zencan_node/

pdo.rs

//! Implementation of PDO configuration objects and PDO transmission
//!
//! ## PDO Default Configuration
//!
//! PDO default configuration can be controlled in the device config, so that PDOs may be mapped to
//! certain object and enabled by default in a device. This is done in the `[pdos]` section of the
//! config, which is defined by the
//! [`PdoDefaultConfig`](crate::common::device_config::PdoDefaultConfig) struct.
//!
//! The default PDO COB ID may be specified as an absolute value, or it may be offset by the node ID
//! at runtime.
//!
//! Example default PDO config:
//!
//! ```toml
//! [pdos]
//! num_rpdo = 4
//! num_tpdo = 4
//!
//! # Enable TPDO1 to send on 0x200 + NODE_ID
//! [pdos.tpdo.1]
//! enabled = true
//! cob_id = 0x200
//! add_node_id = true
//! transmission_type = 254
//! mappings = [
//!     { index=0x2000, sub=1, size=32 },
//! ]
//!
//! # Configure RPDO0 to receive on extended ID 0x5000
//! [pdos.rpdo.0]
//! enabled = true
//! extended = true
//! rtr_disabled = false
//! cob_id = 0x5000
//! add_node_id = false
//! transmission_type = 254
//! mappings = [
//!     { index = 0x2000, sub=2, size=32 },
//! ]
//! ```

use crate::{
    node_state::NmtStateAccess,
    object_dict::{
        find_object_entry, ConstField, ODEntry, ObjectAccess, ProvidesSubObjects, SubObjectAccess,
    },
};
use zencan_common::{
    nmt::NmtState,
    objects::{AccessType, DataType, ObjectCode, PdoMappable, SubInfo},
    pdo::PdoMapping,
    sdo::AbortCode,
    AtomicCell, CanId, NodeId,
};

/// Specifies the number of mapping parameters supported per PDO
///
/// Since we do not yet support CAN-FD, or sub-byte mapping, it's not possible to map more than 8
/// objects to a single PDO
const N_MAPPING_PARAMS: usize = 8;

#[derive(Clone, Copy)]
/// Data structure for storing a PDO object mapping
struct MappingEntry<'a> {
    /// A reference to the object which is mapped
    pub object: &'a ODEntry<'a>,
    /// The index of the sub object mapped
    pub sub: u8,
    /// The length of the mapping in bytes
    pub length: u8,
}

#[allow(missing_debug_implementations)]
/// Initialization values for a PDO
#[derive(Copy, Clone)]
pub struct PdoDefaults<'a> {
    cob_id: u32,
    flags: u8,
    transmission_type: u8,
    mappings: &'a [u32],
}

impl Default for PdoDefaults<'_> {
    fn default() -> Self {
        Self::DEFAULT
    }
}

#[allow(missing_docs)]
impl<'a> PdoDefaults<'a> {
    const ADD_NODE_ID_FLAG: usize = 0;
    const VALID_FLAG: usize = 1;
    const RTR_DISABLED_FLAG: usize = 2;
    const IS_EXTENDED_FLAG: usize = 3;

    /// The PDO defaults used when no other defaults are configured
    pub const DEFAULT: PdoDefaults<'a> = Self {
        cob_id: 0,
        flags: 0,
        transmission_type: 0,
        mappings: &[],
    };

    /// Create a new PdoDefaults object
    pub const fn new(
        cob_id: u32,
        extended: bool,
        add_node_id: bool,
        valid: bool,
        rtr_disabled: bool,
        transmission_type: u8,
        mappings: &'static [u32],
    ) -> Self {
        // Store flags as a single field to save those precious few bytes
        let mut flags = 0u8;
        if valid {
            flags |= 1 << Self::VALID_FLAG;
        }
        if rtr_disabled {
            flags |= 1 << Self::RTR_DISABLED_FLAG;
        }
        if add_node_id {
            flags |= 1 << Self::ADD_NODE_ID_FLAG;
        }
        if extended {
            flags |= 1 << Self::IS_EXTENDED_FLAG;
        }

