268 lines
10 KiB
C
268 lines
10 KiB
C
/**
|
|
* CANopen Heartbeat consumer protocol.
|
|
*
|
|
* @file CO_HBconsumer.h
|
|
* @ingroup CO_HBconsumer
|
|
* @author Janez Paternoster
|
|
* @copyright 2004 - 2020 Janez Paternoster
|
|
*
|
|
* This file is part of CANopenNode, an opensource CANopen Stack.
|
|
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
|
|
* For more information on CANopen see <http://www.can-cia.org/>.
|
|
*
|
|
* 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_HB_CONS_H
|
|
#define CO_HB_CONS_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/**
|
|
* @defgroup CO_HBconsumer Heartbeat consumer
|
|
* @ingroup CO_CANopen
|
|
* @{
|
|
*
|
|
* CANopen Heartbeat consumer protocol.
|
|
*
|
|
* Heartbeat consumer monitors Heartbeat messages from remote nodes. If any
|
|
* monitored node don't send his Heartbeat in specified time, Heartbeat consumer
|
|
* sends emergency message. If all monitored nodes are operational, then
|
|
* variable _allMonitoredOperational_ inside CO_HBconsumer_t is set to true.
|
|
* Monitoring starts after the reception of the first HeartBeat (not bootup).
|
|
*
|
|
* Heartbeat set up is done by writing to the OD registers 0x1016 or by using
|
|
* the function _CO_HBconsumer_initEntry()_
|
|
*
|
|
* @see @ref CO_NMT_Heartbeat
|
|
*/
|
|
|
|
/**
|
|
* Heartbeat state of a node
|
|
*/
|
|
typedef enum {
|
|
CO_HBconsumer_UNCONFIGURED = 0x00U, /**< Consumer entry inactive */
|
|
CO_HBconsumer_UNKNOWN = 0x01U, /**< Consumer enabled, but no heartbeat received yet */
|
|
CO_HBconsumer_ACTIVE = 0x02U, /**< Heartbeat received within set time */
|
|
CO_HBconsumer_TIMEOUT = 0x03U, /**< No heatbeat received for set time */
|
|
} CO_HBconsumer_state_t;
|
|
|
|
|
|
/**
|
|
* One monitored node inside CO_HBconsumer_t.
|
|
*/
|
|
typedef struct{
|
|
uint8_t nodeId; /**< Node Id of the monitored node */
|
|
CO_NMT_internalState_t NMTstate; /**< Of the remote node (Heartbeat payload) */
|
|
CO_HBconsumer_state_t HBstate; /**< Current heartbeat state */
|
|
uint16_t timeoutTimer; /**< Time since last heartbeat received */
|
|
uint16_t time; /**< Consumer heartbeat time from OD */
|
|
volatile void *CANrxNew; /**< Indication if new Heartbeat message received from the CAN bus */
|
|
/** Callback for heartbeat state change to active event */
|
|
void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void *object); /**< From CO_HBconsumer_initTimeoutCallback() or NULL */
|
|
void *functSignalObjectHbStarted;/**< Pointer to object */
|
|
/** Callback for consumer timeout event */
|
|
void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void *object); /**< From CO_HBconsumer_initTimeoutCallback() or NULL */
|
|
void *functSignalObjectTimeout;/**< Pointer to object */
|
|
/** Callback for remote reset event */
|
|
void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void *object); /**< From CO_HBconsumer_initRemoteResetCallback() or NULL */
|
|
void *functSignalObjectRemoteReset;/**< Pointer to object */
|
|
}CO_HBconsNode_t;
|
|
|
|
|
|
/**
|
|
* Heartbeat consumer object.
|
|
*
|
|
* Object is initilaized by CO_HBconsumer_init(). It contains an array of
|
|
* CO_HBconsNode_t objects.
|
|
*/
|
|
typedef struct{
|
|
CO_EM_t *em; /**< From CO_HBconsumer_init() */
|
|
const uint32_t *HBconsTime; /**< From CO_HBconsumer_init() */
|
|
CO_HBconsNode_t *monitoredNodes; /**< From CO_HBconsumer_init() */
|
|
uint8_t numberOfMonitoredNodes; /**< From CO_HBconsumer_init() */
|
|
/** True, if all monitored nodes are NMT operational or no node is
|
|
monitored. Can be read by the application */
|
|
uint8_t allMonitoredOperational;
|
|
CO_CANmodule_t *CANdevRx; /**< From CO_HBconsumer_init() */
|
|
uint16_t CANdevRxIdxStart; /**< From CO_HBconsumer_init() */
|
|
}CO_HBconsumer_t;
|
|
|
|
|
|
/**
|
|
* Initialize Heartbeat consumer object.
|
|
*
|
|
* Function must be called in the communication reset section.
|
|
*
|
|
* @param HBcons This object will be initialized.
|
|
* @param em Emergency object.
|
|
* @param SDO SDO server object.
