489 lines
19 KiB
C
489 lines
19 KiB
C
/*
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* CANopen Heartbeat consumer object.
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*
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* @file CO_HBconsumer.c
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* @ingroup CO_HBconsumer
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* @author Janez Paternoster
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* @copyright 2021 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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#include "301/CO_HBconsumer.h"
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0
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/* Verify HB consumer configuration */
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#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
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&& (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
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#error CO_CONFIG_HB_CONS_CALLBACK_CHANGE and CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously!
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#endif
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/*
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* Read received message from CAN module.
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*
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* Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier
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* will be received. For more information and description of parameters see file CO_driver.h.
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*/
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static void
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CO_HBcons_receive(void* object, void* msg) {
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CO_HBconsNode_t* HBconsNode = object;
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uint8_t DLC = CO_CANrxMsg_readDLC(msg);
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const uint8_t* data = CO_CANrxMsg_readData(msg);
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if (DLC == 1U) {
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/* copy data and set 'new message' flag. */
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HBconsNode->NMTstate = (CO_NMT_internalState_t)data[0];
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CO_FLAG_SET(HBconsNode->CANrxNew);
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
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/* Optional signal to RTOS, which can resume task, which handles HBcons. */
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if (HBconsNode->pFunctSignalPre != NULL) {
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HBconsNode->pFunctSignalPre(HBconsNode->functSignalObjectPre);
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}
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#endif
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}
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}
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/*
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* Initialize one Heartbeat consumer entry
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*
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* This function is called from the @ref CO_HBconsumer_init() or when writing to OD entry 1016.
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*
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* @param HBcons This object.
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* @param idx index of the node in HBcons object
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* @param nodeId see OD 0x1016 description
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* @param consumerTime_ms in milliseconds. see OD 0x1016 description
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* @return
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*/
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static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t* HBcons, uint8_t idx, uint8_t nodeId,
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uint16_t consumerTime_ms);
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0
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/*
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* Custom function for writing OD object "Consumer heartbeat time"
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*
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* For more information see file CO_ODinterface.h, OD_IO_t.
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*/
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static ODR_t
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OD_write_1016(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
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CO_HBconsumer_t* HBcons;
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if (stream == NULL) {
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return ODR_DEV_INCOMPAT;
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}
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HBcons = stream->object;
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if ((buf == NULL) || (stream->subIndex < 1U)
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|| (stream->subIndex > HBcons->numberOfMonitoredNodes) || (count != sizeof(uint32_t))
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|| (countWritten == NULL)) {
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return ODR_DEV_INCOMPAT;
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}
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uint32_t val = CO_getUint32(buf);
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uint8_t nodeId = (uint8_t)((val >> 16) & 0xFFU);
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uint16_t consumer_time = (uint16_t)(val & 0xFFFFU);
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CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, stream->subIndex - 1U, nodeId, consumer_time);
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if (ret != CO_ERROR_NO) {
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return ODR_PAR_INCOMPAT;
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}
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/* write value to the original location in the Object Dictionary */
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return OD_writeOriginal(stream, buf, count, countWritten);
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}
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#endif
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CO_ReturnError_t
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CO_HBconsumer_init(CO_HBconsumer_t* HBcons, CO_EM_t* em, CO_HBconsNode_t* monitoredNodes, uint8_t monitoredNodesCount,
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OD_entry_t* OD_1016_HBcons, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdxStart, uint32_t* errInfo) {
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ODR_t odRet;
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/* verify arguments */
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if ((HBcons == NULL) || (em == NULL) || (monitoredNodes == NULL) || (OD_1016_HBcons == NULL)
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|| (CANdevRx == NULL)) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* Configure object variables */
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(void)memset(HBcons, 0, sizeof(CO_HBconsumer_t));
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HBcons->em = em;
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HBcons->monitoredNodes = monitoredNodes;