        Self {
            cob_id,
            flags,
            transmission_type,
            mappings,
        }
    }

    pub const fn valid(&self) -> bool {
        self.flags & (1 << Self::VALID_FLAG) != 0
    }

    pub const fn rtr_disabled(&self) -> bool {
        self.flags & (1 << Self::RTR_DISABLED_FLAG) != 0
    }

    pub const fn add_node_id(&self) -> bool {
        self.flags & (1 << Self::ADD_NODE_ID_FLAG) != 0
    }

    pub const fn extended(&self) -> bool {
        self.flags & (1 << Self::IS_EXTENDED_FLAG) != 0
    }

    pub const fn can_id(&self, node_id: u8) -> CanId {
        let id = if self.add_node_id() {
            self.cob_id + node_id as u32
        } else {
            self.cob_id
        };
        if self.extended() {
            CanId::Extended(id)
        } else {
            CanId::Std(id as u16)
        }
    }
}

/// Represents a single PDO state
#[allow(missing_debug_implementations)]
pub struct Pdo<'a> {
    /// The object dictionary
    ///
    /// PDOs have to access other objects and use this to do so
    od: &'a [ODEntry<'a>],
    /// Accessor for the node NMT state
    nmt_state: &'a dyn NmtStateAccess,
    /// Configured Node ID for the system
    node_id: AtomicCell<NodeId>,
    /// The COB-ID used to send or receive this PDO
    cob_id: AtomicCell<Option<CanId>>,
    /// Indicates if the PDO is enabled
    valid: AtomicCell<bool>,
    /// If set, this PDO cannot be requested via RTR
    rtr_disabled: AtomicCell<bool>,
    /// Transmission type field (subindex 0x2)
    /// Determines when the PDO is sent/received
    ///
    /// 0 (unused): PDO is sent on receipt of SYNC, but only if the event has been triggered
    /// 1 - 240: PDO is sent on receipt of every Nth SYNC message
    /// 254: PDO is sent asynchronously on application request
    transmission_type: AtomicCell<u8>,
    /// Tracks the number of sync signals since this was last sent or received
    sync_counter: AtomicCell<u8>,
    /// The last received data value for an RPDO, or ready to transmit data for a TPDO
    pub buffered_value: AtomicCell<Option<[u8; 8]>>,
    /// Indicates how many of the values in mapping_params are valid
    ///
    /// This represents sub0 for the mapping object
    valid_maps: AtomicCell<u8>,
    /// The mapping parameters
    ///
    /// These specify which objects are
    mapping_params: [AtomicCell<Option<MappingEntry<'a>>>; N_MAPPING_PARAMS],
    /// System default values for this PDO
    defaults: Option<&'a PdoDefaults<'a>>,
}

impl<'a> Pdo<'a> {
    /// Create a new PDO object
    pub const fn new(od: &'a [ODEntry<'a>], nmt_state: &'a dyn NmtStateAccess) -> Self {
        let cob_id = AtomicCell::new(None);
        let node_id = AtomicCell::new(NodeId::Unconfigured);
        let valid = AtomicCell::new(false);
        let rtr_disabled = AtomicCell::new(false);
        let transmission_type = AtomicCell::new(0);
        let sync_counter = AtomicCell::new(0);
        let buffered_value = AtomicCell::new(None);
        let valid_maps = AtomicCell::new(0);
        let mapping_params = [const { AtomicCell::new(None) }; N_MAPPING_PARAMS];
        let defaults = None;
        Self {
            od,
            nmt_state,
            node_id,
            cob_id,
            valid,
            rtr_disabled,
            transmission_type,
            sync_counter,
            buffered_value,
            valid_maps,
            mapping_params,
            defaults,
        }
    }

    /// Create a new PDO object with provided defaults
    pub const fn new_with_defaults(
        od: &'static [ODEntry<'static>],
        nmt_state: &'static dyn NmtStateAccess,
        defaults: &'static PdoDefaults,
    ) -> Self {
        let mut pdo = Pdo::new(od, nmt_state);
        pdo.defaults = Some(defaults);
        pdo
    }

