159 lines
5.3 KiB
C
159 lines
5.3 KiB
C
/**
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* CANopen TIME object protocol.
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*
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* @file CO_TIME.c
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* @ingroup CO_TIME
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* @author Julien PEYREGNE
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* @copyright 2019 - 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_TIME_H
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#define CO_TIME_H
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#include "CO_OD.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_TIME TIME
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* @ingroup CO_CANopen
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* @{
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*
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* CANopen TIME object protocol.
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*
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* For CAN identifier see #CO_Default_CAN_ID_t
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*
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* TIME message is used for time synchronization of the nodes on network. One node
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* should be TIME producer, others can be TIME consumers. This is configured with
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* COB_ID_TIME object 0x1012 :
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*
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* - bit 31 should be set for a consumer
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* - bit 30 should be set for a producer
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*
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*
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* ###TIME CONSUMER
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*
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* CO_TIME_init() configuration :
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* - COB_ID_TIME : 0x80000100L -> TIME consumer with TIME_COB_ID = 0x100
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* - TIMECyclePeriod :
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* - 0 -> no EMCY will be transmitted in case of TIME timeout
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* - X -> an EMCY will be transmitted in case of TIME timeout (X * 1.5) ms
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*
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* Latest time value is stored in \p CO->TIME->Time variable.
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*
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*
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* ###TIME PRODUCER
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*
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* CO_TIME_init() configuration :
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* - COB_ID_TIME : 0x40000100L -> TIME producer with TIME_COB_ID = 0x100
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* - TIMECyclePeriod : Time transmit period in ms
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*
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* Write time value in \p CO->TIME->Time variable, this will be sent at TIMECyclePeriod.
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*/
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#define TIME_MSG_LENGTH 6U
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/**
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* TIME producer and consumer object.
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*/
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typedef struct{
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CO_EM_t *em; /**< From CO_TIME_init() */
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uint8_t *operatingState; /**< From CO_TIME_init() */
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/** True, if device is TIME consumer. Calculated from _COB ID TIME Message_
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variable from Object dictionary (index 0x1012). */
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bool_t isConsumer;
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/** True, if device is TIME producer. Calculated from _COB ID TIME Message_
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variable from Object dictionary (index 0x1012). */
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bool_t isProducer;
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uint16_t COB_ID; /**< From CO_TIME_init() */
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/** TIME period time in [milliseconds]. Set to TIME period to enable
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timeout detection */
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uint32_t periodTime;
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/** TIME period timeout time in [milliseconds].
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(periodTimeoutTime = periodTime * 1,5) */
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uint32_t periodTimeoutTime;
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/** Variable indicates, if new TIME message received from CAN bus */
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volatile void *CANrxNew;
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/** Timer for the TIME message in [microseconds].
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Set to zero after received or transmitted TIME message */
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uint32_t timer;
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/** Set to nonzero value, if TIME with wrong data length is received from CAN */
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uint16_t receiveError;
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CO_CANmodule_t *CANdevRx; /**< From CO_TIME_init() */
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uint16_t CANdevRxIdx; /**< From CO_TIME_init() */
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CO_CANmodule_t *CANdevTx; /**< From CO_TIME_init() */
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uint16_t CANdevTxIdx; /**< From CO_TIME_init() */
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CO_CANtx_t *TXbuff; /**< CAN transmit buffer */
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TIME_OF_DAY Time;
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}CO_TIME_t;
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/**
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* Initialize TIME 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 TIME This object will be initialized.
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* @param em Emergency object.
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* @param SDO SDO server object.
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* @param operatingState Pointer to variable indicating CANopen device NMT internal state.
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* @param COB_ID_TIMEMessage Should be intialized with CO_CAN_ID_TIME_STAMP
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* @param TIMECyclePeriod TIME period in ms (may also be used in consumer mode for timeout detection (1.5x period)).
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* @param CANdevRx CAN device for TIME reception.
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* @param CANdevRxIdx Index of receive buffer in the above CAN device.
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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_TIME_init(
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CO_TIME_t *TIME,
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CO_EM_t *em,
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CO_SDO_t *SDO,
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uint8_t *operatingState,
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uint32_t COB_ID_TIMEMessage,
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uint32_t TIMECyclePeriod,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdx,
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CO_CANmodule_t *CANdevTx,
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uint16_t CANdevTxIdx);
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/**
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* Process TIME communication.
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*
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* Function must be called cyclically.
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*
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* @param TIME This object.
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* @param timeDifference_ms Time difference from previous function call in [milliseconds].
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*
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* @return 0: No special meaning.
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* @return 1: New TIME message recently received (consumer) / transmited (producer).
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*/
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uint8_t CO_TIME_process(
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CO_TIME_t *TIME,
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uint32_t timeDifference_ms);
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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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