread + runtime and axis runtime storage for the default CANopenNodeRTT instance. + Product code must declare one persistent axis/DriveIF configuration with + CO_402_DEVICE_RTT_AUTOSTART_DEFINE(); alternatively enable the package + CiA 402 RT-Thread demo to register a bounded software-only factory. + Manual attach remains the default path and allocates no CiA 402 heap objects. + +config PKG_CANOPENNODE_CIA402_DEVICE_RTT_MSH + bool "Enable CiA 402 MSH debug control" + default n + depends on PKG_CANOPENNODE_CIA402_DEVICE_RTT_AUTOSTART + depends on RT_USING_FINSH && FINSH_USING_MSH + help + Register the cia402 MSH command for the default auto-attached local + Device runtime. Commands update the same Object Dictionary consumed by + SDO/RPDO and wake the existing co_402 supervisor; they never call the + DriveIF directly. This is intended for bench/debug use and may be + disabled without affecting the Pure-C Device or CAN behavior. + + +endif diff --git a/misc/Kconfig b/misc/Kconfig index 316472512a..de45c2c17e 100644 --- a/misc/Kconfig +++ b/misc/Kconfig @@ -14,6 +14,7 @@ source "$PKGS_DIR/packages/misc/MultiButton/Kconfig" source "$PKGS_DIR/packages/misc/FlexibleButton/Kconfig" source "$PKGS_DIR/packages/misc/CanFestival/Kconfig" source "$PKGS_DIR/packages/misc/CanopenNode/Kconfig" +source "$PKGS_DIR/packages/misc/canopen-lely/Kconfig" source "$PKGS_DIR/packages/misc/zlib/Kconfig" source "$PKGS_DIR/packages/misc/minizip/Kconfig" source "$PKGS_DIR/packages/misc/heatshrink/Kconfig" diff --git a/misc/autogen_parameter_manager/Kconfig b/misc/autogen_parameter_manager/Kconfig index 10b6eb857b..1873349b71 100644 --- a/misc/autogen_parameter_manager/Kconfig +++ b/misc/autogen_parameter_manager/Kconfig @@ -240,7 +240,8 @@ if PKG_USING_AUTOGEN_PARAMETER_MANAGER default n help Enable par_nvm.c and the abstract parameter-storage backend - interface. Select one packaged backend adapter. + interface. Select a package-provided backend adapter or the + application-defined backend when the application supplies the hooks. config AUTOGEN_PM_USING_TABLE_ID_CHECK bool "Enable parameter table ID check" if AUTOGEN_PM_ENABLE_ID @@ -376,9 +377,9 @@ if PKG_USING_AUTOGEN_PARAMETER_MANAGER default n depends on AUTOGEN_PM_USING_NVM help - Internal build guard for configurations that need the packaged - scalar storage backend. Dedicated object-only products can keep - this disabled and provide only the object backend hooks. + Internal build guard for configurations that need a scalar storage + backend. Dedicated object-only products can keep this disabled and + provide only the object backend hooks. config AUTOGEN_PM_NVM_OBJECT_DEDICATED_BASE_ADDR hex "Dedicated object persistence block base address" @@ -407,8 +408,10 @@ if PKG_USING_AUTOGEN_PARAMETER_MANAGER default AUTOGEN_PM_USING_RTT_AT24CXX_BACKEND depends on AUTOGEN_PM_NVM_NEEDS_SCALAR_BACKEND help - Select the packaged scalar backend adapter used by scalar - persistent records or shared object persistence. + Select the scalar storage backend used by scalar persistent records + or shared object persistence. The application-defined option excludes + package-provided backend adapters so application strong definitions + can override the weak backend hooks. config AUTOGEN_PM_USING_RTT_AT24CXX_BACKEND bool "RT-Thread AT24CXX backend" @@ -424,6 +427,15 @@ if PKG_USING_AUTOGEN_PARAMETER_MANAGER The core lives inside the parameters package and stays free of RT-Thread or FAL dependencies. A separate port adapter binds the core to a concrete physical flash implementation. + + config AUTOGEN_PM_BACKEND_APP_DEFINED + bool "Application-defined backend" + help + Do not build a package-provided scalar storage backend. + The application must provide a strong + par_store_backend_get_api() implementation. + Override par_store_backend_bind() as well when the + backend requires an explicit binding step. endchoice choice @@ -992,4 +1004,4 @@ if PKG_USING_AUTOGEN_PARAMETER_MANAGER string default "latest" if PKG_USING_AUTOGEN_PARAMETER_MANAGER_LATEST_VERSION -endif \ No newline at end of file +endif diff --git a/misc/canopen-lely/Kconfig