    /// Set the valid bit
    pub fn set_valid(&self, value: bool) {
        self.valid.store(value);
    }

    /// Get the valid bit value
    pub fn valid(&self) -> bool {
        self.valid.load()
    }

    /// Set the transmission type for this PDO
    pub fn set_transmission_type(&self, value: u8) {
        self.transmission_type.store(value);
    }

    /// Get the transmission type for this PDO
    pub fn transmission_type(&self) -> u8 {
        self.transmission_type.load()
    }

    /// Get the COB ID used for transmission of this PDO
    pub fn cob_id(&self) -> CanId {
        self.cob_id.load().unwrap_or(self.default_cob_id())
    }

    /// Get the default COB ID for transmission of this PDO
    pub fn default_cob_id(&self) -> CanId {
        if self.defaults.is_none() {
            return CanId::std(0);
        }
        let defaults = self.defaults.unwrap();
        let node_id = match self.node_id.load() {
            NodeId::Unconfigured => 0,
            NodeId::Configured(node_id) => node_id.raw(),
        };
        defaults.can_id(node_id)
    }

    /// This function should be called when a SYNC event occurs
    ///
    /// It will return true if the PDO should be sent in response to the SYNC event
    pub fn sync_update(&self) -> bool {
        if !self.valid.load() {
            return false;
        }

        let transmission_type = self.transmission_type.load();
        if transmission_type == 0 {
            // TODO: Figure out how to determine application "event" which triggers the PDO
            // For now, send every sync
            true
        } else if transmission_type <= 240 {
            let cnt = self.sync_counter.fetch_add(1) + 1;
            cnt == transmission_type
        } else {
            false
        }
    }

    /// Check mapped objects for TPDO event flag
    pub fn read_events(&self) -> bool {
        if !self.valid.load() {
            return false;
        }

        for i in 0..self.mapping_params.len() {
            let param = self.mapping_params[i].load();
            if param.is_none() {
                break;
            }
            let param = param.unwrap();
            if param.object.data.read_event_flag(param.sub) {
                return true;
            }
        }
        false
    }

    fn nmt_state(&self) -> NmtState {
        self.nmt_state.nmt_state()
    }

    pub(crate) fn clear_events(&self) {
        for i in 0..self.mapping_params.len() {
            let param = self.mapping_params[i].load();
            if param.is_none() {
                break;
            }
            let param = param.unwrap();
            param.object.data.clear_events();
        }
    }

    pub(crate) fn store_pdo_data(&self, data: &[u8]) {
        let mut offset = 0;
        let valid_maps = self.valid_maps.load() as usize;
        for (i, param) in self.mapping_params.iter().enumerate() {
            if i >= valid_maps {
                break;
            }
            let param = param.load();
            if param.is_none() {
                break;
            }
            let param = param.unwrap();
            let length = param.length as usize;
            if offset + length > data.len() {
                break;
            }
            let data_to_write = &data[offset..offset + length];
            // validity of the mappings must be validated during write, so that error here is not
            // possible
            param.object.data.write(param.sub, data_to_write).ok();
            offset += length;
        }
    }

    pub(crate) fn send_pdo(&self) {
        let mut data = [0u8; 8];
        let mut offset = 0;
        let valid_maps = self.valid_maps.load() as usize;
        for (i, param) in self.mapping_params.iter().enumerate() {
            if i >= valid_maps {
                break;
            }
            let param = param.load();
            // The first N params will be valid. Can assume if one is None, all remaining will be as
            // well
            if param.is_none() {
                break;
            }
            let param = param.unwrap();
            let length = param.length as usize;
            if offset + length > data.len() {
                break;
            }
            // validity of the mappings must be validated during write, so that error here is not
            // possible
            param
                .object
                .data
                .read(param.sub, 0, &mut data[offset..offset + length])
                .ok();
            offset += length;
        }
        // If there is an old value here which has not been sent yet, replace it with the latest
        // Data will be sent by mbox in message handling thread.
        self.buffered_value.store(Some(data));
    }

