123 lines
4.2 KiB
C
123 lines
4.2 KiB
C
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/**
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* CANopen Global fail-safe command protocol.
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*
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* @file CO_GFC.h
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* @ingroup CO_GFC
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* @author Robert Grüning
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* @copyright 2020 Robert Grüning
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* @copyright 2024 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software distributed under the License is
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* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and limitations under the License.
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*/
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#ifndef CO_GFC_H
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#define CO_GFC_H
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#include "301/CO_driver.h"
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#include "301/CO_ODinterface.h"
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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_GFC
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#define CO_CONFIG_GFC (0)
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#endif
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#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_GFC GFC
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* Global fail-safe command protocol.
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*
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* @ingroup CO_CANopen_304
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* @{
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* Very simple consumer/producer protocol. A net can have multiple GFC producer and multiple GFC consumer. On a
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* safety-relevant the producer can send a GFC message (ID 1, DLC 0). The consumer can use this message to start the
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* transition to a safe state. The GFC is optional for the security protocol and is not monitored (timed).
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*/
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/**
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* GFC object.
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*/
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typedef struct {
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bool_t valid; /**< From OD parameter 1300 */
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OD_extension_t OD_gfcParam_ext; /**< Extension for OD object */
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#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
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CO_CANmodule_t* CANdevTx; /**< From CO_GFC_init() */
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CO_CANtx_t* CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
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#endif
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#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
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void (*pFunctSignalSafe)(void* object); /**< From CO_GFC_initCallbackEnterSafeState() or NULL */
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void* functSignalObjectSafe; /**< From CO_GFC_initCallbackEnterSafeState() or NULL */
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#endif
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} CO_GFC_t;
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/**
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* Initialize GFC object.
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*
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* Function must be called in the communication reset section.
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*
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* @param GFC This object will be initialized.
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* @param OD_1300_gfcParameter Pointer to _Global fail-safe command parameter_ variable from Object dictionary (index
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* 0x1300).
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* @param GFC_CANdevRx CAN device used for SRDO reception.
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* @param GFC_rxIdx Index of receive buffer in the above CAN device.
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* @param CANidRxGFC GFC CAN ID for reception
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* @param GFC_CANdevTx AN device used for SRDO transmission.
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* @param GFC_txIdx Index of transmit buffer in the above CAN device.
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* @param CANidTxGFC GFC CAN ID for transmission
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
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*/
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CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC_CANdevRx,
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uint16_t GFC_rxIdx, uint16_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx,
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uint16_t CANidTxGFC);
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#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
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/**
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* Initialize GFC callback function.
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*
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* Function initializes optional callback function, that is called when GFC is received. Callback is called from receive
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* function (interrupt).
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*
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* @param GFC This object.
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* @param object Pointer to object, which will be passed to pFunctSignalSafe(). Can be NULL
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* @param pFunctSignalSafe Pointer to the callback function. Not called if NULL.
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*/
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void CO_GFC_initCallbackEnterSafeState(CO_GFC_t* GFC, void* object, void (*pFunctSignalSafe)(void* object));
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#endif
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#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
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/**
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* Send GFC message.
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*
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* It should be called by application, for example after a safety-relevant change.
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*
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* @param GFC GFC object.
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*
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* @return Same as CO_CANsend().
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*/
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CO_ReturnError_t CO_GFCsend(CO_GFC_t* GFC);
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#endif
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/** @} */ /* CO_GFC */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE */
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#endif /* CO_GFC_H */
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