286 lines
15 KiB
C
286 lines
15 KiB
C
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/**
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* CANopen Safety Related Data Object protocol.
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*
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* @file CO_SRDO.h
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* @ingroup CO_SRDO
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* @author Robert Grüning
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* @copyright 2020 Robert Grüning
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* @copyright 2024 temi54c1l8(at)github
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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_SRDO_H
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#define CO_SRDO_H
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#include "301/CO_Emergency.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_SRDO
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#define CO_CONFIG_SRDO (0)
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#endif
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#ifndef CO_CONFIG_SRDO_MINIMUM_DELAY
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#define CO_CONFIG_SRDO_MINIMUM_DELAY 0U
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#endif
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#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_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_SRDO SRDO
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* CANopen Safety Related Data Object protocol
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*
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* @ingroup CO_CANopen_304
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* @{
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* Safety Related Data Object protocol is specified by standard EN 50325-5:2010 (formerly CiA304). Its functionality is
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* very similar to that of the PDOs. The main differences is every message is send and received twice. The second
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* message must be bitwise inverted. The delay between the two messages and between each message pair is monitored. The
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* distinction between sending and receiving SRDO is made at runtime (for PDO it is compile time). If the security
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* protocol is used, at least one SRDO is mandatory.
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*
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* If there is erroneous structure of OD entries for SRDO parameters, then CO_SRDO_init() function returns error and
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* CANopen device doesn't work. It is necessary to repair Object Dictionary and reprogram the device.
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*
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* If there are erroneous values inside SRDO parameters, then Emergency message @ref CO_EM_SRDO_CONFIGURATION is sent.
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* Info code (32bit) contains OD index, subindex and additional byte, which helps to determine erroneous OD object.
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*
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* SRDO is first configured in CANopen in CANopen initialization section after all other CANopen objects are
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* initialized. It consists of one CO_SRDOGuard_init() and CO_SRDO_init() for each SRDO. On transition to NMT
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* operational CO_SRDO_config() must be called for each SRDO.
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*
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* CO_SRDO_process() must be executed cyclically, similar as PDO processing. Function is fast, no time consuming tasks.
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* Function returns @ref CO_SRDO_state_t value, which may be used to determine working-state or safe-state of safety
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* related device. If return values from all SRDO objects are >= @ref CO_SRDO_state_communicationEstablished, then
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* working state is allowed. Otherwise SR device must be in safe state.
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*
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* Requirement for mapped objects:
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* - @ref OD_attributes_t must have set bit ODA_RSRDO or ODA_RSRDO or ODA_TRSRDO (by CANopenEditor).
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*/
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/** Maximum size of SRDO message, 8 for standard CAN */
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#ifndef CO_SRDO_MAX_SIZE
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#define CO_SRDO_MAX_SIZE 8U
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#endif
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/** Maximum number of entries, which can be mapped to SRDO, 2*8 for standard CAN, may be less to preserve RAM usage.
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* Must be multiple of 2. */
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#ifndef CO_SRDO_MAX_MAPPED_ENTRIES
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#define CO_SRDO_MAX_MAPPED_ENTRIES 16U
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#endif
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#ifndef CO_SRDO_OWN_TYPES
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/** Variable of type @ref CO_SRDO_size_t contains data length in bytes of SRDO */
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typedef uint8_t CO_SRDO_size_t;
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#endif
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/**
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* SRDO internal state
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*/
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typedef enum {
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CO_SRDO_state_error_internal = -10, /**< internal software error */
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CO_SRDO_state_error_configuration = -9, /**< error in parameters, emergency message was sent */
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CO_SRDO_state_error_txNotInverted = -6, /**< Transmitting SRDO messages was not inverted */
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CO_SRDO_state_error_txFail = -5, /**< SRDO CAN message transmission failed */
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CO_SRDO_state_error_rxTimeoutSRVT = -4, /**< SRDO message didn't receive inside SRVT time */
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CO_SRDO_state_error_rxTimeoutSCT = -3, /**< SRDO inverted message didn't receive inside SCT time */
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CO_SRDO_state_error_rxNotInverted = -2, /**< Received SRDO messages was not inverted */
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CO_SRDO_state_error_rxShort = -1, /**< Received SRDO message is too short */
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CO_SRDO_state_unknown = 0, /**< unknown state, set by CO_SRDO_init() */
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CO_SRDO_state_nmtNotOperational = 1, /**< Internal NMT operating state is not NMT operational */
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CO_SRDO_state_initializing = 2, /**< Just entered NMT operational state, SRDO message not yet received or
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transmitted */
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CO_SRDO_state_communicationEstablished = 3, /**< SRDO communication established, fully functional */
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CO_SRDO_state_deleted = 10 /**< informationDirection for this SRDO is set to 0 */
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} CO_SRDO_state_t;
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/**
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* Guard Object for SRDO.