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HBcons->CANdevRx = CANdevRx;
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HBcons->CANdevRxIdxStart = CANdevRxIdxStart;
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/* get actual number of monitored nodes */
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HBcons->numberOfMonitoredNodes = ((OD_1016_HBcons->subEntriesCount - 1U) < monitoredNodesCount)
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? (OD_1016_HBcons->subEntriesCount - 1U)
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: monitoredNodesCount;
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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uint32_t val;
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odRet = OD_get_u32(OD_1016_HBcons, i + 1U, &val, true);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) {
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*errInfo = OD_getIndex(OD_1016_HBcons);
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}
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return CO_ERROR_OD_PARAMETERS;
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}
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uint8_t nodeId = (uint8_t)((val >> 16) & 0xFFU);
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uint16_t consumer_time = (uint16_t)(val & 0xFFFFU);
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CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, i, nodeId, consumer_time);
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if (ret != CO_ERROR_NO) {
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if (errInfo != NULL) {
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*errInfo = OD_getIndex(OD_1016_HBcons);
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}
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/* don't break a program, if only value of a parameter is wrong */
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if (ret != CO_ERROR_OD_PARAMETERS) {
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return ret;
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}
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}
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}
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/* configure extension for OD */
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0
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HBcons->OD_1016_extension.object = HBcons;
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HBcons->OD_1016_extension.read = OD_readOriginal;
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HBcons->OD_1016_extension.write = OD_write_1016;
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odRet = OD_extension_init(OD_1016_HBcons, &HBcons->OD_1016_extension);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) {
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*errInfo = OD_getIndex(OD_1016_HBcons);
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}
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return CO_ERROR_OD_PARAMETERS;
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}
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#endif
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return CO_ERROR_NO;
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}
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static CO_ReturnError_t
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CO_HBconsumer_initEntry(CO_HBconsumer_t* HBcons, uint8_t idx, uint8_t nodeId, uint16_t consumerTime_ms) {
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CO_ReturnError_t ret = CO_ERROR_NO;
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/* verify arguments */
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if ((HBcons == NULL) || (idx >= HBcons->numberOfMonitoredNodes)) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* verify for duplicate entries */
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if ((consumerTime_ms != 0U) && (nodeId != 0U)) {
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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CO_HBconsNode_t node = HBcons->monitoredNodes[i];
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if ((idx != i) && (node.time_us != 0U) && (node.nodeId == nodeId)) {
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ret = CO_ERROR_OD_PARAMETERS;
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}
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}
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}
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/* Configure one monitored node */
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if (ret == CO_ERROR_NO) {
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uint16_t COB_ID;
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CO_HBconsNode_t* monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->nodeId = nodeId;
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monitoredNode->time_us = (uint32_t)consumerTime_ms * 1000U;
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monitoredNode->NMTstate = CO_NMT_UNKNOWN;
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#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
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|| (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
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monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
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#endif
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CO_FLAG_CLEAR(monitoredNode->CANrxNew);
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/* is channel used */
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if ((monitoredNode->nodeId != 0U) && (monitoredNode->time_us != 0U)) {
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COB_ID = monitoredNode->nodeId + (uint16_t)CO_CAN_ID_HEARTBEAT;
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monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
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} else {
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COB_ID = 0;
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monitoredNode->time_us = 0;
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monitoredNode->HBstate = CO_HBconsumer_UNCONFIGURED;
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}
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/* configure Heartbeat consumer (or disable) CAN reception */
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ret = CO_CANrxBufferInit(HBcons->CANdevRx, HBcons->CANdevRxIdxStart + idx, COB_ID, 0x7FF, false,
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(void*)&HBcons->monitoredNodes[idx], CO_HBcons_receive);
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}
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return ret;
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}
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
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void
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CO_HBconsumer_initCallbackPre(CO_HBconsumer_t* HBcons, void* object, void (*pFunctSignal)(void* object)) {
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if (HBcons != NULL) {
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uint8_t i;
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for (i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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HBcons->monitoredNodes[i].pFunctSignalPre = pFunctSignal;
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HBcons->monitoredNodes[i].functSignalObjectPre = object;
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}
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}
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}