b/misc/canopen-lely/Kconfig new file mode 100644 index 0000000000..11d5ab52a8 --- /dev/null +++ b/misc/canopen-lely/Kconfig @@ -0,0 +1,469 @@ +# Kconfig for the Lely CANopen RT-Thread port. + +menuconfig PKG_USING_LELY + bool "Lely CANopen" + default n + select RT_USING_HEAP + select RT_USING_DEVICE + select RT_USING_CAN + select RT_USING_EVENT + help + Enable the Lely CANopen RT-Thread port. + + Lely is built with LELY_NO_THREADS=1: RT-Thread may still use multiple + threads, but one dedicated owner thread must serialize all access to + Lely EV/IO2/CANopen objects. CAN RX, timer wakeups and CAN status + arriving from driver or ISR context must first be serialized to that + owner thread. RT-Thread event flags wake the owner. During shutdown, + an atomic callback refcount is drained with rt_thread_mdelay(1) sleeps so + cleanup does not busy-spin and does not require the device-IPC completion + component. This removes the C11 threads, pthread and compiler TLS ABI + dependency from the target runtime. + + The target runtime uses Lely's ev_loop/future executor path together + with io_user_can, io_user_timer and io_can_net. Linux/POSIX/Win32 I/O + backends, io_can_rt, vcan, fiber_exec, strand and thrd_loop are not part + of the RT-Thread build. + +if PKG_USING_LELY + +config PKG_LELY_USING_ULOG + bool "Route Lely and RT-Thread port logs to ULOG" + default y + select RT_USING_ULOG + help + Route Lely diag()/diag_at() output and RT-Thread adaptation-layer + diagnostics through ULOG. Lely core messages use tag "lely" and the + RT-Thread port uses tag "lely.rtt". + + Async output remains controlled by the project's normal + ULOG_USING_ASYNC_OUTPUT configuration; this package does not create a + second logging thread or queue. + +config PKG_LELY_USING_CANFD + bool "Enable CAN FD frame support" + depends on RT_CAN_USING_CANFD + default n + help + Keep disabled for classic CAN controllers. Enabling this only enables + Lely CAN FD data structures and protocol branches; the selected + RT-Thread CAN driver must also provide compatible CAN FD support. + +config PKG_LELY_EXAMPLE_MASTER_NODE1 + bool "Build the static CANopen Master + remote Node1 example" + default n + select PKG_LELY_USING_CO_CSDO + select PKG_LELY_USING_CO_MASTER + select PKG_LELY_USING_CO_NMT_BOOT + help + Build examples/master_node1/master_sdev.c as the MCU's local CANopen + Master object dictionary. examples/node1/node1.dcf remains a Host-side + description of remote Node1 and is never instantiated as the MCU's + local device. The target does not parse DCF files at runtime. + +menuconfig PKG_LELY_APP_AUTO_INIT + bool "Automatically start Lely CANopen runtime" + default y + select RT_USING_COMPONENTS_INIT + help + Automatically create and start one default Lely RT-Thread runtime from + RT-Thread application initialization through INIT_APP_EXPORT(). Disable + this when the product creates lely_rtt_runtime instances explicitly. + + Auto init always starts the single-owner EV/IO2/CAN transport. + PKG_LELY_EXAMPLE_MASTER_NODE1 additionally binds the generated local + Master OD before start; product-specific Master/remote-node policy stays + in the Host generation input instead of being invented by runtime.c. + +if PKG_LELY_APP_AUTO_INIT + +config PKG_LELY_CAN_DEV_NAME + string "RT-Thread CAN device name" + default "can1" + help + RT-Thread CAN device passed to rt_device_find() by the default runtime. + +choice + prompt "CAN bitrate" + default PKG_LELY_AUTO_INIT_BITRATE_1000 + help + Arbitration bitrate used by the default runtime. The hidden integer + value is expressed in bit/s because RT_CAN_CMD_SET_BAUD consumes the + RT-Thread CANBAUD values directly. + +config PKG_LELY_AUTO_INIT_BITRATE_10 + bool "10 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_20 + bool "20 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_50 + bool "50 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_100 + bool "100 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_125 + bool "125 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_250 + bool "250 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_500 + bool "500 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_800 + bool "800 kbit/s" + +config PKG_LELY_AUTO_INIT_BITRATE_1000 + bool "1 Mbit/s" + +endchoice + +config PKG_LELY_AUTO_INIT_BITRATE + int + default 10000 if PKG_LELY_AUTO_INIT_BITRATE_10 + default 20000 if PKG_LELY_AUTO_INIT_BITRATE_20 + default 50000 if PKG_LELY_AUTO_INIT_BITRATE_50 + default 100000 if PKG_LELY_AUTO_INIT_BITRATE_100 + default 125000 if PKG_LELY_AUTO_INIT_BITRATE_125 + default 250000 if PKG_LELY_AUTO_INIT_BITRATE_250 + default 500000 if PKG_LELY_AUTO_INIT_BITRATE_500 + default 800000 if PKG_LELY_AUTO_INIT_BITRATE_800 + default 1000000 if PKG_LELY_AUTO_INIT_BITRATE_1000 + default 1000000 + +config PKG_LELY_AUTO_INIT_RX_BATCH + int "CAN RX batch size" + range 1 64 + default 8 + help + Maximum number of RT CAN frames drained by one owner wakeup pass. + +config PKG_LELY_AUTO_INIT_THREAD_STACK_SIZE + int "Owner thread stack size" + range 512 65536 + default 4096 + +config PKG_LELY_AUTO_INIT_THREAD_PRIORITY + int "Owner thread priority" + range 0 255 + default 5 + help + RT-Thread owner priority. The runtime also validates this value against + RT_THREAD_PRIORITY_MAX on the selected BSP. + +config PKG_LELY_AUTO_INIT_THREAD_TIMESLICE + int "Owner thread time slice" + range 1 1000 + default 10 + +config PKG_LELY_AUTO_INIT_START_TIMEOUT_MS + int "Startup timeout in ms" + range 1 60000 + default 3000 + +config PKG_LELY_AUTO_INIT_STOP_TIMEOUT_MS + int "Shutdown timeout in ms" + range 1 60000 + default 3000 + +config PKG_LELY_AUTO_INIT_START_CONTROLLER + bool "Issue RT_CAN_CMD_START" + default y + help + Follow the standard RT-Thread CAN bring-up sequence and issue an + explicit controller start after mode, filter and RX callback setup. + Disable only for a BSP that intentionally does not support this command. + +config PKG_LELY_AUTO_INIT_STATUS_INDICATION + bool "Use CAN status indication callback" + default n + help + Register RT_CAN_CMD_SET_STATUS_IND for the default runtime. Leave this + disabled on BSPs that do not implement the status indication command. + +config PKG_LELY_AUTO_INIT_CANFD + bool "Enable CAN FD for default runtime" + default n + depends on PKG_LELY_USING_CANFD + +config PKG_LELY_AUTO_INIT_BRS + bool "Enable CAN FD bit-rate switching" + default n + depends on PKG_LELY_AUTO_INIT_CANFD + +choice + prompt "RT-Thread CAN FD length convention" + default PKG_LELY_AUTO_INIT_CANFD_LEN_BYTES + depends on PKG_LELY_AUTO_INIT_CANFD + +config PKG_LELY_AUTO_INIT_CANFD_LEN_BYTES + bool "rt_can_msg.len is payload bytes" + +config PKG_LELY_AUTO_INIT_CANFD_LEN_DLC + bool "rt_can_msg.len is raw DLC" + +endchoice + +endif + +menu "CANopen Master control plane" + +config PKG_LELY_USING_MASTER_COMMAND + bool "Enable asynchronous Master command ingress" + default n + depends on PKG_LELY_USING_CO_MASTER + select RT_USING_MESSAGEQUEUE + help + Add one per-runtime RT-Thread message queue for commands posted from + application/MSH threads to the single Lely owner. No non-owner thread + is allowed to call Lely CANopen services directly. + +config PKG_LELY_MASTER_COMMAND_QUEUE_DEPTH + int "Master command queue depth" + depends on PKG_LELY_USING_MASTER_COMMAND + range 1 64 + default 8 + help + Maximum copied Master commands waiting for owner dispatch. The default + keeps the existing command-queue memory budget while using the + corrected remote-Master control role. Owner dispatch is + bounded by this depth on each command wakeup. + +config PKG_LELY_USING_MASTER_SDO + bool "Enable asynchronous Master SDO transactions" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_CO_CSDO + help + Add request-id based SDO upload/download transactions for remote nodes, + including explicit application cancellation and Client-SDO block + upload/download. The owner lazily creates one application-owned + Client-SDO per Node-ID + using the CiA 301 predefined SDO connection. It never borrows the NMT + boot Client-SDO. At most one application transaction may be active per + remote node. + Protocol timeout, abort code, completion and shutdown cancellation are + preserved. + +config PKG_LELY_USING_MASTER_NMT_CFG + bool "Enable manual Master NMT configuration requests" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_CO_NMT_CFG + help + Expose Lely co_nmt_cfg_req() through the RT-Thread owner queue. The + caller waits for a terminal result while all Lely NMT/CSDO objects + remain owner-thread-only. Manual configuration arbitrates the CiA 301 + predefined SDO channel with application SDO transactions. A useful + request requires embedded 0x1F22 concise DCF data, a pre-start + application concise DCF registered through the RT-Thread bridge, or an + owner-installed external Lely cfg_ind callback. The copied application + DCF is consumed only by explicit manual configuration, not automatic + NMT boot. The 0x1F8A restore/reset path is intentionally rejected + because it conflicts with the current Master's Boot-up/NMT-boot + ownership. With the Master+Node1 example enabled, Node1 has a real + application DCF that rewrites heartbeat producer 0x1017:00 to 1000 ms. + +config PKG_LELY_USING_LOCAL_OD + bool "Enable owner-safe local application OD access" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + help + Allow application/MSH threads to synchronously read or write only the + manufacturer-specific local OD range 0x2000..0x5FFF through the owner + queue. Existing Lely download indications are chained, so Server-SDO + and RPDO writes remain intact and publish a metadata change snapshot + that application threads can observe without touching co_dev directly. + +config PKG_LELY_USING_MASTER_PDO_TX + bool "Enable Master TPDO event trigger bridge" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_LOCAL_OD + depends on PKG_LELY_USING_CO_TPDO + help + Allow application/MSH threads to trigger an already configured static + Master TPDO through the owner queue. Applications update mapped + 0x2000..0x5FFF values with the local OD bridge first, then issue the + TPDO event. Event-driven types 0xFE/0xFF are accepted. When the + SYNC/PDO bridge is enabled it also accepts synchronous acyclic type 0, + which arms the TPDO for the next SYNC. Dynamic PDO remapping remains + outside this bridge. + +config PKG_LELY_USING_MASTER_SYNC_PDO + bool "Enable CANopen SYNC and synchronous PDO application bridge" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_LOCAL_OD + depends on PKG_LELY_USING_CO_SYNC + depends on PKG_LELY_USING_CO_RPDO + depends on PKG_LELY_USING_CO_TPDO + select PKG_LELY_USING_MASTER_PDO_TX + help + Publish owner-ordered SYNC indications after Lely has processed all + synchronous TPDOs and RPDOs, optionally notify one startup-registered + application callback, and expose owner-safe control of object 0x1006 + plus local RPDO/TPDO transmission type. The PDO control accepts CiA 301 + synchronous types 0..240 and existing event-driven types 254/255; RTR- + only modes and dynamic PDO remapping remain outside this bridge. + +config PKG_LELY_USING_MASTER_EMCY + bool "Enable CANopen EMCY application bridge" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_CO_EMCY + help + Retain a bounded history of remote EMCY indications for application/MSH + diagnostics and expose owner-safe local EMCY push/pop/clear operations. + The bridge is rebound when Lely recreates the EMCY service after local + NMT STOP/reset transitions. + +config PKG_LELY_MASTER_EMCY_HISTORY_DEPTH + int "Remote EMCY history depth" + depends on PKG_LELY_USING_MASTER_EMCY + range 1 32 + default 8 + help + Number of received remote EMCY events retained per runtime. Events are + stored in a fixed-size ring with atomic publication; no heap allocation + is performed by the history path. + +config PKG_LELY_USING_MASTER_TIME + bool "Enable CANopen TIME application bridge" + default n + depends on PKG_LELY_USING_MASTER_COMMAND + depends on PKG_LELY_USING_CO_TIME + help + Publish received CANopen TIME values through stable owner-published + snapshots and allow explicit application-triggered absolute TIME + transmission. Snapshot readers use atomic sequence validation and may + briefly sleep and retry when racing owner publication so the owner