feat:[misc][canopennode]v1.2.0

misc/CanopenNode/profile/Kconfig

@@ -2,7 +2,74 @@
 
 menu "CANopen profiles"
 
+config PKG_CANOPENNODE_PROFILE_REGISTRY
+    bool "Enable common logical-device profile registry"
+    default n
+    help
+        Build the Pure-C fixed-capacity registry that validates one CANopen
+        node's logical-device slot ownership against generated Device Type
+        entries. The registry uses no heap, RT-Thread, BSP, HAL, or concrete
+        Device Profile dependency.
+
+config PKG_CANOPENNODE_PROFILE_CONTROLLER_PORT
+    bool
+    default n
+    help
+        Internal switch for the stack- and RTOS-neutral Device Profile Controller
+        transport contract. Portable profile clients select this without pulling
+        in CANopenNode, RT-Thread, or a concrete CANopen backend.
+
+config PKG_CANOPENNODE_PROFILE_MASTER_RTT
+    bool "Enable common RT-Thread profile Master transport"
+    default n
+    depends on !PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST
+    select PKG_CANOPENNODE_PROFILE_CONTROLLER_PORT
+    select PKG_CANOPENNODE_USING_SDO_CLIENT
+    select PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS
+    help
+        Add one profile-neutral CANopenNode Master transport which serializes
+        remote scalar SDO and NMT operations through co_main. Profile-specific
+        Controller adapters reuse this transport instead of calling CANopenNode
+        protocol objects from arbitrary application threads. Each attached
+        transport instance requires exclusive ownership of its selected SDO
+        client object. The package demo SDO client is mutually exclusive because
+        it directly owns generated SDO client 0 outside this transport.
+
 rsource "cia401/Kconfig"
 rsource "cia402/Kconfig"
+rsource "mixed/Kconfig"
+
+config PKG_CANOPENNODE_PROFILE_RTT_SHARED_WORKER
+    bool
+    default y if PKG_CANOPENNODE_CIA401_DEVICE_RTT_THREAD && !PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEDICATED_WORKER
+    default y if PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD && !PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEDICATED_WORKER
+    help
+        Internal derived switch for the common deferred lifecycle worker used by
+        Device Profiles that did not request a dedicated RT-Thread worker.
+
+if PKG_CANOPENNODE_PROFILE_RTT_SHARED_WORKER
+
+menu "Shared RT-Thread profile worker"
+
+config PKG_CANOPENNODE_PROFILE_THREAD_STACK_SIZE
+    int "Stack size"
+    default 2048
+    help
+        Stack size in bytes for the common co_prof worker. Profile callbacks run
+        sequentially, so size this for the deepest enabled shared Profile pass,
+        not the sum of all Profile stack sizes. Confirm the final margin on target.
+
+config PKG_CANOPENNODE_PROFILE_THREAD_PRIORITY
+    int "Priority"
+    default 5
+    help
+        RT-Thread priority for the common co_prof worker. Lower numeric values are
+        higher priority. It must remain numerically greater than co_rt priority.
+        A Profile requiring stronger isolation should enable its dedicated-worker
+        option instead of increasing this shared priority arbitrarily.
+
+endmenu
+
+endif
 
 endmenu

misc/CanopenNode/profile/cia401/Kconfig

@@ -10,6 +10,7 @@ menuconfig PKG_CANOPENNODE_CIA401
 
 if PKG_CANOPENNODE_CIA401
 
+rsource "controller/Kconfig"
 rsource "device/Kconfig"
 rsource "port/rtthread/Kconfig"
 rsource "demo/Kconfig"