|
|
* @param HBconsTime Pointer to _Consumer Heartbeat Time_ array
|
|
* from Object Dictionary (index 0x1016). Size of array is equal to numberOfMonitoredNodes.
|
|
* @param monitoredNodes Pointer to the externaly defined array of the same size
|
|
* as numberOfMonitoredNodes.
|
|
* @param numberOfMonitoredNodes Total size of the above arrays.
|
|
* @param CANdevRx CAN device for Heartbeat reception.
|
|
* @param CANdevRxIdxStart Starting index of receive buffer in the above CAN device.
|
|
* Number of used indexes is equal to numberOfMonitoredNodes.
|
|
*
|
|
* @return #CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
|
|
*/
|
|
CO_ReturnError_t CO_HBconsumer_init(
|
|
CO_HBconsumer_t *HBcons,
|
|
CO_EM_t *em,
|
|
CO_SDO_t *SDO,
|
|
const uint32_t HBconsTime[],
|
|
CO_HBconsNode_t monitoredNodes[],
|
|
uint8_t numberOfMonitoredNodes,
|
|
CO_CANmodule_t *CANdevRx,
|
|
uint16_t CANdevRxIdxStart);
|
|
|
|
/**
|
|
* Initialize one Heartbeat consumer entry
|
|
*
|
|
* Calling this function has the same affect as writing to the corresponding
|
|
* entries in the Object Dictionary (index 0x1016)
|
|
* @remark The values in the Object Dictionary must be set manually by the
|
|
* calling function so that heartbeat consumer behaviour matches the OD value.
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx index of the node in HBcons object
|
|
* @param nodeId see OD 0x1016 description
|
|
* @param consumerTime see OD 0x1016 description
|
|
* @return
|
|
*/
|
|
CO_ReturnError_t CO_HBconsumer_initEntry(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
uint8_t nodeId,
|
|
uint16_t consumerTime);
|
|
|
|
/**
|
|
* Initialize Heartbeat consumer started callback function.
|
|
*
|
|
* Function initializes optional callback function, which is called for the
|
|
* first received heartbeat after activating hb consumer or timeout.
|
|
* Function may wake up external task, which handles this event.
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx index of the node in HBcons object
|
|
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
|
|
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
|
|
*/
|
|
void CO_HBconsumer_initCallbackHeartbeatStarted(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
void *object,
|
|
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
|
|
|
|
|
|
/**
|
|
* Initialize Heartbeat consumer timeout callback function.
|
|
*
|
|
* Function initializes optional callback function, which is called when the node
|
|
* state changes from active to timeout. Function may wake up external task,
|
|
* which handles this event.
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx index of the node in HBcons object
|
|
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
|
|
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
|
|
*/
|
|
void CO_HBconsumer_initCallbackTimeout(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
void *object,
|
|
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
|
|
|
|
/**
|
|
* Initialize Heartbeat consumer remote reset detected callback function.
|
|
*
|
|
* Function initializes optional callback function, which is called when a bootup
|
|
* message is received from the remote node. Function may wake up external task,
|
|
* which handles this event.
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx index of the node in HBcons object
|
|
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
|
|
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
|
|
*/
|
|
void CO_HBconsumer_initCallbackRemoteReset(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
void *object,
|
|
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
|
|
|
|
/**
|
|
* Process Heartbeat consumer object.
|
|
*
|
|
* Function must be called cyclically.
|
|
*
|
|
* @param HBcons This object.
|
|
* @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
|
|
* @param timeDifference_ms Time difference from previous function call in [milliseconds].
|
|
*/
|
|
void CO_HBconsumer_process(
|
|
CO_HBconsumer_t *HBcons,
|
|
bool_t NMTisPreOrOperational,
|
|
uint16_t timeDifference_ms);
|
|
|
|
/**
|
|
* Get the heartbeat producer object index by node ID
|
|
*
|
|
* @param HBcons This object.
|
|
* @param nodeId producer node ID
|
|
* @return index. -1 if not found
|
|
*/
|
|
int8_t CO_HBconsumer_getIdxByNodeId(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t nodeId);
|
|
|
|
/**
|
|
* Get the current state of a heartbeat producer by the index in OD 0x1016
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx object sub index
|
|
* @return #CO_HBconsumer_state_t
|
|
*/
|
|
CO_HBconsumer_state_t CO_HBconsumer_getState(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx);
|
|
|
|
/**
|
|
* Get the current NMT state of a heartbeat producer by the index in OD 0x1016
|
|
*
|
|
* NMT state is only available when heartbeat is enabled for this index!
|
|
*
|
|
* @param HBcons This object.
|
|
* @param idx object sub index
|
|
* @param [out] #CO_NMT_internalState_t of this index
|
|
* @retval 0 NMT state has been received and is valid
|
|
* @retval -1 not valid
|
|
*/
|
|
int8_t CO_HBconsumer_getNmtState(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
CO_NMT_internalState_t *nmtState);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /*__cplusplus*/
|
|
|
|
/** @} */
|
|
#endif
|