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*
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* Guard object monitors all SRDO objects for:
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* - access to CRC objects
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* - access configuration valid flag
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* - change in operation state
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*/
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typedef struct {
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bool_t NMTisOperational; /**< True if NMT operating state is operational */
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bool_t configurationValid; /**< True if all SRDO objects are properly configured. Set after successful finish of all
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CO_SRDO_init() functions. Cleared on configuration change. */
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OD_IO_t OD_IO_configurationValid; /**< Object for input / output on the OD variable 13FE:00. Configuration of any of
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the the SRDO parameters will write 0 to that variable. */
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OD_entry_t* OD_13FE_entry; /**< From CO_SRDOGuard_init() */
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OD_entry_t* OD_13FF_entry; /**< From CO_SRDOGuard_init() */
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OD_extension_t OD_13FE_extension; /**< Extension for OD object */
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OD_extension_t OD_13FF_extension; /**< Extension for OD object */
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} CO_SRDOGuard_t;
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/**
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* SRDO object.
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*/
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typedef struct {
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CO_SRDOGuard_t* SRDOGuard; /**< From CO_SRDO_init() */
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OD_t* OD; /**< From CO_SRDO_init() */
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CO_EM_t* em; /**< From CO_SRDO_init() */
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uint16_t defaultCOB_ID; /**< From CO_SRDO_init() */
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uint8_t nodeId; /**< From CO_SRDO_init() */
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CO_CANmodule_t* CANdevTx[2]; /**< From CO_SRDO_init() */
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uint16_t CANdevTxIdx[2]; /**< From CO_SRDO_init() */
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CO_CANmodule_t* CANdevRx[2]; /**< From CO_SRDO_init() */
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uint16_t CANdevRxIdx[2]; /**< From CO_SRDO_init() */
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CO_SRDO_state_t internalState; /**< Internal state of this SRDO. */
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bool_t NMTisOperationalPrevious; /**< Copy of variable, internal usage. */
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uint8_t informationDirection; /**< 0 - SRDO is disabled; 1 - SRDO is producer (tx); 2 - SRDO is consumer (rx) */
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uint32_t cycleTime_us; /**< Safety Cycle Time from object dictionary translated to microseconds */
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uint32_t validationTime_us; /**< Safety related validation time from object dictionary translated to microseconds */
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uint32_t cycleTimer; /**< cycle timer variable in microseconds */
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uint32_t invertedDelay; /**< inverted delay timer variable in microseconds */
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uint32_t validationTimer; /**< validation timer variable in microseconds */
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CO_SRDO_size_t dataLength; /**< Data length of the received SRDO message. Calculated from mapping */
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uint8_t mappedObjectsCount; /**< Number of mapped objects in SRDO */
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OD_IO_t OD_IO[CO_SRDO_MAX_MAPPED_ENTRIES]; /**< Object dictionary interface for all mapped entries. OD_IO.dataOffset
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has special usage with SRDO. It stores information about mappedLength
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of the variable. mappedLength can be less or equal to the
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OD_IO.dataLength. mappedLength greater than OD_IO.dataLength indicates
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erroneous mapping. OD_IO.dataOffset is set to 0 before read/write
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function call and after the call OD_IO.dataOffset is set back to
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mappedLength. */
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CO_CANtx_t* CANtxBuff[2]; /**< CAN transmit buffers inside CANdevTx */
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volatile void* CANrxNew[2]; /**< Variable indicates, if new SRDO message received from CAN bus. */
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bool_t rxSrdoShort; /**< true, if received SRDO is too short */
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uint8_t CANrxData[2][CO_SRDO_MAX_SIZE]; /**< two buffers of data bytes for the received message. */
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bool_t nextIsNormal; /**< If true, next processed SRDO message is normal (not inverted) */
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OD_entry_t* OD_communicationParam_entry; /**< From CO_SRDO_init() */
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OD_entry_t* OD_mappingParam_entry; /**< From CO_SRDO_init() */
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OD_extension_t OD_communicationParam_ext; /**< Extension for OD object */
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OD_extension_t OD_mappingParam_extension; /**< Extension for OD object */
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#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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void (*pFunctSignalPre)(void* object); /**< From CO_SRDO_initCallbackPre() or NULL */
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void* functSignalObjectPre; /**< From CO_SRDO_initCallbackPre() or NULL */
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#endif
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} CO_SRDO_t;
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/**
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* Initialize SRDOGuard object.
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*
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* Function must be called in the communication reset section before CO_SRDO_init() functions.
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*
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* @param SRDOGuard This object will be initialized.
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* @param OD_13FE_configurationValid Pointer to _Configuration valid_ variable from Object dictionary (index 0x13FE).
