/** * CANopen trace interface. * * @file CO_trace.h * @ingroup CO_trace * @author Janez Paternoster * @copyright 2016 - 2020 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * 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_TRACE_H #define CO_TRACE_H #ifdef __cplusplus extern "C" { #endif #include "CANopen.h" #if CO_NO_TRACE > 0 /** * @defgroup CO_trace Trace * @ingroup CO_CANopen * @{ * * CANopen trace for recording variables over time. * * In embedded systems there is often a need to monitor some variables over time. * Results are then displayed on graph, similar as in oscilloscope. * * CANopen trace is a configurable object, accessible via CANopen Object * Dictionary, which records chosen variable over time. It generates a curve, * which can be read via SDO and can then be displayed in a graph. * * CO_trace_process() runs in 1 ms intervals and monitors one variable. If it * changes, it makes a record with timestamp into circular buffer. When trace is * accessed by CANopen SDO object, it reads latest points from the the circular * buffer, prints a SVG curve into string and sends it as a SDO response. If a * SDO request was received from the same device, then no traffic occupies CAN * network. */ /** * Start index of traceConfig and Trace objects in Object Dictionary. */ #ifndef OD_INDEX_TRACE_CONFIG #define OD_INDEX_TRACE_CONFIG 0x2301 #define OD_INDEX_TRACE 0x2401 #endif /** * structure for reading variables and printing points for specific data type. */ typedef struct { /** Function pointer for getting the value from OD variable. **/ int32_t (*pGetValue) (void *OD_variable); /** Function pointer for printing the start point to trace.plot */ uint32_t (*printPointStart)(char *s, uint32_t size, uint32_t timeStamp, int32_t value); /** Function pointer for printing the point to trace.plot */ uint32_t (*printPoint)(char *s, uint32_t size, uint32_t timeStamp, int32_t value); /** Function pointer for printing the end point to trace.plot */ uint32_t (*printPointEnd)(char *s, uint32_t size, uint32_t timeStamp, int32_t value); } CO_trace_dataType_t; /** * Trace object. */ typedef struct { bool_t enabled; /**< True, if trace is enabled. */ CO_SDO_t *SDO; /**< From CO_trace_init(). */ uint32_t *timeBuffer; /**< From CO_trace_init(). */ int32_t *valueBuffer; /**< From CO_trace_init(). */ uint32_t bufferSize; /**< From CO_trace_init(). */ volatile uint32_t writePtr; /**< Location in buffer, which will be next written. */ volatile uint32_t readPtr; /**< Location in buffer, which will be next read. */ uint32_t lastTimeStamp; /**< Last time stamp. If zero, then last point contains last timestamp. */ void *OD_variable; /**< Pointer to variable, which is monitored */ const CO_trace_dataType_t *dt; /**< Data type specific function pointers. **/ int32_t valuePrev; /**< Previous value of value. */ uint32_t *map; /**< From CO_trace_init(). */ uint8_t *format; /**< From CO_trace_init(). */ int32_t *value; /**< From CO_trace_init(). */ int32_t *minValue; /**< From CO_trace_init(). */ int32_t *maxValue; /**< From CO_trace_init(). */ uint32_t *triggerTime; /**< From CO_trace_init(). */ uint8_t *trigger; /**< From CO_trace_init(). */ int32_t *threshold; /**< From CO_trace_init(). */ } CO_trace_t; /** * Initialize trace object. * * Function must be called in the communication reset section. * * @param trace This object will be initialized. * @param SDO SDO server object. * @param enabled Is trace enabled. * @param timeBuffer Memory block for storing time records. * @param valueBuffer Memory block for storing value records. * @param bufferSize Size of the above buffers. * @param map Map to variable in Object Dictionary, which will be monitored. Same structure as in PDO. * @param Format Format of the plot. If first bit is 1, above variable is unsigned. For more info see Object Dictionary. * @param trigger If different than zero, trigger time is recorded, when variable goes through threshold. * @param threshold Used with trigger. * @param value Pointer to variable, which will show last value of the variable. * @param minValue Pointer to variable, which will show minimum value of the variable. * @param maxValue Pointer to variable, which will show maximum value of the variable. * @param triggerTime Pointer to variable, which will show last trigger time of the variable. * @param idx_OD_traceConfig Index in Object Dictionary. * @param idx_OD_trace Index in Object Dictionary. * * @return 0 on success, -1 on error. */ void CO_trace_init( CO_trace_t *trace, CO_SDO_t *SDO, uint8_t enabled, uint32_t *timeBuffer, int32_t *valueBuffer, uint32_t bufferSize, uint32_t *map, uint8_t *format, uint8_t *trigger, int32_t *threshold, int32_t *value, int32_t *minValue, int32_t *maxValue, uint32_t *triggerTime, uint16_t idx_OD_traceConfig, uint16_t idx_OD_trace); /** * Process trace object. * * Function must be called cyclically in 1ms intervals. * * @param trace This object. * @param timestamp Timestamp (usually in millisecond resolution). * * @return 0 on success, -1 on error. */ void CO_trace_process(CO_trace_t *trace, uint32_t timestamp); #endif /* CO_NO_TRACE */ #ifdef __cplusplus } #endif /*__cplusplus*/ /** @} */ #endif