338 lines
11 KiB
C
338 lines
11 KiB
C
|
/*
|
||
|
|
* CANopen NMT and Heartbeat producer object.
|
||
|
|
*
|
||
|
|
* @file CO_NMT_Heartbeat.c
|
||
|
|
* @ingroup CO_NMT_Heartbeat
|
||
|
|
* @author Janez Paternoster
|
||
|
|
* @copyright 2004 - 2020 Janez Paternoster
|
||
|
|
*
|
||
|
|
* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
|
||
|
|
* file except in compliance with the License. You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software distributed under the License is
|
||
|
|
* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "301/CO_NMT_Heartbeat.h"
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Read received message from CAN module.
|
||
|
|
*
|
||
|
|
* Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier
|
||
|
|
* will be received. For more information and description of parameters see file CO_driver.h.
|
||
|
|
*/
|
||
|
|
static void
|
||
|
|
CO_NMT_receive(void *object, void *msg)
|
||
|
|
{
|
||
|
|
uint8_t DLC = CO_CANrxMsg_readDLC(msg);
|
||
|
|
const uint8_t *data = CO_CANrxMsg_readData(msg);
|
||
|
|
CO_NMT_command_t command = (CO_NMT_command_t)data[0];
|
||
|
|
uint8_t nodeId = data[1];
|
||
|
|
|
||
|
|
CO_NMT_t *NMT = (CO_NMT_t *)object;
|
||
|
|
|
||
|
|
if ((DLC == 2U) && ((nodeId == 0U) || (nodeId == NMT->nodeId)))
|
||
|
|
{
|
||
|
|
NMT->internalCommand = command;
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
|
||
|
|
/* Optional signal to RTOS, which can resume task, which handles NMT. */
|
||
|
|
if (NMT->pFunctSignalPre != NULL)
|
||
|
|
{
|
||
|
|
NMT->pFunctSignalPre(NMT->functSignalObjectPre);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Custom function for writing OD object "Producer heartbeat time"
|
||
|
|
*
|
||
|
|
* For more information see file CO_ODinterface.h, OD_IO_t.
|
||
|
|
*/
|
||
|
|
static ODR_t
|
||
|
|
OD_write_1017(OD_stream_t *stream, const void *buf, OD_size_t count, OD_size_t *countWritten)
|
||
|
|
{
|
||
|
|
if ((stream == NULL) || (stream->subIndex != 0U) || (buf == NULL) || (count != sizeof(uint16_t)) || (countWritten == NULL))
|
||
|
|
{
|
||
|
|
return ODR_DEV_INCOMPAT;
|
||
|
|
}
|
||
|
|
|
||
|
|
CO_NMT_t *NMT = (CO_NMT_t *)stream->object;
|
||
|
|
|
||
|
|
/* update object, send Heartbeat immediately */
|
||
|
|
NMT->HBproducerTime_us = (uint32_t)CO_getUint16(buf) * 1000U;
|
||
|
|
NMT->HBproducerTimer = 0;
|
||
|
|
|
||
|
|
/* write value to the original location in the Object Dictionary */
|
||
|
|
return OD_writeOriginal(stream, buf, count, countWritten);
|
||
|
|
}
|
||
|
|
|
||
|
|
CO_ReturnError_t
|
||
|
|
CO_NMT_init(CO_NMT_t *NMT, OD_entry_t *OD_1017_ProducerHbTime, CO_EM_t *em, uint8_t nodeId, uint16_t NMTcontrol,
|
||
|
|
uint16_t firstHBTime_ms, CO_CANmodule_t *NMT_CANdevRx, uint16_t NMT_rxIdx, uint16_t CANidRxNMT,
|
||
|
|
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
|
||
|
|
CO_CANmodule_t *NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT,
|
||
|
|
#endif
|
||
|
|
CO_CANmodule_t *HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB, uint32_t *errInfo)