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* @param OD_13FF_safetyConfigurationSignature Pointer to _Safety configuration signature_ variable from Object
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* dictionary (index 0x13FF).
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* @param [out] errInfo Additional information in case of error, may be NULL.
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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_SRDOGuard_init(CO_SRDOGuard_t* SRDOGuard, OD_entry_t* OD_13FE_configurationValid,
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OD_entry_t* OD_13FF_safetyConfigurationSignature, uint32_t* errInfo);
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/**
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* Initialize SRDO 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 SRDO This object will be initialized.
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* @param SRDO_Index OD index of this SRDO, 0 for the first.
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* @param SRDOGuard SRDOGuard object.
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* @param OD CANopen Object Dictionary
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* @param em Emergency object.
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* @param nodeId CANopen Node ID of this device. If default COB_ID is used, value will be added.
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* @param defaultCOB_ID Default COB ID for this SRDO for plain data (without NodeId).
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* @param OD_130x_SRDOCommPar Pointer to _SRDO communication parameter_ record from Object dictionary (index 0x1301+).
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* @param OD_138x_SRDOMapPar Pointer to _SRDO mapping parameter_ record from Object dictionary (index 0x1381+).
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* @param CANdevRxNormal CAN device used for SRDO reception for normal object.
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* @param CANdevRxInverted CAN device used for SRDO reception for inverted object.
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* @param CANdevRxIdxNormal Index of receive buffer in the above CAN device (normal).
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* @param CANdevRxIdxInverted Index of receive buffer in the above CAN device (inverted).
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* @param CANdevTxNormal CAN device used for SRDO transmission for normal object.
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* @param CANdevTxInverted CAN device used for SRDO transmission for inverted object.
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* @param CANdevTxIdxNormal Index of transmit buffer in the above CAN device (normal).
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* @param CANdevTxIdxInverted Index of transmit buffer in the above CAN device (inverted).
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* @param [out] errInfo Additional information in case of error, may be NULL.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OD_PARAMETERS.
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*/
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CO_ReturnError_t CO_SRDO_init(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, OD_t* OD, CO_EM_t* em,
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uint8_t nodeId, uint16_t defaultCOB_ID, OD_entry_t* OD_130x_SRDOCommPar,
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OD_entry_t* OD_138x_SRDOMapPar, CO_CANmodule_t* CANdevRxNormal,
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CO_CANmodule_t* CANdevRxInverted, uint16_t CANdevRxIdxNormal,
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uint16_t CANdevRxIdxInverted, CO_CANmodule_t* CANdevTxNormal,
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CO_CANmodule_t* CANdevTxInverted, uint16_t CANdevTxIdxNormal,
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uint16_t CANdevTxIdxInverted, uint32_t* errInfo);
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#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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/**
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* Initialize SRDO callback function.
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*
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* Function initializes optional callback function, which should immediately start processing of CO_SRDO_process()
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* function. Callback is called after SRDO message is received from the CAN bus.
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*
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* @param SRDO This object.
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* @param object Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL
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* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
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*/
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void CO_SRDO_initCallbackPre(CO_SRDO_t* SRDO, void* object, void (*pFunctSignalPre)(void* object));
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#endif
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/**
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* Configure SRDO object.
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*
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* Function must be called in on transition to NMT operational. Function is also called from CO_SRDO_init() function.
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*
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* @param SRDO This object will be configured.
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* @param SRDO_Index OD index of this SRDO, 0 for the first.
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* @param SRDOGuard SRDOGuard object.
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* @param [out] errInfo Additional information in case of error, may be NULL.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OD_PARAMETERS.
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*/
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CO_ReturnError_t CO_SRDO_config(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, uint32_t* errInfo);
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/**
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* Send SRDO on event
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*
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* Sends SRDO before the next refresh timer tiggers. The message itself is send in CO_SRDO_process(). Note that RTOS
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* have to trigger its processing quickly. After the transmission the timer is reset to the full refresh time.
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*
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* @param SRDO This object.
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* @return #CO_ReturnError_t: CO_ERROR_NO if request is granted
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*/
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CO_ReturnError_t CO_SRDO_requestSend(CO_SRDO_t* SRDO);
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/**
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* Process transmitting/receiving individual SRDO message.
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*
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* @param SRDO This object.
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* @param timeDifference_us Time difference from previous function call in [microseconds].
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* @param [out] timerNext_us info to OS, may be null.
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* @param NMTisOperational True if this node is in NMT_OPERATIONAL state.
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*
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* @return CO_SRDO_state_t internal state
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*/
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CO_SRDO_state_t CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext_us,
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bool_t NMTisOperational);
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/** @} */ /* CO_SRDO */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE */
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#endif /* CO_SRDO_H */
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