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