|
||
|
|
{
|
||
|
|
CO_ReturnError_t ret = CO_ERROR_NO;
|
||
|
|
|
||
|
|
/* verify arguments */
|
||
|
|
if ((NMT == NULL) || (OD_1017_ProducerHbTime == NULL) || (em == NULL) || (NMT_CANdevRx == NULL) || (HB_CANdevTx == NULL)
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
|
||
|
|
|| (NMT_CANdevTx == NULL)
|
||
|
|
#endif
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* clear the object */
|
||
|
|
(void)memset(NMT, 0, sizeof(CO_NMT_t));
|
||
|
|
|
||
|
|
/* Configure object variables */
|
||
|
|
NMT->operatingState = CO_NMT_INITIALIZING;
|
||
|
|
NMT->operatingStatePrev = CO_NMT_INITIALIZING;
|
||
|
|
NMT->nodeId = nodeId;
|
||
|
|
NMT->NMTcontrol = NMTcontrol;
|
||
|
|
NMT->em = em;
|
||
|
|
NMT->HBproducerTimer = (uint32_t)firstHBTime_ms * 1000U;
|
||
|
|
|
||
|
|
/* get and verify required "Producer heartbeat time" from Object Dict. */
|
||
|
|
uint16_t HBprodTime_ms;
|
||
|
|
ODR_t odRet = OD_get_u16(OD_1017_ProducerHbTime, 0, &HBprodTime_ms, true);
|
||
|
|
if (odRet != ODR_OK)
|
||
|
|
{
|
||
|
|
if (errInfo != NULL)
|
||
|
|
{
|
||
|
|
*errInfo = OD_getIndex(OD_1017_ProducerHbTime);
|
||
|
|
}
|
||
|
|
return CO_ERROR_OD_PARAMETERS;
|
||
|
|
}
|
||
|
|
NMT->HBproducerTime_us = (uint32_t)HBprodTime_ms * 1000U;
|
||
|
|
|
||
|
|
NMT->OD_1017_extension.object = NMT;
|
||
|
|
NMT->OD_1017_extension.read = OD_readOriginal;
|
||
|
|
NMT->OD_1017_extension.write = OD_write_1017;
|
||
|
|
odRet = OD_extension_init(OD_1017_ProducerHbTime, &NMT->OD_1017_extension);
|
||
|
|
if (odRet != ODR_OK)
|
||
|
|
{
|
||
|
|
if (errInfo != NULL)
|
||
|
|
{
|
||
|
|
*errInfo = OD_getIndex(OD_1017_ProducerHbTime);
|
||
|
|
}
|
||
|
|
return CO_ERROR_OD_PARAMETERS;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (NMT->HBproducerTimer > NMT->HBproducerTime_us)
|
||
|
|
{
|
||
|
|
NMT->HBproducerTimer = NMT->HBproducerTime_us;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* configure NMT CAN reception */
|
||
|
|
ret = CO_CANrxBufferInit(NMT_CANdevRx, NMT_rxIdx, CANidRxNMT, 0x7FF, false, (void *)NMT, CO_NMT_receive);
|
||
|
|
if (ret != CO_ERROR_NO)
|
||
|
|
{
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
|
||
|
|
/* configure NMT CAN transmission */
|
||
|
|
NMT->NMT_CANdevTx = NMT_CANdevTx;
|
||
|
|
NMT->NMT_TXbuff = CO_CANtxBufferInit(NMT_CANdevTx, NMT_txIdx, CANidTxNMT, false, 2, false);
|
||
|
|
if (NMT->NMT_TXbuff == NULL)
|
||
|
|
{
|
||
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* configure HB CAN transmission */
|
||
|
|
NMT->HB_CANdevTx = HB_CANdevTx;
|
||
|
|
NMT->HB_TXbuff = CO_CANtxBufferInit(HB_CANdevTx, HB_txIdx, CANidTxHB, false, 1, false);
|
||
|
|
if (NMT->HB_TXbuff == NULL)
|
||
|
|
{
|
||
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
||
|
|
}
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
|
||
|
|
void CO_NMT_initCallbackPre(CO_NMT_t *NMT, void *object, void (*pFunctSignal)(void *object))
|
||
|
|
{
|
||
|
|
if (NMT != NULL)
|
||
|
|
{
|
||
|
|
NMT->pFunctSignalPre = pFunctSignal;
|
||
|
|