    /// Lookup a PDO mapped object and create a MappingEntry if it is valid
    ///
    /// The returned MappingEntry can be stored in the Pdo mappings and includes
    /// a reference to the mapped object for faster access when
    /// sending/receiving PDOs.
    ///
    /// This function may fail if the mapped object doesn't exist, or if it is
    /// too short.
    fn try_create_mapping_entry(&self, mapping: PdoMapping) -> Result<MappingEntry<'a>, AbortCode> {
        let PdoMapping {
            index,
            sub,
            size: length,
        } = mapping;
        // length is in bits.
        if (length % 8) != 0 {
            // only support byte level access for now
            return Err(AbortCode::IncompatibleParameter);
        }
        let entry = find_object_entry(self.od, index).ok_or(AbortCode::NoSuchObject)?;
        let sub_info = entry.data.sub_info(sub)?;
        if sub_info.size < length as usize / 8 {
            return Err(AbortCode::IncompatibleParameter);
        }
        Ok(MappingEntry {
            object: entry,
            sub,
            length: length / 8,
        })
    }

    /// Initialize the PDO configuration with its default value
    pub fn init_defaults(&'a self, node_id: NodeId) {
        if self.defaults.is_none() {
            return;
        }
        let defaults = self.defaults.unwrap();

        self.node_id.store(node_id);
        for (i, m) in defaults.mappings.iter().enumerate() {
            if i >= self.mapping_params.len() {
                return;
            }
            if let Ok(entry) = self.try_create_mapping_entry(PdoMapping::from_object_value(*m)) {
                self.mapping_params[i].store(Some(entry));
            }
        }
        self.valid_maps.store(defaults.mappings.len() as u8);

        self.valid.store(defaults.valid());
        // None means "use the default computed ID"
        self.cob_id.store(None);
        self.rtr_disabled.store(defaults.rtr_disabled());
        self.transmission_type.store(defaults.transmission_type);
    }
}

struct PdoCobSubObject<'a> {
    pdo: &'a Pdo<'a>,
}

impl<'a> PdoCobSubObject<'a> {
    pub const fn new(pdo: &'a Pdo<'a>) -> Self {
        Self { pdo }
    }

    /// Should the COB sub object be persisted
    ///
    /// The object is only persisted when a non-default COB ID has been assigned.
    pub fn should_persist(&self) -> bool {
        self.pdo.cob_id.load().is_some()
    }
}

impl SubObjectAccess for PdoCobSubObject<'_> {
    fn read(&self, offset: usize, buf: &mut [u8]) -> Result<usize, AbortCode> {
        let cob_id = self.pdo.cob_id();
        let mut value = cob_id.raw();
        if cob_id.is_extended() {
            value |= 1 << 29;
        }
        if self.pdo.rtr_disabled.load() {
            value |= 1 << 30;
        }
        if !self.pdo.valid.load() {
            value |= 1 << 31;
        }

        let bytes = value.to_le_bytes();
        if offset < bytes.len() {
            let read_len = buf.len().min(bytes.len() - offset);
            buf[0..read_len].copy_from_slice(&bytes[offset..offset + read_len]);
            Ok(read_len)
        } else {
            Ok(0)
        }
    }

    fn read_size(&self) -> usize {
        4
    }

    fn write(&self, data: &[u8]) -> Result<(), AbortCode> {
        // Changing PDO config is only allowed during PreOperational state
        if self.pdo.nmt_state() != NmtState::PreOperational {
            return Err(AbortCode::GeneralError);
        }
        if data.len() < 4 {
            Err(AbortCode::DataTypeMismatchLengthLow)
        } else if data.len() > 4 {
            Err(AbortCode::DataTypeMismatchLengthHigh)
        } else {
            let value = u32::from_le_bytes(data.try_into().unwrap());
            let not_valid = (value & (1 << 31)) != 0;
            let no_rtr = (value & (1 << 30)) != 0;
            let extended_id = (value & (1 << 29)) != 0;

