Add SDO commands for parameter flags, loading defaults, and clearing the CAN map

src/cansdo.cpp

@@ -25,6 +25,7 @@
 
 #define SDO_INDEX_PARAMS      0x2000
 #define SDO_INDEX_PARAM_UID   0x2100
+#define SDO_INDEX_PARAM_FLAGS 0x2200
 #define SDO_INDEX_MAP_TX      0x3000
 #define SDO_INDEX_MAP_RX      0x3001
 #define SDO_INDEX_MAP_RD      0x3100
@@ -192,6 +193,29 @@ void CanSdo::ProcessSDO(uint32_t data[2])
          sdo->data = SDO_ERR_INVIDX;
       }
    }
+   else if (sdo->index == SDO_INDEX_PARAM_FLAGS)
+   {
+      Param::PARAM_NUM paramIdx = (Param::PARAM_NUM)sdo->subIndex;
+
+      if (paramIdx < Param::PARAM_LAST)
+      {
+         if (sdo->cmd == SDO_WRITE)
+         {
+            Param::SetFlagsRaw(paramIdx, (uint8_t)sdo->data);
+            sdo->cmd = SDO_WRITE_REPLY;
+         }
+         else if (sdo->cmd == SDO_READ)
+         {
+            sdo->data = (uint32_t)Param::GetFlag(paramIdx);
+            sdo->cmd = SDO_READ_REPLY;
+         }
+      }
+      else
+      {
+         sdo->cmd = SDO_ABORT;
+         sdo->data = SDO_ERR_INVIDX;
+      }
+   }
    else if (0 != canMap && sdo->index == SDO_INDEX_MAP_TX)
    {
       AddCanMap(sdo, false);

src/sdocommands.cpp

@@ -34,6 +34,7 @@
 #define SDO_CMD_LOAD          1
 #define SDO_CMD_RESET         2
 #define SDO_CMD_DEFAULTS      3
+#define SDO_CMD_CLEAR_CAN     4
 
 bool SdoCommands::saveEnabled = true;
 CanMap* SdoCommands::canMap;
@@ -96,6 +97,9 @@ void SdoCommands::ProcessStandardCommands(CanSdo::SdoFrame* sdoFrame)
          Param::LoadDefaults();
          Param::Change(Param::PARAM_LAST);
          break;
+      case SDO_CMD_CLEAR_CAN:
+         if (0 != canMap) canMap->Clear();
+         break;
       default:
          sdoFrame->cmd = SDO_ABORT;
          sdoFrame->data = SDO_ERR_INVIDX;

test/test_cansdo.cpp

@@ -466,6 +466,64 @@ static void sdo_read_strings_initiates_print_request()
     ASSERT(canSdo->GetPrintRequest() == 3);
 }
 
+// ---------------------------------------------------------------------------
+// Parameter flags via SDO index SDO_INDEX_PARAM_FLAGS (0x2200)
+// ---------------------------------------------------------------------------
+
+static void sdo_read_param_flags_default()
+{
+    // By default flags are FLAG_NONE (0)
+    SendSdoRequest(SDO_READ, 0x2200, Param::ocurlim, 0);
+
+    ASSERT(canStub->m_canId == SdoRepId);
+    ASSERT(GetReply()->cmd == SDO_READ_REPLY);
+    ASSERT(GetReply()->data == (uint32_t)Param::FLAG_NONE);
+}
+
+static void sdo_write_and_read_param_flags()
+{
+    // Set FLAG_HIDDEN on ocurlim
+    SendSdoRequest(SDO_WRITE, 0x2200, Param::ocurlim, (uint32_t)Param::FLAG_HIDDEN);
+
+    ASSERT(canStub->m_canId == SdoRepId);
+    ASSERT(GetReply()->cmd == SDO_WRITE_REPLY);
+    ASSERT(Param::GetFlag(Param::ocurlim) == Param::FLAG_HIDDEN);
+
+    // Read it back
+    SendSdoRequest(SDO_READ, 0x2200, Param::ocurlim, 0);
+    ASSERT(GetReply()->cmd == SDO_READ_REPLY);
+    ASSERT(GetReply()->data == (uint32_t)Param::FLAG_HIDDEN);
+}
+
+static void sdo_write_param_flags_clear()
+{
+    // Pre-set the flag, then clear it via SDO
+    Param::SetFlag(Param::ocurlim, Param::FLAG_HIDDEN);
+    SendSdoRequest(SDO_WRITE, 0x2200, Param::ocurlim, (uint32_t)Param::FLAG_NONE);
+
+    ASSERT(canStub->m_canId == SdoRepId);
+    ASSERT(GetReply()->cmd == SDO_WRITE_REPLY);
+    ASSERT(Param::GetFlag(Param::ocurlim) == Param::FLAG_NONE);
+}
+
+static void sdo_read_param_flags_invalid_index()
+{
+    SendSdoRequest(SDO_READ, 0x2200, Param::PARAM_LAST, 0);
+
+    ASSERT(canStub->m_canId == SdoRepId);
+    ASSERT(GetReply()->cmd == SDO_ABORT);
+    ASSERT(GetReply()->data == SDO_ERR_INVIDX);
+}
+
+static void sdo_write_param_flags_invalid_index()
+{
+    SendSdoRequest(SDO_WRITE, 0x2200, Param::PARAM_LAST, (uint32_t)Param::FLAG_HIDDEN);
+
+    ASSERT(canStub->m_canId == SdoRepId);
+    ASSERT(GetReply()->cmd == SDO_ABORT);
+    ASSERT(GetReply()->data == SDO_ERR_INVIDX);
+}
+
 // ---------------------------------------------------------------------------
 // Test registration
 // ---------------------------------------------------------------------------
@@ -497,5 +555,10 @@ REGISTER_TEST(
     sdo_reply_sent_via_send_sdo_reply,
     sdo_request_ignored_for_wrong_node_id,
     sdo_request_processed_after_set_node_id,
-    sdo_read_strings_initiates_print_request
+    sdo_read_strings_initiates_print_request,
+    sdo_read_param_flags_default,
+    sdo_write_and_read_param_flags,
+    sdo_write_param_flags_clear,
+    sdo_read_param_flags_invalid_index,
+    sdo_write_param_flags_invalid_index
 );