misc/CanopenNode/profile/cia401/controller/Kconfig

@@ -0,0 +1,29 @@
+config PKG_CANOPENNODE_CIA401_CONTROLLER
+    bool "Transport-agnostic CiA 401 Controller API"
+    default n
+    help
+        Enable the Pure-C remote CiA 401 I/O Controller core. It resolves the
+        remote logical-device profile block and validates configured basic
+        digital/analogue process-image channels without owning Node-ID, SDO,
+        PDO, RT-Thread resources or heap memory.
+
+config PKG_CANOPENNODE_CIA401_CONTROLLER_CLIENT
+    bool "Portable CiA 401 Controller transport client"
+    default n
+    depends on PKG_CANOPENNODE_CIA401_CONTROLLER
+    select PKG_CANOPENNODE_PROFILE_CONTROLLER_PORT
+    help
+        Add the stack- and RTOS-neutral CiA 401 remote I/O client on top of the
+        common profile transport contract. A platform port only implements the
+        common transport operations; the CiA 401 object translation and typed
+        SDO control-plane behavior are reused unchanged.
+
+config PKG_CANOPENNODE_CIA401_CONTROLLER_RTT
+    bool "CANopenNode RT-Thread CiA 401 Controller SDO adapter"
+    default n
+    depends on PKG_CANOPENNODE_CIA401_CONTROLLER_CLIENT
+    depends on !PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST
+    select PKG_CANOPENNODE_PROFILE_MASTER_RTT
+    help
+        Add the thin RT-Thread compatibility facade which binds the portable
+        CiA 401 client to the common CANopenNode RT-Thread Master backend.

misc/CanopenNode/profile/cia401/port/rtthread/Kconfig

@@ -1,30 +1,45 @@
 # 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"
+    bool "Enable RT-Thread CiA 401 Device adapter"
     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.
+        Bind the Pure-C CiA 401 Device before PDO initialization and schedule
+        bounded process passes from the common profile worker by default.
+        Communication Reset drains stale worker requests and rebinds the new
+        Object Dictionary generation. Enable the dedicated-worker option below
+        only when CiA 401 backend latency must be isolated from other profiles.
 
 if PKG_CANOPENNODE_CIA401_DEVICE_RTT_THREAD
 
+config PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEDICATED_WORKER
+    bool "Use a dedicated co_401 worker thread"
+    default n
+    help
+        Create a profile-private co_401 thread and semaphore instead of running
+        CiA 401 process passes on the common co_prof worker. Use this when product
+        IOIF callbacks have a materially different WCET/blocking risk or require
+        independent scheduling priority. The default shared worker minimizes
+        thread/stack/context-switch overhead across Device Profiles.
+
+if PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEDICATED_WORKER
+
 config PKG_CANOPENNODE_CIA401_THREAD_STACK_SIZE
-    int "CiA 401 worker stack size"
+    int "CiA 401 dedicated worker stack size"
     default 1536
 
 config PKG_CANOPENNODE_CIA401_THREAD_PRIORITY
-    int "CiA 401 worker priority"
+    int "CiA 401 dedicated worker priority"
     default 6
     help
         Must be numerically greater (lower scheduling priority) than the existing co_rt worker.
 
+endif
+
 config PKG_CANOPENNODE_CIA401_DEVICE_RTT_EMCY_BRIDGE
     bool "Bridge CiA 401 profile warnings to EMCY"
     default y
@@ -58,7 +73,8 @@ config PKG_CANOPENNODE_CIA401_DEVICE_RTT_MSH
         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.
+        fault/supervision state, and wake the configured shared or dedicated
+        profile worker. This is bench/debug functionality only and does not
+        change the product IOIF API.
 
 endif

misc/CanopenNode/profile/cia402/controller/Kconfig

@@ -6,3 +6,25 @@ config PKG_CANOPENNODE_CIA402_CONTROLLER
         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.
+
+
+config PKG_CANOPENNODE_CIA402_CONTROLLER_CLIENT
+    bool "Portable CiA 402 Controller transport client"
+    default n
+    depends on PKG_CANOPENNODE_CIA402_CONTROLLER
+    select PKG_CANOPENNODE_PROFILE_CONTROLLER_PORT
+    help
+        Add the stack- and RTOS-neutral CiA 402 SDO control-plane client on top
+        of the common profile transport contract. It preserves the existing PDS
+        retry/Fault Reset semantics without depending on CANopenNode or RT-Thread.
+
+config PKG_CANOPENNODE_CIA402_CONTROLLER_RTT
+    bool "CANopenNode RT-Thread CiA 402 Controller SDO adapter"
+    default n
+    depends on PKG_CANOPENNODE_CIA402_CONTROLLER_CLIENT
+    depends on !PKG_CANOPENNODE_DEMO_SDO_CLIENT_TEST
+    select PKG_CANOPENNODE_PROFILE_MASTER_RTT
+    help
+        Add the thin RT-Thread compatibility facade which binds the portable
+        CiA 402 client to the common CANopenNode RT-Thread Master backend.
+        Cyclic motion modes should still use PDO/SYNC-specific integration.

