262 lines
9.9 KiB
C
262 lines
9.9 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 CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* 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
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* distributed under the License is distributed on an "AS IS" BASIS,
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* 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
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* 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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#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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* @ingroup CO_CANopen
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* @{
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*
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* CANopen Network management and Heartbeat producer protocol.
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*
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* CANopen device can be in one of the #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
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* #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 | #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 | #CO_NMT_internalState_t
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*
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* @see #CO_Default_CAN_ID_t
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*
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* ###Status LED diodes
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* Macros for @ref CO_NMT_statusLEDdiodes are also implemented in this object.
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*/
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/**
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* @defgroup CO_NMT_statusLEDdiodes Status LED diodes
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* @{
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*
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* Macros for status LED diodes.
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*
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* Helper macros for implementing status LED diodes are used by stack and can
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* also be used by the application. If macro returns 1 LED should be ON,
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* otherwise OFF. Function CO_NMT_blinkingProcess50ms() must be called cyclically
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* to update the variables.
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*/
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#define LED_FLICKERING(NMT) (((NMT)->LEDflickering>=0) ? 1 : 0) /**< 10HZ (100MS INTERVAL) */
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#define LED_BLINKING(NMT) (((NMT)->LEDblinking>=0) ? 1 : 0) /**< 2.5HZ (400MS INTERVAL) */
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#define LED_SINGLE_FLASH(NMT) (((NMT)->LEDsingleFlash>=0) ? 1 : 0) /**< 200MS ON, 1000MS OFF */
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#define LED_DOUBLE_FLASH(NMT) (((NMT)->LEDdoubleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */
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#define LED_TRIPLE_FLASH(NMT) (((NMT)->LEDtripleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */
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#define LED_QUADRUPLE_FLASH(NMT)(((NMT)->LEDquadrupleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */
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#define LED_GREEN_RUN(NMT) (((NMT)->LEDgreenRun>=0) ? 1 : 0) /**< CANOPEN RUN LED ACCORDING TO CIA DR 303-3 */
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#define LED_RED_ERROR(NMT) (((NMT)->LEDredError>=0) ? 1 : 0) /**< CANopen error LED according to CiA DR 303-3 */
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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_INITIALIZING = 0, /**< Device is initializing */
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CO_NMT_PRE_OPERATIONAL = 127, /**< Device is in pre-operational state */
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CO_NMT_OPERATIONAL = 5, /**< Device is in operational state */
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CO_NMT_STOPPED = 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_ENTER_OPERATIONAL = 1, /**< Start device */
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CO_NMT_ENTER_STOPPED = 2, /**< Stop device */
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CO_NMT_ENTER_PRE_OPERATIONAL = 128, /**< Put device into pre-operational */
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CO_NMT_RESET_NODE = 129, /**< Reset device */
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CO_NMT_RESET_COMMUNICATION = 130 /**< Reset CANopen communication on device */
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}CO_NMT_command_t;
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/**
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* Return code for CO_NMT_process() that tells application code what to
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* reset.
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*/
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typedef enum{
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CO_RESET_NOT = 0,/**< Normal return, no action */
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CO_RESET_COMM = 1,/**< Application must provide communication reset. */
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CO_RESET_APP = 2,/**< Application must provide complete device reset */
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CO_RESET_QUIT = 3 /**< Application must quit, no reset of microcontroller (command is not requested by the stack.) */
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}CO_NMT_reset_cmd_t;
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/**
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* NMT consumer and Heartbeat producer object. It includes also variables for
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* @ref CO_NMT_statusLEDdiodes. Object is initialized by CO_NMT_init().
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*/
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typedef struct{
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uint8_t operatingState; /**< See @ref CO_NMT_internalState_t */
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#ifdef CO_USE_LEDS
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int8_t LEDflickering; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDblinking; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDsingleFlash; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDdoubleFlash; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDtripleFlash; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDquadrupleFlash; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDgreenRun; /**< See @ref CO_NMT_statusLEDdiodes */
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int8_t LEDredError; /**< See @ref CO_NMT_statusLEDdiodes */
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#endif /* CO_USE_LEDS */
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uint8_t resetCommand; /**< If different than zero, device will reset */
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uint8_t nodeId; /**< CANopen Node ID of this device */
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uint16_t HBproducerTimer;/**< Internal timer for HB producer */
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uint16_t firstHBTime; /**< From CO_NMT_init() */
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CO_EMpr_t *emPr; /**< From CO_NMT_init() */
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CO_CANmodule_t *HB_CANdev; /**< From CO_NMT_init() */
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void (*pFunctNMT)(CO_NMT_internalState_t state); /**< From CO_NMT_initCallback() or NULL */
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CO_CANtx_t *HB_TXbuff; /**< CAN transmit buffer */
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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 emPr Emergency main object.
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* @param nodeId CANopen Node ID of this device.
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* @param firstHBTime Time between bootup and first heartbeat message in milliseconds.
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* If firstHBTime is greater than _Producer Heartbeat time_
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* (object dictionary, index 0x1017), latter is used instead.
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* @param NMT_CANdev 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 message.
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* @param HB_CANdev 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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*
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* @return #CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
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*/
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CO_ReturnError_t CO_NMT_init(
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CO_NMT_t *NMT,
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CO_EMpr_t *emPr,
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uint8_t nodeId,
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uint16_t firstHBTime,
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CO_CANmodule_t *NMT_CANdev,
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uint16_t NMT_rxIdx,
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uint16_t CANidRxNMT,
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CO_CANmodule_t *HB_CANdev,
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uint16_t HB_txIdx,
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uint16_t CANidTxHB);
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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
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* NMT State change has occured. Function may wake up external task which
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* handles NMT events.
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* The first call is made immediately to give the consumer the current NMT state.
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*
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* @remark Be aware that the callback function is run inside the CAN receive
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* function context. Depending on the driver, this might be inside an interrupt!
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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_initCallback(
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CO_NMT_t *NMT,
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void (*pFunctNMT)(CO_NMT_internalState_t state));
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/**
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* Calculate blinking bytes.
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*
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* Function must be called cyclically every 50 milliseconds. See @ref CO_NMT_statusLEDdiodes.
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*
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* @param NMT NMT object.
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*/
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#ifdef CO_USE_LEDS
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void CO_NMT_blinkingProcess50ms(CO_NMT_t *NMT);
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#endif /* CO_USE_LEDS */
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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 timeDifference_ms Time difference from previous function call in [milliseconds].
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* @param HBtime _Producer Heartbeat time_ (object dictionary, index 0x1017).
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* @param NMTstartup _NMT startup behavior_ (object dictionary, index 0x1F80).
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* @param errorRegister _Error register_ (object dictionary, index 0x1001).
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* @param errorBehavior pointer to _Error behavior_ array (object dictionary, index 0x1029).
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* Object controls, if device should leave NMT operational state.
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* Length of array must be 6. If pointer is NULL, no calculation is made.
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* @param timerNext_ms Return value - 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(
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CO_NMT_t *NMT,
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uint16_t timeDifference_ms,
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uint16_t HBtime,
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uint32_t NMTstartup,
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uint8_t errorRegister,
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const uint8_t errorBehavior[],
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uint16_t *timerNext_ms);
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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 #CO_NMT_internalState_t
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*/
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CO_NMT_internalState_t CO_NMT_getInternalState(
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CO_NMT_t *NMT);
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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/** @} */
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#endif
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