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