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#endif
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0
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void
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CO_HBconsumer_initCallbackNmtChanged(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate,
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void* object)) {
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(void)idx;
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if (HBcons == NULL) {
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return;
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}
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HBcons->pFunctSignalNmtChanged = pFunctSignal;
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HBcons->pFunctSignalObjectNmtChanged = object;
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}
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#endif
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
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void
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CO_HBconsumer_initCallbackNmtChanged(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate,
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void* object)) {
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if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
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return;
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}
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CO_HBconsNode_t* const monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalNmtChanged = pFunctSignal;
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monitoredNode->pFunctSignalObjectNmtChanged = object;
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}
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void
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CO_HBconsumer_initCallbackHeartbeatStarted(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object)) {
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CO_HBconsNode_t* monitoredNode;
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if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalHbStarted = pFunctSignal;
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monitoredNode->functSignalObjectHbStarted = object;
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}
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void
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CO_HBconsumer_initCallbackTimeout(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object)) {
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CO_HBconsNode_t* monitoredNode;
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if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalTimeout = pFunctSignal;
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monitoredNode->functSignalObjectTimeout = object;
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}
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void
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CO_HBconsumer_initCallbackRemoteReset(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object)) {
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CO_HBconsNode_t* monitoredNode;
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if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalRemoteReset = pFunctSignal;
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monitoredNode->functSignalObjectRemoteReset = object;
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}
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#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
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void
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CO_HBconsumer_process(CO_HBconsumer_t* HBcons, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
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uint32_t* timerNext_us) {
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(void)timerNext_us; /* may be unused */
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bool_t allMonitoredActiveCurrent = true;
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bool_t allMonitoredOperationalCurrent = true;
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if (NMTisPreOrOperational && HBcons->NMTisPreOrOperationalPrev) {
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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uint32_t timeDifference_us_copy = timeDifference_us;
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CO_HBconsNode_t* const monitoredNode = &HBcons->monitoredNodes[i];
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if (monitoredNode->HBstate == CO_HBconsumer_UNCONFIGURED) {
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/* continue, if node is not monitored */
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continue;
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}
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/* Verify if received message is heartbeat or bootup */
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if (CO_FLAG_READ(monitoredNode->CANrxNew)) {
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if (monitoredNode->NMTstate == CO_NMT_INITIALIZING) {
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/* bootup message */
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
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if (monitoredNode->pFunctSignalRemoteReset != NULL) {
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monitoredNode->pFunctSignalRemoteReset(monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectRemoteReset);
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}
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#endif
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if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
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CO_errorReport(HBcons->em, CO_EM_HB_CONSUMER_REMOTE_RESET, CO_EMC_HEARTBEAT, i);
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}
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monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
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} else {
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/* heartbeat message */
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
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if (monitoredNode->HBstate != CO_HBconsumer_ACTIVE
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&& monitoredNode->pFunctSignalHbStarted != NULL) {
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monitoredNode->pFunctSignalHbStarted(monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectHbStarted);
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}
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#endif
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monitoredNode->HBstate = CO_HBconsumer_ACTIVE;
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/* reset timer */
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monitoredNode->timeoutTimer = 0;
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timeDifference_us_copy = 0;
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}
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CO_FLAG_CLEAR(monitoredNode->CANrxNew);
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}
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/* Verify timeout */
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if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
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monitoredNode->timeoutTimer += timeDifference_us_copy;
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if (monitoredNode->timeoutTimer >= monitoredNode->time_us) {
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/* timeout expired */