misc/CanopenNode/profile/cia402/demo/Kconfig

@@ -36,9 +36,11 @@ config PKG_CANOPENNODE_CIA402_DEMO_SYNC_LOG
     bool "Log cyclic synchronous command/feedback snapshots"
     default n
     depends on PKG_CANOPENNODE_CIA402_DEVICE_SYNC_FASTPATH
+    select PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEDICATED_WORKER
     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
+        dedicated co_402 worker. This option selects dedicated-worker mode so ULOG
+        remains outside the common lifecycle lock. 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.
 

misc/CanopenNode/profile/cia402/port/rtthread/Kconfig

@@ -1,39 +1,55 @@
 # Kconfig for the RT-Thread CiA 402 Device adapter.
 
 config PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD
-    bool "Enable RT-Thread CiA 402 Device thread"
+    bool "Enable RT-Thread CiA 402 Device adapter"
     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.
+        Integrate an attached local Device manager with CANopenNodeRTT. By
+        default the existing realtime timer wakes one common lower-priority
+        profile worker which runs the CiA 402 supervisor together with other
+        shared Device Profiles. Enable the dedicated-worker option below only
+        when CiA 402 supervisor latency must be isolated from other profiles.
+        Disable this adapter to retain the Pure-C Device core without any
+        CiA 402 RT-Thread scheduling resources.
 
 if PKG_CANOPENNODE_CIA402_DEVICE_RTT_THREAD
 
+config PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEDICATED_WORKER
+    bool "Use a dedicated co_402 worker thread"
+    default n
+    help
+        Create a profile-private co_402 thread and semaphore instead of running
+        CiA 402 supervisor passes on the common co_prof worker. This is intended
+        for products that require independent PDS supervisor scheduling or need
+        to isolate DriveIF execution time from other Device Profiles.
+
+if PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEDICATED_WORKER
+
 config PKG_CANOPENNODE_CIA402_THREAD_STACK_SIZE
-    int "CiA 402 thread stack size"
+    int "CiA 402 dedicated worker stack size"
     default 2048
 
 config PKG_CANOPENNODE_CIA402_THREAD_PRIORITY
-    int "CiA 402 thread priority"
+    int "CiA 402 dedicated worker priority"
     default 5
     help
         Initial supervisor priority. The default keeps co_rt (priority 3)
         higher priority. Final priority requires target WCET/jitter validation.
 
+endif
+
 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.
+        Flush axis diagnostic REPORT/RESET events after the Device supervisor
+        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
@@ -59,9 +75,8 @@ config PKG_CANOPENNODE_CIA402_DEVICE_RTT_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.
-
+        SDO/RPDO and wake the configured shared or dedicated Device 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

misc/CanopenNode/profile/mixed/Kconfig

@@ -0,0 +1,13 @@
+config PKG_CANOPENNODE_PROFILE_MIXED_RTT
+    bool "Enable generic mixed-profile RT-Thread ownership validator"
+    default n
+    depends on RT_USING_HEAP
+    select PKG_CANOPENNODE_PROFILE_REGISTRY
+    select PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSIONS
+    help
+        Enable the profile-neutral RT-Thread lifecycle adapter that validates a
+        caller-provided logical-device descriptor table against generated Device
+        Type entries before profile-specific OD binding. The adapter does not
+        choose Device Profile numbers, Logical Device slots, or demo topology.
+
+rsource "demo/Kconfig"

misc/CanopenNode/profile/mixed/demo/Kconfig

@@ -0,0 +1,14 @@
+config PKG_CANOPENNODE_PROFILE_MIXED_RTT_DEMO
+    bool "Validate the mixed CiA 402/CiA 401 logical-device demo"
+    default y
+    depends on PKG_CANOPENNODE_PROFILE_MIXED_RTT
+    depends on PKG_CANOPENNODE_CIA401_DEVICE_RTT_DEMO
+    depends on PKG_CANOPENNODE_CIA402_DEVICE_RTT_DEMO
+    depends on PKG_CANOPENNODE_CIA402_DEMO_AXIS_COUNT = 3
+    depends on PKG_CANOPENNODE_RTT_LIFECYCLE_EXTENSION_CAPACITY >= 3
+    help
+        Provide the package demo descriptor table and register the generic mixed
+        lifecycle validator before the CiA 401 and CiA 402 demo adapters bind
+        their Object Dictionary extensions. This reference demo claims logical
+        devices 0..2 for CiA 402 and logical device 3 for CiA 401; other products
+        can supply a different descriptor table through CO_profileMixedRTTAttach().