206 lines
9.1 KiB
C
206 lines
9.1 KiB
C
/**
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* CANopen Synchronisation protocol.
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*
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* @file CO_SYNC.h
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* @ingroup CO_SYNC
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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_SYNC_H
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#define CO_SYNC_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_SYNC
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#define CO_CONFIG_SYNC \
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(CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE \
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| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
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#endif
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
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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_SYNC SYNC
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* CANopen Synchronisation protocol.
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*
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* @ingroup CO_CANopen_301
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* @{
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* For CAN identifier see @ref CO_Default_CAN_ID_t
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*
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* SYNC message is used for synchronization of the nodes on network. One node can be SYNC producer, others can be SYNC
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* consumers. Synchronous TPDOs are transmitted after the CANopen SYNC message. Synchronous received PDOs are
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* accepted(copied to OD) immediatelly after the reception of the next SYNC message.
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*
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* ####Contents of SYNC message
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* By default SYNC message has no data. If _Synchronous counter overflow value_ from Object dictionary (index 0x1019) is
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* different than 0, SYNC message has one data byte: _counter_ incremented by 1 with every SYNC transmission.
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*
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* ####SYNC in CANopenNode
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* According to CANopen, synchronous RPDOs must be processed after reception of the next sync messsage. For that reason,
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* there is a double receive buffer for each synchronous RPDO. At the moment, when SYNC is received or transmitted,
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* internal variable CANrxToggle toggles. That variable is then used by synchronous RPDO to determine, which of the two
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* buffers is used for RPDO reception and which for RPDO processing.
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*/
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/**
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* SYNC producer and consumer object.
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*/
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typedef struct {
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CO_EM_t* em; /**< From CO_SYNC_init() */
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volatile void* CANrxNew; /**< Indicates, if new SYNC message received from CAN bus */
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uint8_t receiveError; /**< Set to nonzero value, if SYNC with wrong data length is received */
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bool_t CANrxToggle; /**< Variable toggles, if new SYNC message received from CAN bus */
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uint8_t timeoutError; /**< Sync timeout monitoring: 0 = not started; 1 = started; 2 = sync timeout error state */
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uint8_t counterOverflowValue; /**< Value from _Synchronous counter overflow value_ variable from Object dictionary
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(index 0x1019) */
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uint8_t counter; /**< Counter of the SYNC message if counterOverflowValue is different than zero */
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bool_t syncIsOutsideWindow; /**< True, if current time is outside "synchronous window" (OD 1007) */
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uint32_t timer; /**< Timer for the SYNC message in [microseconds]. Set to zero after received or
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transmitted SYNC message */
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uint32_t* OD_1006_period; /**< Pointer to variable in OD, "Communication cycle period" in microseconds */
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uint32_t* OD_1007_window; /**< Pointer to variable in OD, "Synchronous window length" in microseconds */
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
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bool_t isProducer; /**< True, if device is SYNC producer. Calculated from _COB ID SYNC Message_ variable
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from Object dictionary(index 0x1005).*/
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CO_CANmodule_t* CANdevTx; /**< From CO_SYNC_init() */
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CO_CANtx_t* CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
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#endif
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#if ((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
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CO_CANmodule_t* CANdevRx; /**< From CO_SYNC_init() */
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uint16_t CANdevRxIdx; /**< From CO_SYNC_init() */
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OD_extension_t OD_1005_extension; /**< Extension for OD object */
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uint16_t CAN_ID; /**< CAN ID of the SYNC message. Calculated from _COB ID SYNC Message_ variable
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from Object dictionary (index 0x1005). */
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
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uint16_t CANdevTxIdx; /**< From CO_SYNC_init() */
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OD_extension_t OD_1019_extension; /**< Extension for OD object */
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#endif
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#endif
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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void (*pFunctSignalPre)(void* object); /**< From CO_SYNC_initCallbackPre() or NULL */
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void* functSignalObjectPre; /**< From CO_SYNC_initCallbackPre() or NULL */
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#endif
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} CO_SYNC_t;
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/**
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* Return value for @ref CO_SYNC_process
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*/
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typedef enum {
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CO_SYNC_NONE = 0, /**< No SYNC event in last cycle */
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CO_SYNC_RX_TX = 1, /**< SYNC message was received or transmitted in last cycle */
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CO_SYNC_PASSED_WINDOW = 2 /**< Time has just passed SYNC window (OD_1007) in last cycle */
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} CO_SYNC_status_t;
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/**
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* Initialize SYNC 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 SYNC This object will be initialized.
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* @param em Emergency object.
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* @param OD_1005_cobIdSync OD entry for 0x1005 - "COB-ID SYNC message", entry is required.
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* @param OD_1006_commCyclePeriod OD entry for 0x1006 - "Communication cycle period", entry is required if device is
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* sync producer.
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* @param OD_1007_syncWindowLen OD entry for 0x1007 - "Synchronous window length", entry is optional, may be NULL.
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* @param OD_1019_syncCounterOvf OD entry for 0x1019 - "Synchronous counter overflow value", entry is optional, may be
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* NULL.
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* @param CANdevRx CAN device for SYNC reception.
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* @param CANdevRxIdx Index of receive buffer in the above CAN device.
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* @param CANdevTx CAN device for SYNC transmission.
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* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
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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_SYNC_init(CO_SYNC_t* SYNC, CO_EM_t* em, OD_entry_t* OD_1005_cobIdSync,
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OD_entry_t* OD_1006_commCyclePeriod, OD_entry_t* OD_1007_syncWindowLen,
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OD_entry_t* OD_1019_syncCounterOvf, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
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CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
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#endif
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uint32_t* errInfo);
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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/**
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* Initialize SYNC callback function.
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*
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* Function initializes optional callback function, which should immediately start processing of CO_SYNC_process()
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* function. Callback is called after SYNC message is received from the CAN bus.
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*
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* @param SYNC This object.
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* @param object Pointer to object, which will be passed to pFunctSignalPre().
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* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
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*/
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void CO_SYNC_initCallbackPre(CO_SYNC_t* SYNC, void* object, void (*pFunctSignalPre)(void* object));
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#endif
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#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
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/**
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* Send SYNC message.
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*
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* This function prepares and sends a SYNC object. The application should only call this if direct control of SYNC
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* transmission is needed, otherwise use CO_SYNC_process().
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*
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* @param SYNC SYNC object.
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*
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* @return Same as CO_CANsend().
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*/
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static inline CO_ReturnError_t
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CO_SYNCsend(CO_SYNC_t* SYNC) {
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if (++SYNC->counter > SYNC->counterOverflowValue) {
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SYNC->counter = 1;
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}
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SYNC->timer = 0;
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SYNC->CANrxToggle = SYNC->CANrxToggle ? false : true;
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SYNC->CANtxBuff->data[0] = SYNC->counter;
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return CO_CANsend(SYNC->CANdevTx, SYNC->CANtxBuff);
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}
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#endif
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/**
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* Process SYNC communication.
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*
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* Function must be called cyclically.
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*
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* @param SYNC This object.
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* @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL state.
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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 @ref CO_SYNC_status_t
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*/
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CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t* SYNC, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
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uint32_t* timerNext_us);
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/** @} */ /* CO_SYNC */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE */
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#endif /* CO_SYNC_H */
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