| 337 | #endif |
| 338 | |
| 339 | CO_t* |
| 340 | CO_new(CO_config_t* config, uint32_t* heapMemoryUsed) { |
| 341 | CO_t* co = NULL; |
| 342 | /* return values */ |
| 343 | CO_t* coFinal = NULL; |
| 344 | uint32_t mem = 0; |
| 345 | |
| 346 | /* For each object: |
| 347 | * - allocate memory, verify allocation and calculate size of heap used |
| 348 | * - if CO_MULTIPLE_OD is defined: |
| 349 | * - use config structure |
| 350 | * - calculate number of CANrx and CYNtx messages: RX_CNT_xx and TX_CNT_xx |
| 351 | * - calculate indexes: RX_IDX_xx and TX_IDX_xx |
| 352 | * - calculate total count of CAN message buffers: CNT_ALL_RX_MSGS and CNT_ALL_TX_MSGS. */ |
| 353 | do { |
| 354 | #ifdef CO_MULTIPLE_OD |
| 355 | /* verify arguments */ |
| 356 | if (config == NULL || config->CNT_NMT > 1 || config->CNT_HB_CONS > 1 || config->CNT_EM > 1 |
| 357 | || config->CNT_SDO_SRV > 128 || config->CNT_SDO_CLI > 128 || config->CNT_SYNC > 1 || config->CNT_RPDO > 512 |
| 358 | || config->CNT_TPDO > 512 || config->CNT_TIME > 1 || config->CNT_LEDS > 1 || config->CNT_GFC > 1 |
| 359 | || config->CNT_SRDO > 64 || config->CNT_LSS_SLV > 1 || config->CNT_LSS_MST > 1 || config->CNT_GTWA > 1) { |
| 360 | break; |
| 361 | } |
| 362 | #else |
| 363 | (void)config; |
| 364 | #endif |
| 365 | |
| 366 | /* CANopen object */ |
| 367 | CO_alloc_break_on_fail(co, 1U, sizeof(*co)); |
| 368 | |
| 369 | #ifdef CO_MULTIPLE_OD |
| 370 | co->config = config; |
| 371 | #endif |
| 372 | |
| 373 | /* NMT_Heartbeat */ |
| 374 | ON_MULTI_OD(uint8_t RX_CNT_NMT_SLV = 0); |
| 375 | ON_MULTI_OD(uint8_t TX_CNT_NMT_MST = 0); |
| 376 | ON_MULTI_OD(uint8_t TX_CNT_HB_PROD = 0); |
| 377 | if (CO_GET_CNT(NMT) == 1U) { |
| 378 | CO_alloc_break_on_fail(co->NMT, CO_GET_CNT(NMT), sizeof(*co->NMT)); |
| 379 | ON_MULTI_OD(RX_CNT_NMT_SLV = 1); |
| 380 | #if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0 |
| 381 | ON_MULTI_OD(TX_CNT_NMT_MST = 1); |
| 382 | #endif |
| 383 | ON_MULTI_OD(TX_CNT_HB_PROD = 1); |
| 384 | } |
| 385 | |
| 386 | #if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0 |
| 387 | ON_MULTI_OD(uint8_t RX_CNT_HB_CONS = 0); |
| 388 | if (CO_GET_CNT(HB_CONS) == 1U) { |
| 389 | uint8_t countOfMonitoredNodes = CO_GET_CNT(ARR_1016); |
| 390 | CO_alloc_break_on_fail(co->HBcons, CO_GET_CNT(HB_CONS), sizeof(*co->HBcons)); |
| 391 | CO_alloc_break_on_fail(co->HBconsMonitoredNodes, countOfMonitoredNodes, sizeof(*co->HBconsMonitoredNodes)); |
| 392 | ON_MULTI_OD(RX_CNT_HB_CONS = countOfMonitoredNodes); |
| 393 | } |
| 394 | #endif |
| 395 | |
| 396 | /* Node guarding */ |