NMT->functSignalObjectPre = object;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
|
||
|
|
void CO_NMT_initCallbackChanged(CO_NMT_t *NMT, void (*pFunctNMT)(CO_NMT_internalState_t state))
|
||
|
|
{
|
||
|
|
if (NMT != NULL)
|
||
|
|
{
|
||
|
|
NMT->pFunctNMT = pFunctNMT;
|
||
|
|
if (NMT->pFunctNMT != NULL)
|
||
|
|
{
|
||
|
|
NMT->pFunctNMT(NMT->operatingState);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
CO_NMT_reset_cmd_t
|
||
|
|
CO_NMT_process(CO_NMT_t *NMT, CO_NMT_internalState_t *NMTstate, uint32_t timeDifference_us, uint32_t *timerNext_us)
|
||
|
|
{
|
||
|
|
(void)timerNext_us; /* may be unused */
|
||
|
|
CO_NMT_internalState_t NMTstateCpy = NMT->operatingState;
|
||
|
|
CO_NMT_reset_cmd_t resetCommand = CO_RESET_NOT;
|
||
|
|
bool_t NNTinit = NMTstateCpy == CO_NMT_INITIALIZING;
|
||
|
|
|
||
|
|
NMT->HBproducerTimer = (NMT->HBproducerTimer > timeDifference_us) ? (NMT->HBproducerTimer - timeDifference_us) : 0U;
|
||
|
|
|
||
|
|
/* Send heartbeat producer message if:
|
||
|
|
* - First start, send bootup message or
|
||
|
|
* - HB producer enabled and: Timer expired or NMT->operatingState changed */
|
||
|
|
if (NNTinit || ((NMT->HBproducerTime_us != 0U) && ((NMT->HBproducerTimer == 0U) || (NMTstateCpy != NMT->operatingStatePrev))))
|
||
|
|
{
|
||
|
|
NMT->HB_TXbuff->data[0] = (uint8_t)NMTstateCpy;
|
||
|
|
(void)CO_CANsend(NMT->HB_CANdevTx, NMT->HB_TXbuff);
|
||
|
|
|
||
|
|
if (NMTstateCpy == CO_NMT_INITIALIZING)
|
||
|
|
{
|
||
|
|
/* NMT slave self starting */
|
||
|
|
NMTstateCpy = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_STARTUP_TO_OPERATIONAL) != 0U)
|
||
|
|
? CO_NMT_OPERATIONAL
|
||
|
|
: CO_NMT_PRE_OPERATIONAL;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/* Start timer from the beginning. If OS is slow, time sliding may occur. However,
|
||
|
|
* heartbeat is not for synchronization, it is for health report. In case of
|
||
|
|
* initializing, timer is set in the CO_NMT_init() function with pre-defined value. */
|
||
|
|
NMT->HBproducerTimer = NMT->HBproducerTime_us;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
NMT->operatingStatePrev = NMTstateCpy;
|
||
|
|
|
||
|
|
/* process internal NMT commands, received from CO_NMT_receive() or CO_NMT_sendCommand() */
|
||
|
|
if (NMT->internalCommand != CO_NMT_NO_COMMAND)
|
||
|
|
{
|
||
|
|
switch (NMT->internalCommand)
|
||
|
|
{
|
||
|
|
case CO_NMT_ENTER_OPERATIONAL:
|
||
|
|
NMTstateCpy = CO_NMT_OPERATIONAL;
|
||
|
|
break;
|
||
|
|
case CO_NMT_ENTER_STOPPED:
|
||
|
|
NMTstateCpy = CO_NMT_STOPPED;
|
||
|
|
break;
|
||
|
|
case CO_NMT_ENTER_PRE_OPERATIONAL:
|
||
|
|
NMTstateCpy = CO_NMT_PRE_OPERATIONAL;
|
||
|
|
break;
|
||
|
|
case CO_NMT_RESET_NODE:
|
||
|
|
resetCommand = CO_RESET_APP;
|
||
|
|
break;
|
||
|
|
case CO_NMT_RESET_COMMUNICATION:
|
||
|
|
resetCommand = CO_RESET_COMM;
|
||
|
|
break;
|
||
|
|
case CO_NMT_NO_COMMAND:
|
||
|
|
default:
|
||
|
|
/* done */
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
NMT->internalCommand = CO_NMT_NO_COMMAND;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* verify NMT transitions based on error register */