            let can_id = if extended_id {
                CanId::Extended(value & 0x1FFFFFFF)
            } else {
                CanId::Std((value & 0x7FF) as u16)
            };
            self.pdo.cob_id.store(Some(can_id));
            self.pdo.valid.store(!not_valid);
            self.pdo.rtr_disabled.store(no_rtr);
            Ok(())
        }
    }
}

struct PdoTransmissionTypeSubObject<'a> {
    pdo: &'a Pdo<'a>,
}

impl<'a> PdoTransmissionTypeSubObject<'a> {
    pub const fn new(pdo: &'a Pdo<'a>) -> Self {
        Self { pdo }
    }
}

impl SubObjectAccess for PdoTransmissionTypeSubObject<'_> {
    fn read(&self, offset: usize, buf: &mut [u8]) -> Result<usize, AbortCode> {
        if offset > 1 {
            return Ok(0);
        }
        buf[0] = self.pdo.transmission_type();
        Ok(1)
    }

    fn read_size(&self) -> usize {
        1
    }

    fn write(&self, data: &[u8]) -> Result<(), AbortCode> {
        // Changing of PDO config only allowed during preoperational state
        if self.pdo.nmt_state() != NmtState::PreOperational {
            return Err(AbortCode::GeneralError);
        }
        if data.is_empty() {
            Err(AbortCode::DataTypeMismatchLengthLow)
        } else {
            self.pdo.set_transmission_type(data[0]);
            Ok(())
        }
    }
}

/// Implements a PDO communications config object for both RPDOs and TPDOs
#[allow(missing_debug_implementations)]
pub struct PdoCommObject<'a> {
    cob: PdoCobSubObject<'a>,
    transmission_type: PdoTransmissionTypeSubObject<'a>,
}

impl<'a> PdoCommObject<'a> {
    /// Create a new PdoCommObject
    pub const fn new(pdo: &'a Pdo<'a>) -> Self {
        let cob = PdoCobSubObject::new(pdo);
        let transmission_type = PdoTransmissionTypeSubObject::new(pdo);
        Self {
            cob,
            transmission_type,
        }
    }
}

impl ProvidesSubObjects for PdoCommObject<'_> {
    fn get_sub_object(&self, sub: u8) -> Option<(SubInfo, &dyn SubObjectAccess)> {
        match sub {
            0 => Some((
                SubInfo::MAX_SUB_NUMBER,
                const { &ConstField::new(2u8.to_le_bytes()) },
            )),
            1 => Some((
                SubInfo::new_u32()
                    .rw_access()
                    .persist(self.cob.should_persist()),
                &self.cob,
            )),
            2 => Some((
                SubInfo::new_u8().rw_access().persist(true),
                &self.transmission_type,
            )),
            _ => None,
        }
    }

    fn object_code(&self) -> ObjectCode {
        ObjectCode::Record
    }
}

/// Implements a PDO mapping config object for both TPDOs and RPDOs
#[allow(missing_debug_implementations)]
pub struct PdoMappingObject<'a> {
    pdo: &'a Pdo<'a>,
}

impl<'a> PdoMappingObject<'a> {
    /// Create a new PdoMappingObject
    pub const fn new(pdo: &'a Pdo<'a>) -> Self {
        Self { pdo }
    }
}

impl ObjectAccess for PdoMappingObject<'_> {
    fn read(&self, sub: u8, offset: usize, buf: &mut [u8]) -> Result<usize, AbortCode> {
        if sub == 0 {
            if offset < 1 && !buf.is_empty() {
                buf[0] = self.pdo.valid_maps.load();
                Ok(1)
            } else {
                Ok(0)
            }
        } else if sub <= self.pdo.mapping_params.len() as u8 {
            let value = if let Some(param) = self.pdo.mapping_params[(sub - 1) as usize].load() {
                ((param.object.index as u32) << 16)
                    + ((param.sub as u32) << 8)
                    + param.length as u32 * 8
            } else {
                0u32
            };
            let bytes = value.to_le_bytes();
            let read_len = buf.len().min(bytes.len() - offset);
            buf[..read_len].copy_from_slice(&bytes[offset..offset + read_len]);
            Ok(read_len)
        } else {
            Err(AbortCode::NoSuchSubIndex)
        }
    }

