/** * CANopen Network management and Heartbeat producer protocol. * * @file CO_NMT_Heartbeat.h * @ingroup CO_NMT_Heartbeat * @author Janez Paternoster * @copyright 2004 - 2020 Janez Paternoster * * This file is part of , 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. */ #ifndef CO_NMT_HEARTBEAT_H #define CO_NMT_HEARTBEAT_H #include "301/CO_driver.h" #include "301/CO_ODinterface.h" #include "301/CO_Emergency.h" /* default configuration, see CO_config.h */ #ifndef CO_CONFIG_NMT #define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT) #endif #ifdef __cplusplus extern "C" { #endif /** * @defgroup CO_NMT_Heartbeat NMT and Heartbeat * CANopen Network management and Heartbeat producer protocol. * * @ingroup CO_CANopen_301 * @{ * CANopen device can be in one of the @ref CO_NMT_internalState_t * - Initializing. It is active before CANopen is initialized. * - Pre-operational. All CANopen objects are active, except PDOs. * - Operational. Process data objects (PDOs) are active too. * - Stopped. Only Heartbeat producer and NMT consumer are active. * * NMT master can change the internal state of the devices by sending @ref CO_NMT_command_t. * * ### NMT message contents: * * Byte | Description * -----|----------------------------------------------------------- * 0 | @ref CO_NMT_command_t * 1 | Node ID. If zero, command addresses all nodes. * * ### Heartbeat message contents: * * Byte | Description * -----|----------------------------------------------------------- * 0 | @ref CO_NMT_internalState_t * * See @ref CO_Default_CAN_ID_t for CAN identifiers. */ /** * Internal network state of the CANopen node */ typedef enum { CO_NMT_UNKNOWN = -1, /**< -1, Device state is unknown (for heartbeat consumer) */ CO_NMT_INITIALIZING = 0, /**< 0, Device is initializing */ CO_NMT_PRE_OPERATIONAL = 127, /**< 127, Device is in pre-operational state */ CO_NMT_OPERATIONAL = 5, /**< 5, Device is in operational state */ CO_NMT_STOPPED = 4 /**< 4, Device is stopped */ } CO_NMT_internalState_t; /** * Commands from NMT master. */ typedef enum { CO_NMT_NO_COMMAND = 0, /**< 0, No command */ CO_NMT_ENTER_OPERATIONAL = 1, /**< 1, Start device */ CO_NMT_ENTER_STOPPED = 2, /**< 2, Stop device */ CO_NMT_ENTER_PRE_OPERATIONAL = 128, /**< 128, Put device into pre-operational */ CO_NMT_RESET_NODE = 129, /**< 129, Reset device */ CO_NMT_RESET_COMMUNICATION = 130 /**< 130, Reset CANopen communication on device */ } CO_NMT_command_t; /** * Return code from CO_NMT_process() that tells application code what to reset. */ typedef enum { CO_RESET_NOT = 0, /**< 0, Normal return, no action */ CO_RESET_COMM = 1, /**< 1, Application must provide communication reset. */ CO_RESET_APP = 2, /**< 2, Application must provide complete device reset */ CO_RESET_QUIT = 3 /**< 3, Application must quit, no reset of microcontroller (command is not requested by the stack.) */ } CO_NMT_reset_cmd_t; /** * @defgroup CO_NMT_control_t NMT control bitfield for NMT internal state. * @{ * * Variable of this type is passed to @ref CO_NMT_init() function. It controls behavior of the @ref * CO_NMT_internalState_t of the device according to CANopen error register. * * Internal NMT state is controlled also with external NMT command, @ref CO_NMT_sendInternalCommand() or @ref * CO_NMT_sendCommand() functions. */ /** First 8 bits can be used to specify bitmask for the @ref CO_errorRegister_t to get relevant bits for the * calculation. */ #define CO_NMT_ERR_REG_MASK 0x00FFU /** If bit is set then device enters NMT operational state after the initialization phase otherwise it enters NMT * pre-operational state. */ #define CO_NMT_STARTUP_TO_OPERATIONAL 0x0100U /** If bit is set and device is operational it enters NMT pre-operational or stopped state if CAN bus is off or * heartbeat consumer timeout is detected. */ #define CO_NMT_ERR_ON_BUSOFF_HB 0x1000U /** If bit is set and device is operational it enters NMT pre-operational or stopped state if masked CANopen error * register is different than zero. */ #define CO_NMT_ERR_ON_ERR_REG 0x2000U /** If bit is set and CO_NMT_ERR_ON_xx condition is met then device will enter NMT stopped state otherwise it will enter * NMT pre-op state. */ #define CO_NMT_ERR_TO_STOPPED 0x4000U /** If bit is set and device is pre-operational it enters NMT operational state automatically if conditions from * CO_NMT_ERR_ON_xx are all false. */ #define CO_NMT_ERR_FREE_TO_OPERATIONAL 0x8000U /** @} */ /* CO_NMT_control_t */ /** * NMT consumer and Heartbeat producer object */ typedef struct { CO_NMT_internalState_t operatingState; /**< Current NMT operating state. */ CO_NMT_internalState_t operatingStatePrev; /**< Previous NMT operating state. */ CO_NMT_command_t internalCommand; /**< NMT internal command from CO_NMT_receive() or CO_NMT_sendCommand(), processed in CO_NMT_process(). */ uint8_t nodeId; /**< From CO_NMT_init() */ uint16_t NMTcontrol; /**< From CO_NMT_init() */ uint32_t HBproducerTime_us; /**< Producer heartbeat time, calculated from OD 0x1017 */ uint32_t HBproducerTimer; /**< Internal timer for HB producer */ OD_extension_t OD_1017_extension; /**< Extension for OD object */ CO_EM_t* em; /**< From CO_NMT_init() */ #if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN CO_CANmodule_t* NMT_CANdevTx; /**< From