|
||
|
|
bool_t ErrOnBusOffHB = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_ON_BUSOFF_HB) != 0U);
|
||
|
|
bool_t ErrBusOff = CO_isError(NMT->em, CO_EM_CAN_TX_BUS_OFF);
|
||
|
|
bool_t ErrHbCons = CO_isError(NMT->em, CO_EM_HEARTBEAT_CONSUMER);
|
||
|
|
bool_t ErrHbConsRemote = CO_isError(NMT->em, CO_EM_HB_CONSUMER_REMOTE_RESET);
|
||
|
|
bool_t busOff_HB = ErrOnBusOffHB && (ErrBusOff || ErrHbCons || ErrHbConsRemote);
|
||
|
|
|
||
|
|
bool_t ErrNMTErrReg = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_ON_ERR_REG) != 0U);
|
||
|
|
bool_t ErrNMTcontrol = ((CO_getErrorRegister(NMT->em) & (uint8_t)NMT->NMTcontrol) != 0U);
|
||
|
|
bool_t errRegMasked = ErrNMTErrReg && ErrNMTcontrol;
|
||
|
|
|
||
|
|
if ((NMTstateCpy == CO_NMT_OPERATIONAL) && (busOff_HB || errRegMasked))
|
||
|
|
{
|
||
|
|
NMTstateCpy = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_TO_STOPPED) != 0U) ? CO_NMT_STOPPED
|
||
|
|
: CO_NMT_PRE_OPERATIONAL;
|
||
|
|
}
|
||
|
|
else if ((((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_FREE_TO_OPERATIONAL) != 0U) && (NMTstateCpy == CO_NMT_PRE_OPERATIONAL) && (!busOff_HB && !errRegMasked))
|
||
|
|
{
|
||
|
|
NMTstateCpy = CO_NMT_OPERATIONAL;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{ /* MISRA C 2004 14.10 */
|
||
|
|
}
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
|
||
|
|
/* Notify operating state change */
|
||
|
|
if ((NMT->operatingStatePrev != NMTstateCpy) || NNTinit)
|
||
|
|
{
|
||
|
|
if (NMT->pFunctNMT != NULL)
|
||
|
|
{
|
||
|
|
NMT->pFunctNMT(NMTstateCpy);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT) != 0
|
||
|
|
/* Calculate, when next Heartbeat needs to be send */
|
||
|
|
if ((NMT->HBproducerTime_us != 0U) && (timerNext_us != NULL))
|
||
|
|
{
|
||
|
|
if (NMT->operatingStatePrev != NMTstateCpy)
|
||
|
|
{
|
||
|
|
*timerNext_us = 0;
|
||
|
|
}
|
||
|
|
else if (*timerNext_us > NMT->HBproducerTimer)
|
||
|
|
{
|
||
|
|
*timerNext_us = NMT->HBproducerTimer;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{ /* MISRA C 2004 14.10 */
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
NMT->operatingState = NMTstateCpy;
|
||
|
|
if (NMTstate != NULL)
|
||
|
|
{
|
||
|
|
*NMTstate = NMTstateCpy;
|
||
|
|
}
|
||
|
|
|
||
|
|
return resetCommand;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
|
||
|
|
CO_ReturnError_t
|
||
|
|
CO_NMT_sendCommand(CO_NMT_t *NMT, CO_NMT_command_t command, uint8_t nodeID)
|
||
|
|
{
|
||
|
|
/* verify arguments */
|
||
|
|
if (NMT == NULL)
|
||
|
|
{
|
||
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Apply NMT command also to this node, if set so. */
|
||
|
|
if ((nodeID == 0U) || (nodeID == NMT->nodeId))
|
||
|
|
{
|
||
|
|
NMT->internalCommand = command;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Send NMT master message. */
|
||
|
|
NMT->NMT_TXbuff->data[0] = (uint8_t)command;
|
||
|
|
NMT->NMT_TXbuff->data[1] = nodeID;
|
||
|
|
return CO_CANsend(NMT->NMT_CANdevTx, NMT->NMT_TXbuff);
|
||
|
|
}
|
||
|
|
#endif
|