    fn read_size(&self, sub: u8) -> Result<usize, AbortCode> {
        if sub == 0 {
            Ok(1)
        } else if sub <= N_MAPPING_PARAMS as u8 {
            Ok(4)
        } else {
            Err(AbortCode::NoSuchSubIndex)
        }
    }

    fn write(&self, sub: u8, data: &[u8]) -> Result<(), AbortCode> {
        // Changing of PDO mapping is only allowed in PreOperational state
        if self.pdo.nmt_state() != NmtState::PreOperational {
            return Err(AbortCode::GeneralError);
        }
        if sub == 0 {
            self.pdo.valid_maps.store(data[0]);
            Ok(())
        } else if sub <= self.pdo.mapping_params.len() as u8 {
            if data.len() != 4 {
                return Err(AbortCode::DataTypeMismatch);
            }
            let value = u32::from_le_bytes(data.try_into().unwrap());

            let mapping = PdoMapping::from_object_value(value);

            self.pdo.mapping_params[(sub - 1) as usize]
                .store(Some(self.pdo.try_create_mapping_entry(mapping)?));
            Ok(())
        } else {
            Err(AbortCode::NoSuchSubIndex)
        }
    }

    fn object_code(&self) -> ObjectCode {
        ObjectCode::Record
    }

    fn sub_info(&self, sub: u8) -> Result<SubInfo, AbortCode> {
        if sub == 0 {
            Ok(SubInfo {
                size: 1,
                data_type: DataType::UInt8,
                access_type: AccessType::Rw,
                pdo_mapping: PdoMappable::None,
                persist: true,
            })
        } else if sub <= self.pdo.mapping_params.len() as u8 {
            Ok(SubInfo {
                size: 4,
                data_type: DataType::UInt32,
                access_type: AccessType::Rw,
                pdo_mapping: PdoMappable::None,
                persist: true,
            })
        } else {
            Err(AbortCode::NoSuchSubIndex)
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::object_dict::ScalarField;

    #[derive(Default)]
    struct TestObject {
        value: ScalarField<u32>,
    }

    impl ProvidesSubObjects for TestObject {
        fn get_sub_object(&self, sub: u8) -> Option<(SubInfo, &dyn SubObjectAccess)> {
            match sub {
                0 => Some((SubInfo::new_u32(), &self.value)),
                _ => None,
            }
        }

        fn object_code(&self) -> ObjectCode {
            ObjectCode::Var
        }
    }

    #[test]
    /// Assert that attempts to update PDO comms or mapping parameters fail when in operational mode
    pub fn test_changes_denied_while_operational() {
        let object1000 = TestObject::default();
        let od = &[ODEntry {
            index: 0x1000,
            data: &object1000,
        }];
        let nmt_state = AtomicCell::new(NmtState::PreOperational);

        let pdo = Pdo::new(od, &nmt_state);

        let comm_obj = PdoCommObject::new(&pdo);
        let mapping_obj = PdoMappingObject::new(&pdo);

        // Setup initially
        mapping_obj
            .write(1, &((0x1000 << 16) | 32 as u32).to_le_bytes())
            .unwrap();
        mapping_obj.write(0, &[1]).unwrap();
        comm_obj.write(1, &(1u32 << 31).to_le_bytes()).unwrap();

        nmt_state.store(NmtState::Operational);

        // Changing now should error
        let result = mapping_obj.write(1, &0u32.to_le_bytes());
        assert_eq!(Err(AbortCode::GeneralError), result);
        let result = comm_obj.write(1, &0u32.to_le_bytes());
        assert_eq!(Err(AbortCode::GeneralError), result);
        let result = comm_obj.write(2, &0u32.to_le_bytes());
        assert_eq!(Err(AbortCode::GeneralError), result);
    }
}