can + complete the update. Periodic production is intentionally not started + because the RT port clock is monotonic uptime, not a configured wall + clock. + +config PKG_LELY_USING_MSH + bool "Enable CANopen Master MSH commands" + default n + depends on PKG_LELY_APP_AUTO_INIT + depends on PKG_LELY_EXAMPLE_MASTER_NODE1 + depends on PKG_LELY_USING_CO_MASTER + depends on RT_USING_FINSH && FINSH_USING_MSH + select PKG_LELY_USING_MASTER_COMMAND + help + Export one MSH root command named 'co' for the default auto-init Master. + status/node/boot read existing snapshots and nmt posts owner commands. + Enabled Master SDO, NMT configuration, local OD, TPDO, SYNC/PDO, EMCY + and TIME bridges add their corresponding diagnostic/control subcommands + under the same root. + +endmenu + +menu "CANopen feature selection" + +config PKG_LELY_USING_CO_CSDO + bool "SDO client" + default y + +config PKG_LELY_USING_CO_EMCY + bool "Emergency (EMCY)" + default y + +config PKG_LELY_USING_CO_LSS + bool "Layer Setting Services (LSS)" + default y + +config PKG_LELY_USING_CO_MASTER + bool "NMT master support" + depends on PKG_LELY_USING_CO_CSDO + default y + +config PKG_LELY_USING_CO_NMT_BOOT + bool "NMT boot slave service" + default y + depends on PKG_LELY_USING_CO_MASTER + +config PKG_LELY_USING_CO_NMT_CFG + bool "NMT configuration service" + default y + depends on PKG_LELY_USING_CO_MASTER + depends on PKG_LELY_USING_CO_CSDO + +config PKG_LELY_USING_CO_NODE_GUARDING + bool "Node guarding" + default n + help + Node guarding is disabled by default for this port. Heartbeat remains + available through the normal NMT/heartbeat implementation. + +config PKG_LELY_USING_CO_RPDO + bool "Receive PDO (RPDO)" + default y + +config PKG_LELY_USING_CO_TPDO + bool "Transmit PDO (TPDO)" + default y + +config PKG_LELY_USING_CO_SYNC + bool "SYNC service" + default y + +config PKG_LELY_USING_CO_TIME + bool "TIME service" + default y + +config PKG_LELY_USING_CO_MPDO + bool "Multiplexed PDO (MPDO)" + default y + +config PKG_LELY_USING_CO_SSDO_BLOCK + bool "SDO server block transfer" + default y + +menu "Object Dictionary metadata" + +config PKG_LELY_USING_CO_OBJ_NAME + bool "Object names" + default y + +config PKG_LELY_USING_CO_OBJ_LIMITS + bool "Object value limits" + default y + +config PKG_LELY_USING_CO_OBJ_DEFAULT + bool "Object default values" + default y + +config PKG_LELY_USING_CO_OBJ_UPLOAD + bool "Object upload helpers" + default y + +endmenu + +endmenu + +config PKG_LELY_PATH + string + default "/packages/misc/canopen-lely" + +choice + prompt "Version" + default PKG_USING_LELY_V100 + help + Select the Lely CANopen RT-Thread package version. + + config PKG_USING_LELY_V100 + bool "V1.0.0" + + config PKG_USING_LELY_LATEST_VERSION + bool "latest" +endchoice + +config PKG_LELY_VER + string + default "V1.0.0" if PKG_USING_LELY_V100 + default "latest" if PKG_USING_LELY_LATEST_VERSION + +endif diff --git a/misc/canopen-lely/package.json b/misc/canopen-lely/package.json new file mode 100644 index 0000000000..99ad10cb35 --- /dev/null +++ b/misc/canopen-lely/package.json @@ -0,0 +1,34 @@ +{ + "name": "canopen-lely", + "description": "Lely CANopen port to RT-Thread with a single-owner EV/IO2 runtime and optional CANopen Master services", + "description_zh": "Lely CANopen 协议栈在 RT-Thread 系统上的移植，提供 single-owner EV/IO2 运行时和可选 CANopen Master 功能", + "enable": "PKG_USING_LELY", + "keywords": [ + "Lely", + "CANopen", + "RT-Thread" + ], + "category": "misc", + "author": { + "name": "wdfk-prog", + "email": "1425075683@qq.com", + "github": "wdfk-prog" + }, + "license": "Apache-2.0", + "repository": "https://github.com/wdfk-prog/lely-canopen-rtt", + "homepage": "https://github.com/wdfk-prog/lely-canopen-rtt#readme", + "site": [ + { + "version": "V1.0.0", + "URL": "https://github.com/wdfk-prog/lely-canopen-rtt.git", + "filename": "canopen-lely V1.0.0 git package", + "VER_SHA": "09fd73e980cb2dc2f832a09ea6d41b3bbb00061d" + }, + { + "version": "latest", + "URL": "https://github.com/wdfk-prog/lely-canopen-rtt.git", + "filename": "canopen-lely latest version git package", + "VER_SHA": "main" + } + ] +}