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
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if (monitoredNode->pFunctSignalTimeout != NULL) {
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monitoredNode->pFunctSignalTimeout(monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectTimeout);
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}
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#endif
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CO_errorReport(HBcons->em, CO_EM_HEARTBEAT_CONSUMER, CO_EMC_HEARTBEAT, i);
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monitoredNode->NMTstate = CO_NMT_UNKNOWN;
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monitoredNode->HBstate = CO_HBconsumer_TIMEOUT;
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}
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_TIMERNEXT) != 0
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else if (timerNext_us != NULL) {
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/* Calculate timerNext_us for next timeout checking. */
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uint32_t diff = monitoredNode->time_us - monitoredNode->timeoutTimer;
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if (*timerNext_us > diff) {
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*timerNext_us = diff;
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}
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}
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#endif
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}
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if (monitoredNode->HBstate != CO_HBconsumer_ACTIVE) {
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allMonitoredActiveCurrent = false;
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}
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if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) {
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allMonitoredOperationalCurrent = false;
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}
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#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
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|| (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
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/* Verify, if NMT state of monitored node changed */
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if (monitoredNode->NMTstate != monitoredNode->NMTstatePrev) {
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#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0
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if (HBcons->pFunctSignalNmtChanged != NULL) {
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HBcons->pFunctSignalNmtChanged(monitoredNode->nodeId, i, monitoredNode->NMTstate,
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HBcons->pFunctSignalObjectNmtChanged);
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#else
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if (monitoredNode->pFunctSignalNmtChanged != NULL) {
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monitoredNode->pFunctSignalNmtChanged(monitoredNode->nodeId, i, monitoredNode->NMTstate,
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monitoredNode->pFunctSignalObjectNmtChanged);
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#endif
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}
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monitoredNode->NMTstatePrev = monitoredNode->NMTstate;
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}
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#endif
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}
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} else if (NMTisPreOrOperational || HBcons->NMTisPreOrOperationalPrev) {
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/* (pre)operational state changed, clear variables */
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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CO_HBconsNode_t* const monitoredNode = &HBcons->monitoredNodes[i];
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monitoredNode->NMTstate = CO_NMT_UNKNOWN;
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#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
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|| (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
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monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
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#endif
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CO_FLAG_CLEAR(monitoredNode->CANrxNew);
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if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) {
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monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
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}
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}
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allMonitoredActiveCurrent = false;
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allMonitoredOperationalCurrent = false;
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} else { /* MISRA C 2004 14.10 */
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}
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/* Clear emergencies when all monitored nodes becomes active.
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* We only have one emergency index for all monitored nodes! */
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if (!HBcons->allMonitoredActive && allMonitoredActiveCurrent) {
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CO_errorReset(HBcons->em, CO_EM_HEARTBEAT_CONSUMER, 0);
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CO_errorReset(HBcons->em, CO_EM_HB_CONSUMER_REMOTE_RESET, 0);
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}
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HBcons->allMonitoredActive = allMonitoredActiveCurrent;
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HBcons->allMonitoredOperational = allMonitoredOperationalCurrent;
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HBcons->NMTisPreOrOperationalPrev = NMTisPreOrOperational;
|
|
}
|
|
|
|
#if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0
|
|
int8_t
|
|
CO_HBconsumer_getIdxByNodeId(CO_HBconsumer_t* HBcons, uint8_t nodeId) {
|
|
uint8_t i;
|
|
CO_HBconsNode_t* monitoredNode;
|
|
|
|
if (HBcons == NULL) {
|
|
return -1;
|
|
}
|
|
|
|
/* linear search for the node */
|
|
monitoredNode = &HBcons->monitoredNodes[0];
|
|
for (i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
|
|
if (monitoredNode->nodeId == nodeId) {
|
|
return i;
|
|
}
|
|
monitoredNode++;
|
|
}
|
|
/* not found */
|
|
return -1;
|
|
}
|
|
|
|
CO_HBconsumer_state_t
|
|
CO_HBconsumer_getState(CO_HBconsumer_t* HBcons, uint8_t idx) {
|
|
CO_HBconsNode_t* monitoredNode;
|
|
|
|
if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
|
|
return CO_HBconsumer_UNCONFIGURED;
|
|
}
|
|
|
|
monitoredNode = &HBcons->monitoredNodes[idx];
|
|
return monitoredNode->HBstate;
|
|
}
|
|
|
|
int8_t
|
|
CO_HBconsumer_getNmtState(CO_HBconsumer_t* HBcons, uint8_t idx, CO_NMT_internalState_t* nmtState) {
|
|
CO_HBconsNode_t* monitoredNode;
|
|
|
|
if (HBcons == NULL || nmtState == NULL || idx >= HBcons->numberOfMonitoredNodes) {
|
|
return -1;
|
|
}
|
|
*nmtState = CO_NMT_INITIALIZING;
|
|
|
|
monitoredNode = &HBcons->monitoredNodes[idx];
|
|
|
|
if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
|
|
*nmtState = monitoredNode->NMTstate;
|
|
return 0;
|
|
}
|
|
return -1;
|
|
}
|
|
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */
|
|
|
|
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE */
|