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Merge pull request #1 from temi54c1l8/fix_srdo_frame_time

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Fix timing message, cycleTimer is only managed by the normal message …
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temi54c1l8 2024-07-04 13:52:25 +02:00 committed by GitHub
commit 07a978aec6
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2 changed files with 13 additions and 6 deletions
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17
304/CO_SRDO.c
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@ -743,6 +743,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
if (NMTisOperational && (SRDO->informationDirection != CO_SRDO_INVALID) && SRDO->SRDOGuard->configurationValid
&& (SRDO->internalState >= CO_SRDO_state_unknown)) {
SRDO->cycleTimer = (SRDO->cycleTimer > timeDifference_us) ? (SRDO->cycleTimer - timeDifference_us) : 0U;
SRDO->invertedDelay = (SRDO->invertedDelay > timeDifference_us) ? (SRDO->invertedDelay - timeDifference_us) : 0U;
SRDO->validationTimer = (SRDO->validationTimer > timeDifference_us) ? (SRDO->validationTimer - timeDifference_us) : 0U;
/* Detect transition to NMT operational */
@ -759,8 +760,8 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
SRDO->internalState = CO_SRDO_state_error_internal; /* should not happen */
}
else if (SRDO->informationDirection == CO_SRDO_TX) {
if (SRDO->cycleTimer == 0U) {
if (SRDO->nextIsNormal) {
if (SRDO->nextIsNormal) {
if (SRDO->cycleTimer == 0U) {
uint8_t *dataSRDO[2] = {&SRDO->CANtxBuff[0]->data[0], &SRDO->CANtxBuff[1]->data[0]};
size_t verifyLength[2] = { 0, 0 };
@ -840,7 +841,9 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
#endif
if (data_ok) {
if (CO_CANsend(SRDO->CANdevTx[0], SRDO->CANtxBuff[0]) == CO_ERROR_NO) {
SRDO->cycleTimer = CO_CONFIG_SRDO_MINIMUM_DELAY;
SRDO->cycleTimer = SRDO->cycleTime_us; /* cycleTime_us is verified, result can't be <0 */
SRDO->invertedDelay = CO_CONFIG_SRDO_MINIMUM_DELAY;
SRDO->nextIsNormal = false;
SRDO->internalState = CO_SRDO_state_communicationEstablished;
}
else {
@ -848,16 +851,18 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
}
}
}
} else {
}
} else {
if (SRDO->invertedDelay == 0U) {
if (CO_CANsend(SRDO->CANdevTx[1], SRDO->CANtxBuff[1]) == CO_ERROR_NO) {
SRDO->cycleTimer = SRDO->cycleTime_us - CO_CONFIG_SRDO_MINIMUM_DELAY; /* cycleTime_us is verified, result can't be <0 */
SRDO->nextIsNormal = true;
}
else {
SRDO->internalState = CO_SRDO_state_error_txFail;
}
}
SRDO->nextIsNormal = !SRDO->nextIsNormal;
}
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL) {
if (*timerNext_us > SRDO->cycleTimer) {

2
304/CO_SRDO.h
View file

@ -158,6 +158,8 @@ typedef struct {
uint32_t validationTime_us;
/** cycle timer variable in microseconds */
uint32_t cycleTimer;
/** inverted delay timer variable in microseconds */
uint32_t invertedDelay;
/** validation timer variable in microseconds */
uint32_t validationTimer;
/** Data length of the received SRDO message. Calculated from mapping */