CO_NMT_init() */ CO_CANtx_t* NMT_TXbuff; /**< CAN transmit buffer for NMT master message */ #endif CO_CANmodule_t* HB_CANdevTx; /**< From CO_NMT_init() */ CO_CANtx_t* HB_TXbuff; /**< CAN transmit buffer for heartbeat message */ #if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN void (*pFunctSignalPre)(void* object); /**< From CO_NMT_initCallbackPre() or NULL */ void* functSignalObjectPre; /**< From CO_NMT_initCallbackPre() or NULL */ #endif #if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN void (*pFunctNMT)(CO_NMT_internalState_t state); /**< From CO_NMT_initCallbackChanged() or NULL */ #endif } CO_NMT_t; /** * Initialize NMT and Heartbeat producer object. * * Function must be called in the communication reset section. * * @param NMT This object will be initialized. * @param OD_1017_ProducerHbTime OD entry for 0x1017 -"Producer heartbeat time", entry is required, IO extension is * optional for runtime configuration. * @param em Emergency object. * @param nodeId CANopen Node ID of this device. * @param NMTcontrol Control variable for calculation of NMT internal state, based on error register, startup and * runtime behavior. * @param firstHBTime_ms Time between bootup and first heartbeat message in milliseconds. If firstHBTime_ms is greater * than "Producer Heartbeat time" (OD object 0x1017), latter is used instead. Entry is required, IO extension is * optional. * @param NMT_CANdevRx CAN device for NMT reception. * @param NMT_rxIdx Index of receive buffer in above CAN device. * @param CANidRxNMT CAN identifier for NMT receive message. * @param NMT_CANdevTx CAN device for NMT master transmission. * @param NMT_txIdx Index of transmit buffer in above CAN device. * @param CANidTxNMT CAN identifier for NMT transmit message. * @param HB_CANdevTx CAN device for HB transmission. * @param HB_txIdx Index of transmit buffer in the above CAN device. * @param CANidTxHB CAN identifier for HB message. * @param [out] errInfo Additional information in case of error, may be NULL. * * @return #CO_ReturnError_t CO_ERROR_NO on success. */ 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); #if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN /** * Initialize NMT callback function after message preprocessed. * * Function initializes optional callback function, which should immediately start processing of CO_NMT_process() * function. Callback is called after NMT message is received from the CAN bus. * * @param NMT This object. * @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL * @param pFunctSignal Pointer to the callback function. Not called if NULL. */ void CO_NMT_initCallbackPre(CO_NMT_t* NMT, void* object, void (*pFunctSignal)(void* object)); #endif #if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN /** * Initialize NMT callback function. * * Function initializes optional callback function, which is called after NMT State change has occurred. Function may * wake up external task which handles NMT events. The first call is made immediately to give the consumer the current * NMT state. * * @param NMT This object. * @param pFunctNMT Pointer to the callback function. Not called if NULL. */ void CO_NMT_initCallbackChanged(CO_NMT_t* NMT, void (*pFunctNMT)(CO_NMT_internalState_t state)); #endif /** * Process received NMT and produce Heartbeat messages. * * Function must be called cyclically. * * @param NMT This object. * @param [out] NMTstate If not NULL, CANopen NMT internal state is returned. * @param timeDifference_us Time difference from previous function call in microseconds. * @param [out] timerNext_us info to OS - see CO_process(). * * @return #CO_NMT_reset_cmd_t */ 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); /** * Query current NMT state * * @param NMT This object. * * @return @ref CO_NMT_internalState_t */ static inline CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t* NMT) { return (NMT == NULL) ? CO_NMT_INITIALIZING : NMT->operatingState; } /** * Send NMT command to self, without sending NMT message * * Internal NMT state will be verified and switched inside @ref CO_NMT_process() * * @param NMT This object. * @param command NMT command */ static inline void CO_NMT_sendInternalCommand(CO_NMT_t* NMT, CO_NMT_command_t command) { if (NMT != NULL) { NMT->internalCommand = command; } } #if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN /** * Send NMT master command. * * This functionality may only be used from NMT master, as specified by standard CiA302-2. Standard provides one * exception, where application from slave node may send NMT master command: "If CANopen object 0x1F80 has value of * **0x2**, then NMT slave shall execute the NMT service start remote node (CO_NMT_ENTER_OPERATIONAL) with nodeID set to * 0." * * @param NMT This object. * @param command NMT command from CO_NMT_command_t. * @param nodeID Node ID of the remote node. 0 for all nodes including self. * * @return CO_ERROR_NO on success or CO_ReturnError_t from CO_CANsend(). */ CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t* NMT, CO_NMT_command_t command, uint8_t nodeID); #endif /* (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER */ /** @} */ /* CO_NMT_Heartbeat */ #ifdef __cplusplus } #endif /* __cplusplus */ #endif /* CO_NMT_HEARTBEAT_H */